CN110597246A - Traveling method, traveling equipment and storage medium - Google Patents
Traveling method, traveling equipment and storage medium Download PDFInfo
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- CN110597246A CN110597246A CN201910755640.6A CN201910755640A CN110597246A CN 110597246 A CN110597246 A CN 110597246A CN 201910755640 A CN201910755640 A CN 201910755640A CN 110597246 A CN110597246 A CN 110597246A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The embodiment of the application discloses a traveling method, traveling equipment and a computing storage medium, wherein the method comprises the following steps: receiving a first control instruction, the first control instruction at least for indicating a first direction of travel of a travel device; judging whether a target object exists in the first traveling direction of the traveling device, wherein the target object at least can block the traveling device from traveling in the first traveling direction, and generating a first judgment result; and determining whether to respond to the first control instruction at least according to a first judgment result.
Description
Technical Field
The present application relates to robotics, and in particular, to a travel method, a travel device, and a computer-readable storage medium.
Background
In the related art, a travelable apparatus serves as a controlled apparatus, and travels at least in a traveling direction indicated by a control instruction in response to the control instruction when receiving the control instruction transmitted from a control apparatus. This approach is equivalent to the advanceable device giving a response whenever the control device sends an instruction to the advanceable device. This direct response approach does not at least conserve response resources.
Disclosure of Invention
In order to solve the existing technical problem, embodiments of the present application provide a method, a device, and a computer storage medium for advancing, which can at least save response resources and avoid wasting response resources.
The technical scheme of the embodiment of the application is realized as follows:
the embodiment of the application provides a traveling method, which comprises the following steps:
receiving a first control instruction, the first control instruction at least for indicating a first direction of travel of a travel device;
judging whether a target object exists in the first traveling direction of the traveling device, wherein the target object at least can block the traveling device from traveling in the first traveling direction, and generating a first judgment result;
and determining whether to respond to the first control instruction at least according to a first judgment result.
In the foregoing solution, when the first determination result indicates that the target object exists in the first traveling direction, the method further includes:
and judging whether the first traveling direction is located in a visible area of the traveling device, and generating a second judgment result.
In the above-mentioned scheme, the first step of the method,
determining not to respond to the first control instruction in a case where the second determination result indicates that the first direction of travel is not within a visible area of the traveling apparatus.
In the above-mentioned scheme, the first step of the method,
in case the second determination result indicates that the first direction of travel is within the viewable area of the travel device,
judging whether a second control instruction is received, wherein the second control instruction indicates that a second traveling direction of traveling equipment is at least the same as the first traveling direction indicated by the first control instruction, and generating a third judgment result;
and determining whether to respond to at least the first control instruction according to the third judgment result.
In the foregoing solution, the determining whether the second control instruction is received includes:
and judging whether the second control instruction is received at a preset frequency.
In the foregoing solution, the determining whether to at least respond to the first control instruction according to the third determination result includes:
determining to respond to at least the first control instruction to cause at least the traveling device to travel in the first traveling direction if the third determination result indicates that the second control instruction is received at a predetermined frequency;
and determining not to respond to the first control instruction under the condition that the third judgment result represents that the second control instruction is not received.
In the above scheme, the method further comprises:
and determining to respond to the second control instruction to at least enable the traveling device to travel in the same direction indicated by the first control instruction in the case that the third judgment result represents that the second control instruction is received at a predetermined frequency.
An embodiment of the present application provides a traveling apparatus, including:
a receiving unit, configured to receive a first control instruction, where the first control instruction is at least used for indicating a first traveling direction of a traveling apparatus;
a sensor configured to determine whether a target object exists in the first traveling direction of the traveling apparatus, the target object being capable of at least obstructing travel of the traveling apparatus in the first traveling direction, and generate a first determination result;
and the determining unit is used for determining whether to respond to the first control instruction at least according to a first judgment result.
In the above solution, the apparatus further includes:
and the second judging unit is used for judging whether the first traveling direction is positioned in a visible area of the traveling equipment or not and generating a second judging result under the condition that the first judging result represents that the target object exists in the first traveling direction.
In the above-mentioned scheme, the first step of the method,
the determining unit is configured to determine not to respond to the first control instruction if the second determination result indicates that the first traveling direction is not located within a visible area of the traveling apparatus.
In the above solution, the apparatus further includes:
a third determination unit configured to, in a case where the second determination result indicates that the first traveling direction is located within a visible area of the traveling apparatus,
judging whether a second control instruction is received, wherein the second control instruction indicates that a second traveling direction of traveling equipment is at least the same as the first traveling direction indicated by the first control instruction, and generating a third judgment result;
correspondingly, the determining unit is configured to determine whether to respond to at least the first control instruction according to the third determination result.
In the above-mentioned scheme, the first step of the method,
the third judging unit is configured to judge whether the second control instruction is received at a predetermined frequency.
In the above-mentioned scheme, the first step of the method,
the determination unit is configured to determine to respond to at least the first control instruction to cause at least the traveling apparatus to travel in the first traveling direction, if the third determination result indicates that the second control instruction is received at a predetermined frequency;
the determining unit is configured to determine not to respond to the first control instruction when the third determination result indicates that the second control instruction is not received.
In the above-mentioned scheme, the first step of the method,
the determining unit is configured to determine to respond to the second control instruction to at least cause the traveling device to travel in the same direction as indicated by the first control instruction, if the third determination result indicates that the second control instruction is received at a predetermined frequency.
Embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the aforementioned method.
The embodiment of the present application provides a traveling device, which includes a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the foregoing method.
The embodiment of the application provides a traveling method, traveling equipment and a computing storage medium, wherein the method comprises the following steps: receiving a first control instruction, the first control instruction at least for indicating a first direction of travel of a travel device; judging whether a target object exists in the first traveling direction of the traveling device, wherein the target object at least can block the traveling device from traveling in the first traveling direction, and generating a first judgment result; and determining whether to respond to at least the first control instruction at least according to a first judgment result. Compared with the prior art in which the traveling device directly responds to the received control instruction, the technical scheme of the embodiment of the application does not directly respond to the received control instruction, but responds according to the judgment result of whether the obstacle exists in the traveling direction indicated by the control instruction, so that the problems of response resource waste and electric quantity resource waste caused by direct response can be at least avoided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic flow chart of an implementation of a first embodiment of a travel method provided in the present application;
FIG. 2 is a schematic flow chart illustrating an implementation of a second embodiment of the travel method provided by the present application;
FIG. 3 is a schematic flow chart illustrating an implementation of a third embodiment of the travel method provided by the present application;
FIG. 4 is a schematic view of a visualization area image captured by a navigation device provided herein;
FIG. 5 is a schematic view of the traveling apparatus provided in the present application traveling indoors;
FIG. 6 is a schematic diagram of a hardware configuration of an embodiment of the traveling apparatus provided in the present application;
fig. 7 is a schematic structural diagram of a traveling apparatus according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. In the present application, the embodiments and features of the embodiments may be arbitrarily combined with each other without conflict. The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
In the related art, the control instruction sent from the control apparatus to the traveling apparatus may be a correct instruction or an erroneous instruction. The reason for generating the error instruction is as follows: the control instruction may be generated based on an operation of an operator on the control device, the operator may have an operation error, and if the operation instruction is generated based on an misoperation of the operator, in this case, if the equipment can still respond to an error instruction sent by the control device, the equipment can be advanced, which is equivalent to responding to the error instruction, and the error response may cause waste of response resources on one hand; on the other hand, the wrong response instruction may cause the traveling apparatus to collide with it, thereby failing to secure the traveling apparatus. In practical application, it is expected that the problem of response resource waste caused by blind response and further wrong response of the feasible equipment can be avoided, so as to achieve the purpose of saving resources; it is also desirable that the travelable device be able to respond to the correct instruction as desired. The following embodiments of the present application can solve at least the above technical problems.
It should be understood by those skilled in the art that the traveling device described in the following embodiments of the present application may be any device having a traveling function, such as a robot, a balance car, a balance wheel, etc. Further, the traveling device may have a device that travels in different directions based on a control operation of a control device such as a remote control terminal. The preferred traveling device of the embodiments of the present application may be a robotic device.
A first embodiment of the traveling method provided by the present application is applied to a traveling apparatus, as shown in fig. 1, the method includes:
step (S) 101: receiving a first control instruction, the first control instruction at least for indicating a first direction of travel of a travel device;
in this step, the traveling apparatus receives a (first) control instruction, which may indicate at least a traveling direction, and may be transmitted to the traveling apparatus by a control apparatus such as a remote control terminal.
Step 102: judging whether a target object exists in the first traveling direction of the traveling device, wherein the target object at least can block the traveling device from traveling in the first traveling direction, and generating a first judgment result;
in this step, the target object may be any object that can be used as an obstacle, such as a wall, a tree, a vehicle, and the like. Of course, the target object in the embodiment of the present application may also include a person, and the person as an obstacle may also obstruct the travel of the travel apparatus. I.e. to determine whether an obstacle is present in the first direction of travel.
Step 103: and determining whether to respond to the first control instruction at least according to a first judgment result.
In this step, in accordance with a (first) determination result of determining whether or not an obstacle exists in a first traveling direction, it is determined whether or not to perform a response of a control instruction to confirm whether or not to cause at least the traveling apparatus to travel in the first traveling direction.
Compared with the scheme that the traveling equipment in the related art directly responds to the received control instruction, the technical scheme of the embodiment of the application does not respond to the received control instruction blindly any more, but responds according to the judgment result of whether the obstacle exists in the traveling direction indicated by the control instruction, and at least can avoid the problems of response resource waste and electric quantity resource waste caused by blind response.
It is understood that the blind response in the related art also causes the following problems: if the control instruction indicates that the traveling equipment travels backwards, an object obstructing the backward travel exists behind the traveling equipment, and blind response can cause the traveling equipment to collide with the object, possibly cause the damage of the traveling equipment and cannot ensure the safety of the traveling equipment.
As an implementation manner, the step 103 may specifically be:
and in the case where the first determination result indicates that the target object is present in the first traveling direction of the traveling apparatus, not responding to the first control instruction to cause the traveling apparatus not to travel in the first traveling direction. The scheme can be used as a safety protection mechanism of the traveling equipment, at least can avoid the problem that the traveling equipment is collided with an obstacle to cause damage due to blind response of the traveling equipment, and ensures the safety of the traveling equipment.
For an understanding of the first embodiment of the method, reference is made to the following description of the scheme shown in application scenario 1.
A second embodiment of the traveling method provided by the present application is applied to a traveling apparatus, as shown in fig. 2, the method includes:
s201: receiving a first control instruction, the first control instruction at least for indicating a first direction of travel of a travel device;
s202: judging whether a target object exists in the first traveling direction of the traveling device, wherein the target object at least can block the traveling device from traveling in the first traveling direction, and generating a first judgment result;
s203: under the condition that the first judgment result represents that a target object exists in the first traveling direction, judging whether the first traveling direction is located in a visible area of the traveling equipment, and generating a second judgment result;
s204: and determining whether to respond to the first control instruction at least according to a first judgment result and a second judgment result of the target object existing in the first traveling direction.
In the foregoing solution, when the first determination result indicates that the target object exists in the first traveling direction, it is determined whether to respond to the first control instruction, in combination with a determination result of whether the first traveling direction is located within a visible area of the traveling apparatus. Whether to respond to the first control command is determined based on a combination of the two determination results of whether an obstacle exists in the first traveling direction and whether the first traveling direction is within the visible range. On one hand, the problems of response resource waste and electric quantity waste caused by blind response can be avoided, and on the other hand, whether response is carried out or not is determined from two judgment results, so that the accuracy of determining whether response is carried out or not can be ensured.
In the foregoing scheme, please refer to the foregoing description about S101 and S102 for S201 and S202, which is not repeated.
As an implementation manner, the determining whether to respond to at least the first control instruction according to the first determination result and the second determination result of the target object existing in the first traveling direction includes:
determining not to respond to the first control instruction in a case where a target object exists in the first traveling direction and the second determination result indicates that the first traveling direction is not located within a visible area of the traveling apparatus. That is, an obstacle exists in the traveling direction indicated by the control instruction, and the traveling direction is located outside the visible area of the traveling device, so that the traveling device cannot predict which adverse consequences will be generated under the condition of blind response, and the embodiment of the application does not respond to the control instruction, so as to avoid collision between the traveling device and the obstacle in the traveling direction, avoid collision damage, ensure the safety of the traveling device, and be a safety protection mechanism of the traveling device.
For an understanding of the second embodiment of the method, refer to the following description of the scheme shown in application scenario 2.
A third embodiment of the traveling method provided by the present application is applied to a traveling apparatus, as shown in fig. 3, the method includes:
s301: receiving a first control instruction, the first control instruction at least for indicating a first direction of travel of a travel device;
s302: judging whether a target object exists in the first traveling direction of the traveling device, wherein the target object at least can block the traveling device from traveling in the first traveling direction, and generating a first judgment result;
s303: under the condition that a first judgment result represents that a target object exists in a first traveling direction, judging whether the first traveling direction is located in a visible area of the traveling equipment or not, and generating a second judgment result;
s304: under the condition that the second judgment result represents that the first traveling direction is located in a visible area of the traveling device, judging whether a second control instruction is received or not, wherein the second control instruction indicates that the second traveling direction of the traveling device is at least the same as the first traveling direction indicated by the first control instruction, and generating a third judgment result;
s305: and determining whether to respond to at least the first control instruction according to the third judgment result.
In the foregoing aspect, in the case where there is an obstacle in the first traveling direction and the first traveling direction is located within the visible area of the traveling apparatus, it is determined whether to respond to the first control instruction, in conjunction with a determination result of whether the traveling apparatus receives a control instruction (second control instruction) that is at least the same as the traveling direction indicated by the first control instruction. In other words, the first judgment result, the second judgment result and the third judgment result are combined to determine whether to respond, so that the accuracy of determining whether to respond is greatly ensured.
It should be noted that, in the embodiment of the present application, at least, a problem that detection of the traveling device on the obstacle may be in error is considered, and in order to avoid a problem that detection is in error and a response to an erroneous instruction is performed and a normal response to a correct instruction cannot be performed, the embodiment of the present application combines manual judgment of an operator to determine whether a control instruction is in response or not (where a second control instruction is generated by the control terminal based on an operation of the operator), so that a problem of resource waste and electric quantity waste caused by a response to an erroneous instruction can be effectively avoided; it is possible to ensure that the problem of traveling equipment safety such as being crashed due to an careless response is not caused. On the other hand, the problem that a normal response cannot be performed to a correct instruction can also be avoided. For an understanding of this, reference is made in detail to the following description of the application scenario 3.
In the foregoing scheme, please refer to the foregoing description of S101 and S102 for S301 and S302, which are not repeated.
As an implementation manner, the determining whether the second control instruction is received may be: and judging whether the second control instruction is received at a preset frequency. That is, in combination with the determination result of whether the second control command is received at a certain frequency, it is determined whether to at least respond to the first control command, and accuracy of determining whether to respond to the first control command can be at least improved.
As an implementation manner, the determining whether to respond to at least the first control instruction according to the third determination result may include the following two cases:
the first condition is as follows: and under the condition that the third judgment result represents that the second control instruction is received or the second control instruction is received at a preset frequency, determining to respond to at least the first control instruction so as to at least enable the travelling equipment to travel towards the first travelling direction, and determining to respond to the first control instruction by combining the judgment results which represent that an obstacle exists in the first travelling direction, the first travelling direction is positioned in a visible area of the travelling equipment and the second control instruction is received or received at the preset frequency, so that the problem that the correct instruction cannot be normally responded can be greatly avoided.
Case two: and under the condition that the third judgment result represents that the second control instruction is not received, determining not to respond to the first control instruction, so that the response to a wrong instruction can be greatly avoided.
It is to be understood that the first control command and the second control command may be the same control command or different control commands. And when the third judgment result represents that the second control instruction is received or the second control instruction is received at a preset frequency, the traveling device can respond to the first control instruction and also respond to the second control instruction so as to realize normal response of the traveling device to a correct instruction.
An explanation of the third method embodiment above is provided to understand the illustrated protocol.
The technical solution of the embodiment of the present application is described in detail with reference to the following application scenarios.
In the following application scenarios, a travelable device is taken as a robot device, and a control device for controlling the robot device is taken as a control terminal. It can be understood that the control command sent by the control terminal to the robot device may be a command with directional indication, such as forward, backward, left turn, right turn, etc., so as to implement forward, backward, left turn, right turn, etc., to the robot device. Of course, compound commands with directional indications may be used, such as compound commands of forward add/slow down, backward add/slow down, left turn and add/slow down, right turn add/slow down, etc.
The robot device in the embodiment of the application is provided with one or more acquisition units such as a camera, and the camera can acquire an environment image (a real-time image) of the robot device in the traveling process and send the environment image to the control terminal, so that an operator can check the traveling environment of the robot device based on the environment image received by the control terminal, and the robot device is controlled in the traveling direction or speed according to the environment image in the traveling process of the robot device. It will be appreciated that in practical applications, the following problems may exist: the operator may generate a false touch operation, such as pressing the back button inadvertently, and the control terminal generates a false control command based on the false touch operation and sends the false control command to the robot. The technical solutions shown in the following application scenarios can solve the above problems.
Fig. 4 is a schematic diagram of a real-time image acquired by the robot through a camera. It can be understood that the image shown in fig. 4 is collected by the robot through the camera, and the area shown in the collected image is a visible area (non-blind area) of the robot, and is also an area of the robot traveling environment that an operator can see through the control terminal. In the illustration of fig. 4, the two boundary lines (boundary lines 1 and 2) generated by the robot pass-through are used to indicate the passable area of the robot. If an obstacle exists in the passable area, the robot can collide with the obstacle when the robot continues to move forward. It will be appreciated that the camera may be provided at any reasonable location, such as at a location above the robot head. The image collected by the camera is related to the rotating direction of the robot head, the setting position of the camera on the robot head, the collecting angle of the camera and the like. Under the condition that the setting position and the collection angle of the camera are fixed, the boundary lines 1 and 2 are used for showing that the passable area of the robot in a certain direction is shown under the condition that the camera reaches the certain direction due to the fact that the head or the camera rotates by a certain angle, and the robot can determine whether to walk in the direction according to the actual traveling environment in the communication area, such as the existence or the nonexistence of obstacles.
Application scenario 1: fig. 5 is an image of the robot traveling in an indoor space. In the scene shown in fig. 5, in the process that the robot travels from the position a to the position B, the robot acquires an environmental image where the robot is located in real time to the control terminal, and an operator generates a forward instruction for advancing from the position a to the position B according to the real-time environmental image received by the control terminal. After the robot moves forward to the position B, assuming that the operator touches the forward key, the control terminal generates a forward instruction (first control instruction) based on the touch of the operator on the forward key, and transmits the forward instruction to the robot. Upon receiving the forward command, the robot at position B detects whether or not an obstacle is present in the forward direction by its own sensor, and further detects whether or not an obstacle is present in an area between the boundary lines 1 and 2 in the forward direction indicated by the control terminal in the forward direction in the case of position B. If an obstacle such as a couch exists shortly before the robot position B, the robot does not respond to the forward command and does not continue to move forward. In this manner, the robot determines whether or not to travel in the indicated direction by determining whether or not there is an obstacle in the travel direction indicated by the control terminal. Compared with the scheme that the robot directly responds to the instruction sent by the control terminal in the related technology, the safety protection mechanism of the robot can at least avoid the problem of response resource waste and electric quantity waste caused by response to the misoperation of an operator, can also avoid the collision between the robot and an obstacle, and ensures the safety of the robot.
Application scenario 2: as shown in fig. 5, assuming that the operator carelessly presses the back button (first control command) when the robot is at position a, the control terminal generates a back command based on the misoperation of the operator and transmits the back command to the robot. The robot receives the back-off command, and detects whether an obstacle exists behind the robot by using the sensor, and if an obstacle-wall exists behind the robot when the robot is located at the position A as shown in fig. 5, the robot does not respond to the background command of the control command, so that the robot is at least ensured not to be collided, and the wrong response to the misoperation is also avoided. Further, when it is detected that an obstacle exists behind the robot, it is determined whether the rear direction of the robot is within the visible area of the robot. It will be appreciated that the visible area of the robot is typically the area in front of, for example, the area that can be captured by the camera of the robot. In a case where the rear direction of the robot is not within the visible region of the robot (outside the visible region), that is, the direction of the erroneous operation instruction by the operator is located in the blind zone of the robot, the backward command is not responded to in order to ensure the traveling safety of the robot.
It should be understood by those skilled in the art that the sensor in the embodiment of the present application may be any sensor having a function of detecting an obstacle, such as a proximity sensor, an infrared sensor, a laser sensor, and the like. The specific obstacle detection principle is not described in detail herein. In practical application, the detection of the obstacle by the sensor is influenced by the environment, specifically, the noise of the environment, and if the noise of the environment is large, the detection may be inaccurate. In order to avoid the problem that the robot cannot normally respond to correct instructions due to inaccurate detection of the sensor, in the embodiment of the application, the camera of the robot can collect the traveling environment where the robot is located in real time and send the collected images to the control terminal side, and an operator can check the images through the control terminal. This can be understood in particular with reference to the following application scenarios.
Application scenario 3: as shown in fig. 5, assuming that the robot apparatus is at the a position, the operator finds that the robot can travel forward by using the image of the travel environment of the robot transmitted to the control terminal, and presses the forward button of the control terminal, and the control terminal generates a forward command (first control command) based on the operation of the operator and transmits the forward command to the robot. The robot receives the forward command, and detects whether an obstacle exists in a passable area located within two boundary lines in the direction indicated by the control terminal through a sensor. Assuming that the sensor is affected by the environmental noise at this time, a false detection result is generated: an obstacle exists in a passable area of the control terminal indicating the direction. In the application scenario, the direction indicated by the control terminal is the front, and the front area of the robot is the visible area of the robot, so that the direction indicated by the control instruction, namely the forward instruction, received by the current robot can be considered to be located in the visible area. The environment image of the robot seen by the operator is the visible area image of the robot and the image collected by the camera. Assuming that the image collected by the camera is transmitted to the control terminal without delay or within an easy range, the operator can manually confirm that no obstacle exists in front of the robot at the moment through the image transmitted in real time and can also continue to move forward. In order to control the robot to advance, an operator presses an advance key at a certain frequency, and the control terminal generates an advance instruction at a corresponding frequency according to the frequency of pressing the advance key by the operator and sends the advance instruction to the robot. When the robot receives the forward command (second control command) at a certain frequency, it is considered that the operator can manually confirm that the robot can move forward. The robot continues to travel forward in response to the received forward command. Therefore, the manual judgment is combined, the manual judgment is performed on the condition that whether the operator receives the second control instruction of the operator in a certain frequency mode or not, the manual judgment is combined, and the problem that the robot cannot normally respond to the correct instruction due to inaccurate detection of the sensor is at least avoided.
It can be understood that the foregoing solution may also be regarded as a solution in which the control terminal remotely controls the robot device, and the result detected by the sensor is not used as a basis for determining whether to respond or not in the visible area, but a control instruction generated by the operator on the control terminal is used as a basis, and considering that most of the control instructions generated by the human in combination with the real-time image are objective, in this embodiment of the present application, a control decision generated by the human in combination with the real-time image is taken as a main control decision in the visible area, that is, in a case that the robot detects that an obstacle exists in the direction indicated by the control terminal and the indicated direction is located in the visible area, if the operator remotely controls the robot in the direction through the control terminal, the robot responds to the remote control instruction from the control terminal. For robots, it is a solution that is directly remotely controlled.
In the foregoing solution, the first control instruction and the second control instruction received by the robot are at least instructions indicating the same traveling direction, for example, the first control instruction and the second control instruction are both forward instructions, and further, if the first control instruction is a forward instruction, the second control instruction is a forward acceleration instruction. If the first control instruction and the second control instruction are different, the robot can respond to the first control instruction first and then respond to the second control instruction. Alternatively, two control commands are responded to simultaneously.
Further, in the case where the sensor produces an erroneous detection result and confirms that the direction indicated by the first control command-forward command currently received by the robot is located in the visible region, if the second control command is not received. There may be several reasons for this: 1) the operator confirms that an obstacle exists in front of the robot through the image transmitted in real time, namely, the sensor does not have error detection; 2) the operator considers the first control command that has just been sent to the robot as an erroneous command that occurred due to an inadvertent operation. Under the condition that an operator generates a first control instruction for the several reasons, a second control instruction cannot be generated, the robot cannot naturally receive the second control instruction, the robot does not respond to the first control instruction, and the problem of resource waste caused by response to a wrong instruction can be at least avoided.
In the foregoing scheme, a reasonable time duration (first time duration) may also be preset, and the robot determines whether the second control instruction is received within the first time duration or receives the second control instruction at a predetermined frequency within the first time duration, so as to avoid a problem of electric quantity waste caused by an excessively long time for the robot to wait for receiving the control instruction.
In the above application scenario, the sensor may be at least one of the following: cameras, infrared sensors, ultrasonic sensors, lidar sensors, and the like. The method comprises the steps of acquiring an image of a traveling environment of the robot through a camera, automatically identifying obstacles in the traveling environment process through sensors such as other sensors except the camera, generating a map representing the obstacles, and sending the map of the obstacles to a control terminal side in real time. Alternatively, the automatically recognized obstacle is identified in the transmitted image of the traveling environment in which the robot is located, so that the operator can quickly confirm which direction(s) of the robot the obstacle exists based on the obstacle map. In the direction of the visible area, the operator receives the environment image collected by the camera in real time to manually confirm, and the robot trusts the judgment of the operator based on the environment image to execute the remote control instruction of the operator. In the direction in which the robot is visually blind, the robot determines whether or not to respond to the instruction based on the result of detection of the obstacle in the indicated traveling direction by the sensor.
An embodiment of the present application further provides a traveling apparatus, as shown in fig. 7, the apparatus includes: a receiving unit 701, a sensor 702, and a determining unit 703; wherein the content of the first and second substances,
a receiving unit 701, configured to receive a first control instruction, where the first control instruction is at least used to indicate a first traveling direction of a traveling apparatus;
a sensor 702 configured to determine whether a target object exists in the first traveling direction of the traveling apparatus, the target object being capable of obstructing at least traveling of the traveling apparatus in the first traveling direction, and generate a first determination result;
a determining unit 703 is configured to determine whether to respond to the first control instruction at least according to a first determination result.
As an implementation, the apparatus further includes:
and the second judging unit is used for judging whether the first traveling direction is positioned in a visible area of the traveling equipment or not and generating a second judging result under the condition that the first judging result represents that the target object exists in the first traveling direction.
As an implementation manner, the determining unit 703 is configured to determine not to respond to the first control instruction in a case that the second determination result indicates that the first traveling direction is not located within a visible area of the traveling apparatus.
As an implementation, the apparatus further includes:
a third determination unit configured to, in a case where the second determination result indicates that the first traveling direction is located within a visible area of the traveling apparatus,
judging whether a second control instruction is received, wherein the second control instruction indicates that a second traveling direction of traveling equipment is at least the same as the first traveling direction indicated by the first control instruction, and generating a third judgment result;
correspondingly, the determining unit 703 is configured to determine whether to respond to at least the first control instruction according to the third determination result.
As an implementation manner, the third determining unit is configured to determine whether the second control instruction is received at a predetermined frequency.
As an implementation manner, the determining unit 703 is configured to determine to respond to at least the first control instruction to at least cause the traveling apparatus to travel in the first traveling direction, if the third determination result indicates that the second control instruction is received at a predetermined frequency;
the determining unit 703 is configured to determine not to respond to the first control instruction when the third determination result indicates that the second control instruction is not received.
As an implementation manner, the determining unit 703 is configured to determine to respond to the second control instruction to at least cause the traveling device to travel in the same direction as indicated by the first control instruction, if the third determination result indicates that the second control instruction is received at a predetermined frequency.
The traveling device provided by the above embodiment and the foregoing traveling method embodiment belong to the same concept, and the specific implementation process thereof is described in the method embodiment and will not be described again. The receiving unit 701 and the determining unit 703 can be implemented by a Digital Signal Processor (DSP), a Central Processing Unit (CPU), a logic programming array (FPGA), a controller (MCU), and the like. The sensor 702 may be at least one of: cameras, infrared sensors, ultrasonic sensors, lidar sensors, and the like.
An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is configured to, when executed by a processor, perform at least the steps of the method shown in any one of fig. 1 to 3. The computer readable storage medium may be specifically a memory. The memory may be the memory 62 as shown in fig. 6.
The embodiment of the application also provides a traveling device. Fig. 6 is a schematic diagram of a hardware structure of a traveling apparatus according to an embodiment of the present application, and as shown in fig. 6, the traveling apparatus includes: a communication component 63 for data transmission, at least one processor 61 and a memory 62 for storing computer programs capable of running on the processor 61. The various components in the terminal are coupled together by a bus system 64. It will be appreciated that the bus system 64 is used to enable communications among the components. The bus system 64 includes a power bus, a control bus, and a status signal bus in addition to the data bus. For clarity of illustration, however, the various buses are labeled as bus system 64 in fig. 6.
Wherein the processor 61 executes the computer program to perform at least the steps of the method of any of fig. 1 to 3.
It will be appreciated that the memory 62 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory 62 described in embodiments herein is intended to comprise, without being limited to, these and any other suitable types of memory.
The method disclosed in the above embodiments of the present application may be applied to the processor 61, or implemented by the processor 61. The processor 61 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 61. The processor 61 described above may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 61 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 62, and the processor 61 reads the information in the memory 62 and performs the steps of the aforementioned method in conjunction with its hardware.
In an exemplary embodiment, the traveling Device may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), FPGAs, general purpose processors, controllers, MCUs, microprocessors (microprocessors), or other electronic components for performing the aforementioned traveling method.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.
Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict.
The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (16)
1. A method of travel, the method comprising:
receiving a first control instruction, the first control instruction at least for indicating a first direction of travel of a travel device;
judging whether a target object exists in the first traveling direction of the traveling device, wherein the target object at least can block the traveling device from traveling in the first traveling direction, and generating a first judgment result;
and determining whether to respond to the first control instruction at least according to a first judgment result.
2. The method according to claim 1, wherein in a case where the first determination result indicates that the target object exists in the first direction of travel, the method further comprises:
and judging whether the first traveling direction is located in a visible area of the traveling device, and generating a second judgment result.
3. The method of claim 2,
determining not to respond to the first control instruction in a case where the second determination result indicates that the first direction of travel is not within a visible area of the traveling apparatus.
4. The method of claim 2,
in case the second determination result indicates that the first direction of travel is within the viewable area of the travel device,
judging whether a second control instruction is received, wherein the second control instruction indicates that a second traveling direction of traveling equipment is at least the same as the first traveling direction indicated by the first control instruction, and generating a third judgment result;
and determining whether to respond to at least the first control instruction according to the third judgment result.
5. The method of claim 4, wherein the determining whether the second control instruction is received comprises:
and judging whether the second control instruction is received at a preset frequency.
6. The method of claim 5, wherein said determining whether to respond to at least the first control command based on the third determination comprises:
determining to respond to at least the first control instruction to cause at least the traveling device to travel in the first traveling direction if the third determination result indicates that the second control instruction is received at a predetermined frequency;
and determining not to respond to the first control instruction under the condition that the third judgment result represents that the second control instruction is not received.
7. The method of claim 6, further comprising:
and determining to respond to the second control instruction to at least enable the traveling device to travel in the same direction indicated by the first control instruction in the case that the third judgment result represents that the second control instruction is received at a predetermined frequency.
8. A travel apparatus, characterized by comprising:
a receiving unit, configured to receive a first control instruction, where the first control instruction is at least used for indicating a first traveling direction of a traveling apparatus;
a sensor configured to determine whether a target object exists in the first traveling direction of the traveling apparatus, the target object being capable of at least obstructing travel of the traveling apparatus in the first traveling direction, and generate a first determination result;
and the determining unit is used for determining whether to respond to the first control instruction at least according to a first judgment result.
9. The apparatus of claim 8, further comprising:
and the second judging unit is used for judging whether the first traveling direction is positioned in a visible area of the traveling equipment or not and generating a second judging result under the condition that the first judging result represents that the target object exists in the first traveling direction.
10. The apparatus of claim 9,
the determining unit is configured to determine not to respond to the first control instruction if the second determination result indicates that the first traveling direction is not located within a visible area of the traveling apparatus.
11. The apparatus of claim 9, further comprising:
a third determination unit configured to, in a case where the second determination result indicates that the first traveling direction is located within a visible area of the traveling apparatus,
judging whether a second control instruction is received, wherein the second control instruction indicates that a second traveling direction of traveling equipment is at least the same as the first traveling direction indicated by the first control instruction, and generating a third judgment result;
correspondingly, the determining unit is configured to determine whether to respond to at least the first control instruction according to the third determination result.
12. The apparatus of claim 11,
the third judging unit is configured to judge whether the second control instruction is received at a predetermined frequency.
13. The apparatus of claim 12,
the determination unit is configured to determine to respond to at least the first control instruction to cause at least the traveling apparatus to travel in the first traveling direction, if the third determination result indicates that the second control instruction is received at a predetermined frequency;
the determining unit is configured to determine not to respond to the first control instruction when the third determination result indicates that the second control instruction is not received.
14. The apparatus of claim 13,
the determining unit is configured to determine to respond to the second control instruction to at least cause the traveling device to travel in the same direction as indicated by the first control instruction, if the third determination result indicates that the second control instruction is received at a predetermined frequency.
15. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
16. A travel device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any one of claims 1 to 7 are implemented when the program is executed by the processor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910755640.6A CN110597246A (en) | 2019-08-15 | 2019-08-15 | Traveling method, traveling equipment and storage medium |
| PCT/CN2020/109630 WO2021027970A1 (en) | 2019-08-15 | 2020-08-17 | Traveling method, traveling device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910755640.6A CN110597246A (en) | 2019-08-15 | 2019-08-15 | Traveling method, traveling equipment and storage medium |
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| CN110597246A true CN110597246A (en) | 2019-12-20 |
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| CN111595346A (en) * | 2020-06-02 | 2020-08-28 | 浙江商汤科技开发有限公司 | Navigation reminding method and device, electronic equipment and storage medium |
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