WO2021027970A1

WO2021027970A1 - Traveling method, traveling device and storage medium

Info

Publication number: WO2021027970A1
Application number: PCT/CN2020/109630
Authority: WO
Inventors: 王游; 陈子冲; 张向辉; 薛舟
Original assignee: 纳恩博（常州）科技有限公司
Priority date: 2019-08-15
Filing date: 2020-08-17
Publication date: 2021-02-18
Also published as: CN110597246A

Abstract

A traveling method, a traveling device and a storage medium. Said method comprises: receiving a first control instruction, the first control instruction being at least used for indicating a first traveling direction of a traveling device; determining whether a target object exists in the first traveling direction of the traveling device, the target object at least blocking the travel of the traveling device in the first traveling direction, and generating a first determination result; and determining whether to respond to the first control instruction at least according to the first determination result.

Description

A traveling method, traveling equipment, and storage medium

Cross references to related applications

This application is filed based on a Chinese patent application with an application number of 201910755640.6 and an application date of August 15, 2019, and claims the priority of the Chinese patent application. The content of the Chinese patent application is hereby incorporated into this application by way of introduction.

Technical field

This application relates to robotics, in particular to a traveling method, traveling equipment, and computing storage medium.

Background technique

In the related art, the advable device is used as a controlled device, and upon receiving a control instruction sent by the control device, in response to the control instruction, it travels at least along the travel direction indicated by the control instruction. This method is equivalent to that as long as the control device sends an instruction to the accessible device, the accessible device will respond. At least this direct response method cannot save response resources.

Summary of the invention

In order to solve the existing technical problems, embodiments of the present application provide a traveling method, traveling equipment, and computing storage medium, which can at least save response resources and avoid waste of response resources.

The technical solutions of the embodiments of the present application are implemented as follows:

The embodiment of the present application provides a traveling method, the method includes:

Receiving a first control instruction, where the first control instruction is at least used to indicate a first traveling direction of the traveling equipment;

Determining whether there is a target object in the first traveling direction of the traveling equipment, the target object can at least hinder the traveling of the traveling equipment in the first traveling direction, and generating a first determination result;

At least according to the first judgment result, it is determined whether to respond to the first control instruction.

In the above solution, in a case where the first judgment result indicates that the target object exists in the first direction of travel, the method further includes:

Determine whether the first traveling direction is within the visible area of the traveling equipment, and generate a second determination result.

In the above scheme,

In a case where the second judgment result indicates that the first traveling direction is not within the visible area of the traveling equipment, it is determined not to respond to the first control instruction.

In the above scheme,

In the case where the second judgment result indicates that the first traveling direction is within the visible area of the traveling equipment,

Judging whether a second control instruction is received, the second control instruction instructing the second travel direction of the traveling equipment to be at least the same as the first travel direction instructed by the first control instruction, and a third judgment result is generated;

According to the third judgment result, it is determined whether to respond to at least the first control instruction.

In the above solution, the judging whether the second control instruction is received includes:

It is determined whether the second control instruction is received at a predetermined frequency.

In the above solution, the determining whether to respond to at least the first control instruction according to the third judgment result includes:

In the case where the third judgment result indicates that the second control instruction is received at a predetermined frequency, it is determined that at least the first control instruction is responded to to at least cause the traveling equipment to travel in the first traveling direction ；

In a case where the third judgment result indicates that the second control instruction is not received, it is determined not to respond to the first control instruction.

In the above solution, the method further includes:

In the case where the third judgment result indicates that the second control instruction is received at a predetermined frequency, it is determined to respond to the second control instruction so as to at least cause the traveling equipment to instruct the first control instruction In the same direction.

The embodiment of the application provides a traveling equipment, including:

A receiving unit configured to receive a first control instruction, the first control instruction being at least used to indicate a first traveling direction of the traveling equipment;

A sensor configured to determine whether there is a target object in the first traveling direction of the traveling device, the target object can at least hinder the traveling of the traveling device in the first traveling direction, and generate a first determination result ；

The determining unit is configured to determine whether to respond to the first control instruction at least according to the first determination result.

In the above solution, the device further includes:

The second determining unit is configured to determine whether the first traveling direction is within the visible area of the traveling equipment when the first determining result indicates that there is a target object in the first traveling direction, and generating The second judgment result.

In the above scheme,

The determining unit is configured to determine not to respond to the first control instruction when the second determination result indicates that the first traveling direction is not within the visible area of the traveling equipment.

In the above solution, the device further includes:

The third judging unit is configured to, when the second judging result indicates that the first traveling direction is within the visible area of the traveling equipment,

Correspondingly, the determining unit is configured to determine whether to at least respond to the first control instruction according to the third judgment result.

In the above scheme,

The third determining unit is configured to determine whether the second control instruction is received at a predetermined frequency.

In the above scheme,

The determining unit is configured to determine at least to respond to the first control instruction to at least make the traveling equipment move toward the vehicle when the third determination result indicates that the second control instruction is received at a predetermined frequency. Traveling in the first direction of travel;

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 scheme,

The determining unit is configured to determine to respond to the second control instruction to at least cause the traveling equipment to move toward the same direction when the third determination result indicates that the second control instruction is received at a predetermined frequency. Travel in the same direction indicated by the first control instruction.

The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the foregoing method are implemented.

The embodiment of the present application provides a traveling device including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor implements the steps of the foregoing method when the program is executed.

The embodiments of the present application provide a traveling method, traveling equipment, and computing storage medium. The method includes: receiving a first control instruction, where the first control instruction is at least used to indicate a first traveling direction of the traveling equipment; Whether there is a target object in the first traveling direction of the traveling equipment, the target object can at least hinder the traveling of the traveling equipment in the first traveling direction to generate a first judgment result; at least according to the first judgment result, It is determined whether to respond to at least the first control instruction. Compared with the direct response of the traveling equipment in the related art to the received control instruction, the technical solution of the embodiment of the present application does not directly respond to the received control instruction, but according to whether there is a control instruction in the direction of travel. Responding to the judgment result of the obstacle can at least avoid the problem of waste of response resources and waste of power resources due to direct response.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only It is an embodiment of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative work.

FIG. 1 is a schematic diagram of the implementation process of the first embodiment of the traveling method provided by this application;

2 is a schematic diagram of the implementation process of the second embodiment of the traveling method provided by this application;

3 is a schematic diagram of the implementation process of the third embodiment of the traveling method provided by this application;

FIG. 4 is a schematic diagram of the viewable area image collected by the traveling equipment provided by this application;

Fig. 5 is a schematic diagram of traveling indoors of traveling equipment provided by this application;

FIG. 6 is a schematic diagram of the hardware structure of the traveling equipment embodiment provided by this application;

FIG. 7 is a schematic diagram of the composition structure of an embodiment of traveling equipment provided by this application.

detailed description

In order to make the purpose, technical solutions, and advantages of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the drawings in the embodiments of this application. Obviously, the described embodiments are only It is a part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application. In the case of no conflict, the embodiments in the application and the features in the embodiments can be combined with each other arbitrarily. The steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer-executable instructions. And, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here.

In the related art, the control instruction sent by the control device to the traveling device may be a correct instruction or an incorrect instruction. Among them, the reason for the error instruction is: the control instruction may be generated based on the operator's operation of the control equipment, and the operator may have an operation error. If the operation instruction is generated based on the operator's misoperation, it is feasible in this case If the advanced device still responds to the wrong command sent by the control device, it is equivalent to responding to the wrong command. On the one hand, the wrong response will lead to a waste of response resources; on the other hand, the wrong response command may cause the traveling device to collide with it. Therefore, the safety of traveling equipment cannot be guaranteed. In practical applications, it is expected to avoid the problem of waste of response resources caused by the blind response of the feasible equipment and further wrong responses in order to save resources; it is also expected that the feasible equipment can respond to the correct instructions as expected. The following embodiments of the application can at least solve the above technical problems.

Those skilled in the art should know that the traveling equipment described in the following embodiments of the present application may be any equipment with traveling functions, such as a robot, a balance car, a balance wheel, and the like. Further, the traveling equipment may have equipment for traveling in different directions based on a control operation of a control equipment such as a remote control terminal. The preferred traveling equipment in the embodiment of the present application may be a robot equipment.

The first embodiment of the traveling method provided in this application is applied to traveling equipment. As shown in FIG. 1, the method includes:

Step (S) 101: Receive a first control instruction, where the first control instruction is used to at least instruct the first traveling direction of the traveling equipment;

In this step, the traveling equipment receives the (first) control instruction, which can at least indicate the traveling direction, and can be sent to the traveling equipment by the control equipment such as a remote control terminal.

Step 102: Determine whether there is a target object in the first traveling direction of the traveling equipment, and the target object can at least hinder the traveling of the traveling equipment in the first traveling direction, and generate a first determination result;

In this step, the target object can be regarded as any object that can be used as an obstacle, such as walls, trees, vehicles, etc. Of course, the target object in the embodiment of the present application may also include a person, and a person as an obstacle may also hinder the travel of the traveling equipment. That is, it is determined whether there is an obstacle in the first direction of travel.

Step 103: Determine whether to respond to the first control instruction at least according to the first judgment result.

In this step, according to the (first) judgment result of judging whether there is an obstacle in the first direction of travel, it is determined whether to respond to the control instruction to confirm at least whether the traveling device is caused to travel in the first direction of travel.

Compared with the solution in the related art that the traveling equipment directly responds to the received control instruction, the technical solution of the embodiment of the present application no longer blindly responds to the received control instruction, but according to the traveling direction indicated by the control instruction. Responding to the judgment result of whether there is an obstacle on the above can at least avoid the problem of waste of response resources and waste of power resources due to blind response.

It is understandable that the blind response in the related technology will also bring about the following problems: if the control instruction instructs the traveling equipment to travel backward, there is an object hindering its backward progress, and the blind response will cause the traveling equipment to collide with the object. It may cause damage to the traveling equipment and cannot guarantee the safety of the traveling equipment itself.

As an implementable manner, the step 103 may specifically be:

In the case where the first judgment result indicates that there is a target object in the first direction of travel of the traveling equipment, do not respond to the first control instruction so that the traveling equipment does not travel in the first direction of travel . The foregoing solution can be used as a safety protection mechanism for traveling equipment, at least avoiding the problem of damage caused by collision of traveling equipment with obstacles due to the blind response of traveling equipment, and ensuring the safety of traveling equipment.

For the understanding of the foregoing method embodiment 1, please refer to the subsequent description of the solution shown in application scenario 1.

The second embodiment of the traveling method provided in this application is applied to traveling equipment. As shown in FIG. 2, the method includes:

S201: Receive a first control instruction, where the first control instruction is used at least to indicate a first traveling direction of a traveling device;

S202: Determine whether there is a target object in the first traveling direction of the traveling equipment, and the target object can at least hinder the traveling of the traveling equipment in the first traveling direction, and generate a first determination result;

S203: When the first judgment result indicates that there is a target object in the first direction of travel, judge whether the first direction of travel is within the visible area of the travel device, and generate a second judgment result;

S204: Determine whether to respond to the first control instruction at least according to the first judgment result and the second judgment result that the target object exists in the first traveling direction.

In the foregoing solution, when the first judgment result indicates that there is a target object in the first direction of travel, it is determined whether to perform the first control instruction in combination with the judgment result of whether the first direction of travel is within the visible area of the traveling device. response. Starting from the combination of the two determination results of whether there is an obstacle in the first direction of travel and whether the first direction of travel is within the visible area, it is determined whether to respond to the first control instruction. On the one hand, it can avoid the problem of response resource waste and power waste caused by blind response. On the other hand, the two judgment results are used to determine whether to respond, which can ensure the accuracy of determining whether to respond.

For S201 and S202 in the foregoing solution, please refer to the foregoing description of S101 and S102, which will not be repeated.

As an implementation manner, the determining whether to respond to at least the first control instruction according to the first judgment result and the second judgment result that the target object exists in the first traveling direction includes:

In the case where there is a target object in the first traveling direction and the second judgment result indicates that the first traveling direction is not within the visible area of the traveling equipment, it is determined not to respond to the first control instruction . That is, if there is an obstacle in the direction of travel indicated by the control instruction and the direction of travel is outside the visible area of the traveling equipment, so that the traveling equipment cannot predict which adverse consequences will occur in the case of blind response, this application is implemented For example, it does not respond to the control command to avoid collisions between the traveling equipment and obstacles in the traveling direction, avoid collision damage, and ensure the safety of the traveling equipment, which is a safety protection mechanism for the traveling equipment.

For the understanding of the second embodiment of the foregoing method, please refer to the subsequent description of the solution shown in application scenario 2.

The third embodiment of the traveling method provided in this application is applied to traveling equipment. As shown in FIG. 3, the method includes:

S301: Receive a first control instruction, where the first control instruction is at least used to instruct the first traveling direction of the traveling equipment;

S302: Determine whether there is a target object in the first traveling direction of the traveling equipment, and the target object can at least hinder the traveling of the traveling equipment in the first traveling direction, and generate a first determination result;

S303: When the first judgment result indicates that there is a target object in the first direction of travel, judge whether the first direction of travel is within the visible area of the traveling device, and generate a second judgment result;

S304: In the case where the second judgment result indicates that the first traveling direction is within the visible area of the traveling equipment, determine whether a second control instruction is received, and the second control instruction instructs the second control instruction of the traveling equipment. The second travel direction is at least the same as the first travel direction indicated by the first control instruction, and a third judgment result is generated;

S305: According to the third judgment result, determine whether to respond to at least the first control instruction.

In the foregoing solution, in the case that there is an obstacle in the first direction of travel and the first direction of travel is located within the visible area of the traveling device, it is combined with whether the traveling device has received a control instruction that is at least the same as the traveling direction indicated by the first control instruction The judgment result of (the second control command) determines whether to respond to the first control command. It is equivalent to combining the first judgment result, the second judgment result and the third judgment result to determine whether to respond, which can greatly ensure the accuracy of determining whether to respond.

It should be noted that the embodiment of the application at least considers the problem that the detection of obstacles by the traveling equipment may be wrong. In order to avoid the problem of responding to wrong instructions and failing to respond normally to correct instructions caused by detection errors, this application The embodiment combines the manual judgment of the operator to realize the judgment of whether to respond to the control instruction (the second control instruction is generated by the control terminal based on the operation of the operator), thereby effectively avoiding resources caused by the response to the wrong instruction The problem of waste and power waste; it can also ensure that the safety of traveling equipment will not be damaged due to inadvertent response. On the other hand, the problem of not being able to respond normally to the correct command can also be avoided. For the understanding of this, please refer to the subsequent description of application scenario 3.

In the foregoing solution, S301 and S302, please refer to the foregoing description of S101 and S102, and will not be repeated.

As an implementation manner, the determining whether the second control instruction is received may be: determining whether the second control instruction is received at a predetermined frequency. That is, in combination with the judgment result of whether the second control instruction is received at a certain frequency, it is determined whether to respond to the first control instruction at least, which can at least improve the accuracy of determining whether to respond to the first control instruction.

As an implementation manner, the determining whether to respond to at least the first control instruction according to the third judgment result may include the following two situations:

Case 1: In the case where the third judgment result indicates that the second control instruction is received or the second control instruction is received at a predetermined frequency, it is determined that at least the first control instruction is responded to at least The traveling equipment is caused to travel in the first traveling direction, which is characterized by the presence of obstacles in the first traveling direction, the first traveling direction being located in the visible area of the traveling equipment, and the receiving or receiving of the first traveling direction at a predetermined frequency. The judgment result of the second control instruction determines the response to the first control instruction, which can greatly avoid the problem that the normal response to the correct instruction cannot be performed.

Case 2: When the third judgment result indicates that the second control instruction is not received, it is determined not to respond to the first control instruction, which can greatly avoid the response to the wrong instruction.

It can be understood that the aforementioned first control instruction and second control instruction may be the same control instruction, or may be different control instructions. In the case where the third judgment result indicates that the second control instruction is received or the second control instruction is received at a predetermined frequency, the traveling equipment may not only respond to the first control instruction, but also Respond to the second control instruction to realize the normal response of the traveling equipment to the correct instruction.

Explanation of the solution shown in the understanding of the third embodiment of the above method.

The technical solutions of the embodiments of the present application will be described in detail in combination with the following application scenarios.

In the following application scenarios, the feasible equipment is the robot equipment, and the control equipment used to control the robot equipment is the control terminal as an example. It can be understood that the control instructions sent by the control terminal to the robot equipment can be instructions with directional instructions such as forward, backward, turn left, turn right, etc., to realize the forward, backward, left turn, right turn, etc. of the robot equipment. action. Of course, it can also be a compound command with directional instructions, such as forward acceleration/deceleration, backward acceleration/deceleration, left turn and acceleration/deceleration, and right turn acceleration/deceleration.

The robot device in the embodiment of the present application has one or more collection units such as a camera. The camera can collect the environment image (real-time image) of the robot device in the process of traveling, and send the environment image to the control terminal, so that the operator can The environment image received by the control terminal checks the traveling environment of the robot device, and controls the traveling direction or speed of the robot device according to the environment image during the traveling process of the robot device. It can be understood that in practical applications, there may be the following problems: the operator may make a mistaken touch operation, such as accidentally pressing the back button, and then the control terminal generates an erroneous control command based on the mistaken touch operation and sends it to the robot. The technical solutions shown in the following application scenarios can solve the above problems.

Figure 4 is a schematic diagram of a real-time image collected by a robot through a camera. It can be understood that the image shown in Figure 4 was collected by the robot through a camera, and the area shown in the collected image is the visible area (non-blind area) of the robot, which is also the area where the robot can see the traveling environment of the robot through the control terminal . As shown in Figure 4, the two boundary lines (boundary lines 1 and 2) generated by the robot are used to represent its own passable area. If there is an obstacle in the passable area, the robot will hit the obstacle if it continues to move forward. It is understandable that the camera can be set at any reasonable position, such as set at the position above the head of the robot. The image collected by the camera is related to the rotation direction of the robot head, the setting position of the camera on the robot head, and the collection angle of the camera. In the case that the setting position and acquisition angle of the camera are fixed, boundary lines 1 and 2 are used to indicate that the robot's head or camera rotates a certain angle so that the camera reaches a certain direction, and the passable area in that direction is indicated Come out, the robot can decide whether to walk in this direction according to the actual traveling environment in the communication area, such as the presence or absence of obstacles.

Application scenario 1: Figure 5 is an image of a robot traveling in an indoor space. In the scene shown in Figure 5, when the robot travels from position A to position B, the robot collects real-time environmental images to the control terminal, and the operator moves forward from position A based on the real-time environmental images received by the control terminal Forward instruction to position B. After the robot advances to position B, assuming that the operator touches the forward button, the control terminal generates a forward instruction (first control instruction) based on the operator's touch on the forward button, and sends it to the robot. When the robot receives the forward instruction, the robot at position B uses its own sensor to detect whether there is an obstacle in the forward direction, and further detects that when the robot is at position B, the direction of travel indicated by the control terminal is located at the boundary in the forward direction. Whether there are obstacles in the area between lines 1 and 2. Assuming that there is an obstacle such as a sofa not far in front of the robot position B, the robot does not respond to the forward command and does not continue forward. In this way, the robot decides whether to move in the indicated direction by judging whether there is an obstacle in the forward direction indicated by the control terminal. This kind of decision whether to move forward depends on the result of its own judgment, which is equivalent to a safety protection mechanism. Compared with the solution in the related technology where the robot directly responds to the instructions sent by the control terminal, the safety protection mechanism of the robot can at least avoid Responding to the problem of waste of resources and waste of electricity caused by the wrong operation of the operator can also avoid the collision between the robot and the obstacle and ensure the safety of the robot.

Application scenario 2: As shown in Figure 5, assuming that when the robot is in position A, the operator accidentally presses the back button (the first control instruction), the control terminal generates a back instruction based on the operator's misoperation and sends a back Command to the robot. The robot receives the back instruction and uses the sensor to detect whether there is an obstacle behind. As shown in Figure 5, when the robot is at position A, there is an obstacle-wall behind the robot. The robot does not respond to the background instruction of the control instruction, at least it can be guaranteed The robot is not collided and the wrong response to misoperation is also avoided. Further, in the case of detecting that there is an obstacle in the rear, it is determined whether the rear direction of the robot is within the visible area of the robot. It can be understood that the visible area of the robot is usually the area range that can be collected by the camera of the robot, such as the front area. In the case that the rear direction of the robot is not in the visible area of the robot (outside the visible area), that is, the direction indicated by the operator's misoperation is in the blind zone of the robot. In this case, it is wrong to ensure the safety of the robot. The back command responds.

Those skilled in the art should understand that the sensor in the embodiment of the present application may be any sensor with an obstacle detection function, such as a proximity sensor, an infrared sensor, a laser sensor, and the like. The specific obstacle detection principle will not be detailed in this article. In practical applications, the sensor's detection of obstacles is affected by its environment and specifically by the noise of its environment. If the environment where the robot is noisy, there may be a problem of inaccurate detection. In order to avoid the problem that the robot cannot normally respond to correct instructions due to the inaccurate detection of the sensor, in the embodiment of the present application, the camera of the robot can collect the traveling environment in which it is located in real time and send the collected images to the control terminal. The operator can view the image through the control terminal. The embodiment of this application further combines the judgment of the operator, specifically the judgment of the real-time environment of the robot received by the operator from the control terminal, to determine whether the robot can be controlled to continue along the first Travel in the direction of travel. For details, please refer to the following application scenarios to understand.

Application scenario 3: As shown in Figure 5, assuming that the robot device is in the A position, the operator transmits the image of the traveling environment of the robot to the control terminal and finds that the robot can still travel forward, then press the forward button of the control terminal , The control terminal generates a forward instruction (first control instruction) based on the operation of the operator and sends the robot. The robot receives the forward instruction, and detects whether there is an obstacle in the passable area within the two boundary lines in the direction indicated by the control terminal through the sensor. It is assumed that the sensor is affected by the noise of the environment at this time, and a false detection result is produced: there is an obstacle in the passable area where the control terminal indicates the direction. In this application scenario, the direction indicated by the control terminal is forward. Since the area in front of the robot is the visible area of the robot, it can be considered that the direction indicated by the current control instruction-forward instruction received by the robot is in the visible area. Because the environment image of the robot seen by the operator is the image of the visible area of the robot and the image collected by the camera. Assuming that in this case, the image collected by the camera is transmitted to the control terminal without time delay or the time delay is within an easy range. At this time, the operator can manually confirm the front of the robot at this time through the real-time transmission image and it is unobstructed. You can move on. In order to control the progress of the robot, the operator presses the forward button at a certain frequency, and the control terminal generates a forward command of the corresponding frequency at the frequency of the operator presses the forward button, and sends it to the robot. When the robot receives the forward command (second control command) at a certain frequency, it can be considered that the image operator transmitted by the robot manually confirms that it can also move forward at this time. Then the robot responds to the received forward command and continues to move forward. As a result, the manual judgment is combined with the manual judgment generated by the operator through the collected real-time images. The method of whether the second control instruction of the operator is received in a certain frequency manner, that is, combined with the manual judgment, at least avoids This solves the problem that the robot cannot respond to the correct command normally due to the inaccurate detection of the sensor.

It can be understood that the aforementioned solution can also be regarded as a solution for controlling the terminal to remotely control the robot equipment. In the visible area, the result of sensor detection is not used as the basis for response, but the control command generated by the operator on the control terminal is used as the basis. Basis, considering that most of the control commands generated by humans in combination with real-time images are relatively objective, in the embodiment of this application, the control decisions generated by humans in combination with real-time images are the main control decisions in the visible area, that is, the robot detects that the control terminal indicates the direction When there are obstacles and the indicated direction is in the visual area, if the operator remotely controls the robot in this direction through the control terminal, the robot responds to the remote control instruction from the control terminal. For the robot, it is a solution that is directly 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 direction of travel. For example, the first control instruction and the second control instruction are both forward instructions, and also if the first control instruction is a forward instruction , The second control command is a forward acceleration command. If the first control instruction and the second control instruction are not the same, the robot can first respond to the first control instruction and then respond to the second control instruction. Or, respond to two control commands at the same time.

In addition, assuming that the sensor generates an error detection result and confirms that the direction indicated by the first control instruction-forward instruction received by the robot is in the visible area, if the second control instruction is not received. There may be the following reasons: 1) The image transmitted by the operator in real time is manually confirmed that there is an obstacle in front of the robot, that is, the sensor has not detected an error; 2) The operator thinks that the first control command just sent to the robot is Incorrect instructions due to careless operation. For these reasons, when the operator generates the first control instruction, the second control instruction will not be generated. The robot will not receive the second control instruction, so the robot will not respond to the first control instruction. At least it can be avoided. Resource waste caused by responding to wrong instructions.

In the foregoing solution, a reasonable duration (first duration) can also be preset, and the robot determines whether the second control instruction is received within the first duration or the second control instruction is received at a predetermined frequency within the first duration to Avoid the problem of power waste caused by the robot waiting to receive the control command for too long.

In the above application scenarios, the sensor may be at least one of the following: a camera, an infrared sensor, an ultrasonic sensor, a lidar sensor, etc. Among them, the camera collects the image of the robot's traveling environment, and automatically recognizes obstacles in the traveling environment through sensors such as sensors other than the camera, and generates a map characterized as an obstacle, and sends the obstacle map in real time To the control terminal side. Or, the automatically recognized obstacles are marked in the sent image of the traveling environment of the robot, so that the operator can quickly confirm which direction(s) of the robot there is an obstacle based on the obstacle map. In the direction of the visible area, the operator receives the environmental image collected by the camera in real time for manual confirmation. The robot trusts the operator's judgment based on the environmental image and executes the operator's remote control command. In the direction of the blind zone, the robot decides whether to respond to the command based on the result of the sensor detecting the obstacle in the indicated travel direction.

An embodiment of the present application also provides a traveling device. As shown in FIG. 7, the device includes: a receiving unit 701, a sensor 702, and a determining unit 703; wherein,

The receiving unit 701 is configured to receive a first control instruction, where the first control instruction is used at least to indicate a first traveling direction of a traveling device;

The sensor 702 is configured to determine whether there is a target object in the first traveling direction of the traveling equipment, and the target object can at least hinder the traveling of the traveling equipment in the first traveling direction to generate a first determination result;

The determining unit 703 is configured to determine whether to respond to the first control instruction at least according to the first judgment result.

As an implementation manner, the device further includes:

As an implementation manner, the determining unit 703 is configured to determine not to control the first traveling direction when the second determination result indicates that the first traveling direction is not within the visible area of the traveling equipment. Respond to instructions.

As an implementation manner, the device further includes:

Correspondingly, the determining unit 703 is configured to determine whether to respond at least to the first control instruction according to the third judgment 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 at least to respond to the first control instruction in a case where the third determination result indicates that the second control instruction is received at a predetermined frequency. At least cause the traveling equipment to travel in the first traveling direction;

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 respond to the second control instruction when the third determination result indicates that the second control instruction is received at a predetermined frequency. The traveling device is caused to travel in the same direction as indicated by the first control instruction.

The traveling equipment provided in the foregoing embodiment belongs to the same concept as the foregoing traveling method embodiment, and its specific implementation process is detailed in the method embodiment, and will not be repeated here. The aforementioned receiving unit 701 and determining unit 703 can all be implemented by digital signal processing (DSP), central processing unit (CPU), logic programming array (FPGA), controller (MCU), and the like. The sensor 702 may be at least one of the following: a camera, an infrared sensor, an ultrasonic sensor, a lidar sensor, etc.

The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, it is used to execute at least the steps of any one of the methods shown in FIGS. The computer-readable storage medium may specifically be a memory. The memory may be the memory 62 shown in FIG. 6.

The embodiment of the present application also provides a traveling equipment. FIG. 6 is a schematic diagram of the hardware structure of the traveling device according to an embodiment of the application. As shown in FIG. 6, the traveling device includes: a communication component 63 for data transmission, at least one processor 61, and a processor 61 for storing data. Memory 62 for running computer programs. The various components in the terminal are coupled together through the bus system 64. It can be understood that the bus system 64 is used to implement connection and communication between these components. In addition to the data bus, the bus system 64 also includes a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are marked as the bus system 64 in FIG. 6.

Wherein, the processor 61 executes at least the steps of any one of the methods shown in FIGS. 1 to 3 when executing the computer program.

It can be understood that the memory 62 may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory. Among them, the non-volatile memory can be read only memory (ROM, Read Only Memory), programmable read only memory (PROM, Programmable Read-Only Memory), erasable programmable read only memory (EPROM, Erasable Programmable Read- Only Memory, Electrically Erasable Programmable Read-Only Memory (EEPROM), Ferromagnetic Random Access Memory (FRAM), Flash Memory, Magnetic Surface Memory , CD-ROM, or CD-ROM (Compact Disc Read-Only Memory); magnetic surface memory can be magnetic disk storage or tape storage. The volatile memory may be random access memory (RAM, Random Access Memory), which is used as an external cache. By way of exemplary but not restrictive description, many forms of RAM are available, such as static random access memory (SRAM, Static Random Access Memory), synchronous static random access memory (SSRAM, Synchronous Static Random Access Memory), and dynamic random access Memory (DRAM, Dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, Synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (DDRSDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), enhanced -Type synchronous dynamic random access memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), synchronous connection dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, Direct Rambus Random Access Memory) ). The memory 62 described in the embodiment of the present application is intended to include, but is not limited to, these and any other suitable types of memory.

The method disclosed in the foregoing embodiment 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 with signal processing capability. In the implementation process, the steps of the foregoing method can be completed by hardware integrated logic circuits in the processor 61 or instructions in the form of software. The aforementioned processor 61 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The processor 61 may implement or execute various methods, steps, and logical block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor. Combining the steps of the method disclosed in the embodiments of the present application, it may be directly embodied as being executed and completed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, and the storage medium is located in the memory 62. The processor 61 reads the information in the memory 62 and completes the steps of the foregoing method in combination with its hardware.

In an exemplary embodiment, the traveling equipment may be configured by one or more application specific integrated circuits (ASIC, Application Specific Integrated Circuit), DSP, programmable logic device (PLD, Programmable Logic Device), complex programmable logic device (CPLD, Complex Programmable Logic Device), FPGA, general-purpose processor, controller, MCU, microprocessor (Microprocessor), or other electronic components are used to implement the aforementioned travel method.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, such as: multiple units or components can be combined, or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the coupling, or direct coupling, or communication connection between the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms of.

The units described above as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple 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, the functional units in the embodiments of the present application can all be integrated into one processing unit, or each unit can be individually used as a unit, or two or more units can be integrated into one unit; The unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc. A medium that can store program codes.

Alternatively, if the above-mentioned integrated unit of this application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application essentially or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for A computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the methods described in the various embodiments of the present application. The aforementioned storage media include: removable storage devices, ROM, RAM, magnetic disks, or optical disks and other media that can store program codes.

The methods disclosed in the several method embodiments provided in this application can be combined arbitrarily without conflict to obtain new method embodiments.

The features disclosed in the several product embodiments provided in this application can be combined arbitrarily without conflict to obtain new product embodiments.

The features disclosed in the several method or device embodiments provided in this application can be combined arbitrarily without conflict to obtain a new method embodiment or device embodiment.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application. Should be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Industrial applicability

Compared with the direct response of the traveling equipment in the related art to the received control instruction, the technical solution of the embodiment of the present application does not directly respond to the received control instruction, but according to whether there is a control instruction in the direction of travel. Responding to the judgment result of the obstacle can at least avoid the problem of waste of response resources and waste of power resources due to direct response.

Claims

A traveling method, the method includes:

Receiving a first control instruction, where the first control instruction is at least used to indicate a first traveling direction of the traveling equipment;

Determining whether there is a target object in the first traveling direction of the traveling equipment, the target object can at least hinder the traveling of the traveling equipment in the first traveling direction, and generating a first determination result;

At least according to the first judgment result, it is determined whether to respond to the first control instruction.
The method according to claim 1, wherein, in a case where the first judgment result indicates that the target object exists in the first direction of travel, the method further comprises:

Determine whether the first traveling direction is within the visible area of the traveling equipment, and generate a second determination result.
The method of claim 2, wherein:

In a case where the second judgment result indicates that the first traveling direction is not within the visible area of the traveling equipment, it is determined not to respond to the first control instruction.
The method of claim 2, wherein:

In the case where the second judgment result indicates that the first traveling direction is within the visible area of the traveling equipment,

Judging whether a second control instruction is received, the second control instruction instructing the second travel direction of the traveling equipment to be at least the same as the first travel direction instructed by the first control instruction, and a third judgment result is generated;

According to the third judgment result, it is determined whether to respond to at least the first control instruction.
The method according to claim 4, wherein said determining whether a second control instruction is received comprises:

It is determined whether the second control instruction is received at a predetermined frequency.
The method according to claim 5, wherein the determining whether to respond to at least the first control instruction according to the third judgment result comprises:

In the case where the third judgment result indicates that the second control instruction is received at a predetermined frequency, it is determined that at least the first control instruction is responded to to at least cause the traveling equipment to travel in the first traveling direction ；

In a case where the third judgment result indicates that the second control instruction is not received, it is determined not to respond to the first control instruction.
The method according to claim 6, wherein the method further comprises:

In the case where the third judgment result indicates that the second control instruction is received at a predetermined frequency, it is determined to respond to the second control instruction so as to at least cause the traveling equipment to instruct the first control instruction In the same direction.
A traveling equipment including:

A receiving unit configured to receive a first control instruction, the first control instruction being at least used to indicate a first traveling direction of the traveling equipment;

A sensor configured to determine whether there is a target object in the first traveling direction of the traveling device, the target object can at least hinder the traveling of the traveling device in the first traveling direction, and generate a first determination result ；

The determining unit is configured to determine whether to respond to the first control instruction at least according to the first determination result.
The device according to claim 8, wherein the device further comprises:

The second determining unit is configured to determine whether the first traveling direction is within the visible area of the traveling equipment when the first determining result indicates that there is a target object in the first traveling direction, and generating The second judgment result.
The device according to claim 9, wherein:

The determining unit is configured to determine not to respond to the first control instruction when the second determination result indicates that the first traveling direction is not within the visible area of the traveling equipment.
The device according to claim 9, wherein the device further comprises:

The third judging unit is configured to, when the second judging result indicates that the first traveling direction is within the visible area of the traveling equipment,

Judging whether a second control instruction is received, the second control instruction instructing the second travel direction of the traveling equipment to be at least the same as the first travel direction instructed by the first control instruction, and a third judgment result is generated;

Correspondingly, the determining unit is configured to determine whether to at least respond to the first control instruction according to the third judgment result.
The device according to claim 11, wherein:

The third determining unit is configured to determine whether the second control instruction is received at a predetermined frequency.
The device according to claim 12, wherein:

The determining unit is configured to determine at least to respond to the first control instruction to at least make the traveling equipment move toward the vehicle when the third determination result indicates that the second control instruction is received at a predetermined frequency. Traveling in the first direction of travel;

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.
The device according to claim 13, wherein:

The determining unit is configured to determine to respond to the second control instruction to at least cause the traveling equipment to move toward the same direction when the third determination result indicates that the second control instruction is received at a predetermined frequency. Travel in the same direction indicated by the first control instruction.
A computer-readable storage medium with a computer program stored thereon, which, when executed by a processor, realizes the steps of the method described in any one of claims 1 to 7.
A traveling device comprising a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor implements the steps of the method according to any one of claims 1 to 7 when the processor executes the program.