CN109062217A - To the dispatching method and device of robot crossroad - Google Patents
To the dispatching method and device of robot crossroad Download PDFInfo
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- CN109062217A CN109062217A CN201810997693.4A CN201810997693A CN109062217A CN 109062217 A CN109062217 A CN 109062217A CN 201810997693 A CN201810997693 A CN 201810997693A CN 109062217 A CN109062217 A CN 109062217A
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Automation & Control Theory (AREA)
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Abstract
The present invention relates to Internet technical fields, and in particular to the dispatching method and device of a kind of pair of robot crossroad.Wherein, the crossroad is made of the first half-duplex channel and the second half-duplex channel, the a plurality of first path in the same direction is provided on first half-duplex channel, the a plurality of second path in the same direction is provided on second half-duplex channel, the intersection point in a plurality of first path in the same direction and the second path in the same direction is the joint in respective path.This method comprises: periodically the first virtual wall of control appears in the first half-duplex channel, or periodically the second virtual wall of control appears in the second half-duplex channel, obtains updated travelling route；In turn, detect the distance value of the joint on robot real time position and robot driving path, if the distance value is within the scope of pre-determined distance, preset travel route in robot is then updated according to updated travelling route, so that robot can carry out independent navigation according to updated travel route.
Description
Technical field
The present invention relates to Internet technical fields, in particular to the dispatching method of a kind of pair of robot crossroad
And device.
Background technique
With the development of science and technology, robot in people's lives application it is more and more frequent, such as using robot into
Row patrol, food delivery, express delivery, carrying etc..Since the road conditions in current real life scene are complicated, even if robot is able to carry out
Independent navigation, when multiple robots are in moving process, if only also being held by way of robot autonomous avoidance at the parting of the ways
It is easier that there is the case where mutually obstruction at crossing in multiple robots.Therefore it provides a kind of pair of robot is passing through crossroad
The method intervened is very necessary.
Summary of the invention
The purpose of the present invention is to provide the dispatching methods of a kind of pair of robot crossroad, are passed through with realizing to robot
Intervened when crossroad, to prevent that obstruction or loop deadlock occur between multiple robots.
Another object of the present invention is to provide the dispatching devices of a kind of pair of robot crossroad, to realize to robot
Intervened when passing through crossroad, to prevent that obstruction or loop deadlock occur between multiple robots.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows:
In a first aspect, being applied to service the embodiment of the invention provides the dispatching method of a kind of pair of robot crossroad
Terminal, the crossroad are made of the first half-duplex channel and the second half-duplex channel, are provided on first half-duplex channel more
The path in the same direction of item first, second half-duplex channel are provided with a plurality of second path in the same direction, a plurality of first path in the same direction with
The intersection point in a plurality of second path in the same direction is the joint in respective path, which comprises periodically control first is virtual
Wall appears in first half-duplex channel, or periodically the second virtual wall of control appears in second half-duplex channel, is updated
Travelling route afterwards；Detect the distance value of the joint on robot real time position and the robot driving path；If described
Distance value updates preset traveling road in the robot within the scope of pre-determined distance, according to the updated travelling route
Line, so that the robot carries out independent navigation according to updated travel route.
Second aspect, the embodiment of the invention also provides the dispatching devices of a kind of pair of robot crossroad, are applied to clothes
Business terminal, the crossroad is made of the first half-duplex channel and the second half-duplex channel, is provided on first half-duplex channel
A plurality of first path in the same direction, second half-duplex channel are provided with a plurality of second path in the same direction, a plurality of first path in the same direction
Intersection point with a plurality of second path in the same direction is the joint in respective path, and described device includes: control module, for fixed
Phase controls the first virtual wall and appears in first half-duplex channel, or periodically the second virtual wall of control appears in described second unidirectionally
Channel obtains updated travelling route；Detection module, for detecting robot real time position and the robot driving path
On joint distance value；Update module, if for the distance value within the scope of pre-determined distance, according to described updated
Travelling route updates preset travel route in the robot, so that the robot is carried out according to updated travel route
Independent navigation.
The dispatching method and device of a kind of pair of robot crossroad provided in an embodiment of the present invention are applied to service eventually
End.Wherein, which is made of the first half-duplex channel and the second half-duplex channel, and a plurality of is provided on the first half-duplex channel
One path in the same direction is provided with a plurality of second path in the same direction on second half-duplex channel, a plurality of first path in the same direction with second in the same direction
The intersection point in path is the joint in respective path.Unidirectionally lead to this method comprises: periodically controlling the first virtual wall and appearing in first
Road, or periodically the second virtual wall of control appears in the second half-duplex channel, obtains updated travelling route；In turn, machine is detected
The distance value of joint on people's real time position and robot driving path, if the distance value within the scope of pre-determined distance, root
Preset travel route in robot is updated according to updated travelling route, so that robot can be according to updated traveling road
Line carries out independent navigation.It can be seen that this programme can adjust pre-determined distance model by the first virtual wall of control and the second virtual wall
The problem of enclosing the travel route of interior robot, obstruction or loop deadlock occur to avoid multiple robots.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of schematic diagram of robot travel route provided in an embodiment of the present invention.
Fig. 2 shows the signals of the process of the dispatching method of a kind of pair of robot crossroad provided in an embodiment of the present invention
Figure.
Fig. 3 shows the schematic diagram of another robot travel route provided in an embodiment of the present invention.
The functional module that Fig. 4 shows the dispatching device of a kind of pair of robot crossroad provided in an embodiment of the present invention is shown
It is intended to.
Diagram: the first half-duplex channel of 110-；The second half-duplex channel of 120-；The path in the same direction 130- first；140- second is in the same direction
Path；150- joint；The first virtual wall of 160-；The second virtual wall of 170-；Dispatching device of the 200- to robot crossroad；
210- obtains module；220- planning module；230- navigation module；240- increases module；250- control module；260- detects mould
Block；270- update module.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
The dispatching method of a kind of pair of robot crossroad provided in an embodiment of the present invention is applied in service terminal, the clothes
Business terminal may be, but not limited to, the intelligent electronic devices such as server or desktop computer.Since robot passes through independent navigation
Mode is still easy that obstruction or loop deadlock occur at the parting of the ways, and therefore, the embodiment of the present invention is by service terminal in machine
When people will be by crossroad, intervened by establishing virtual wall with the travel route to robot, to avoid multiple
The accident of obstruction or loop deadlock occurs for robot, and multiple robots are travelled according to travel route in an orderly manner.
Fig. 1 is please referred to, is a kind of schematic diagram of robot travel route provided in an embodiment of the present invention, as shown, should
Crossroad is made of the first half-duplex channel 110 and the second half-duplex channel 120, is provided on each half-duplex channel a plurality of
Path in the same direction, a robot is along a route in the same direction in half-duplex channel, it is readily appreciated that, a half-duplex channel can
Simultaneously allow by robot quantity be the path in the same direction being arranged on the half-duplex channel quantity.Specifically, first is unidirectional
It is provided with a plurality of first path 130 in the same direction on channel 110, is provided with a plurality of second path in the same direction on second half-duplex channel 120
140。
In addition, having multiple intersection points between a plurality of first path 130 in the same direction and a plurality of second path 140 in the same direction, choose
Intersection point at the crossing of rigid bifurcated is joint 150, that is, choosing the intersection point close to the direction that robot comes is joint
150.At crossroad, a plurality of path in the same direction will form joint 150, thus cause multiple robot rows to herein when
It is easy to happen obstruction or loop deadlock, the embodiment of the present invention is by providing the dispatching party of a kind of pair of robot crossroad as a result,
Method, it is dead to avoid generation obstruction or loop between robot to realize that multiple robots to row to crossroad are scheduled
Lock.
It referring to figure 2., is that the process of dispatching method of a kind of pair of robot crossroad provided in an embodiment of the present invention is shown
It is intended to, this method comprises:
Step S110 obtains the starting point and destination of the robot.
Specifically, user can at service terminal typing robot starting point and destination, under normal circumstances, the machine
People can be used for going on patrol or the multiple uses such as food delivery, the starting point and destination of the robot can according to the practical use of robot by
User sets.In addition, user can also will be originated by the way that starting point and destination are arranged in robot by robot
Ground and destination are sent to service terminal.
Step S120 is the robot in preset scene map according to the starting point of the robot and destination
Plan travel route.
Specifically, service terminal is the traveling of each robot planning personalization according to the starting point of robot and destination
Route.Meanwhile robot memory stores up scene map, and then the travel route planned is sent in robot by service terminal
And show in the scene map stored up with robot memory, so that robot can carry out independent navigation according to specific travel route
And avoidance.
Step S130 controls the robot according to the travel route and carries out independent navigation and avoidance.
I other words the robot will carry out independent navigation and avoidance according to the travel route of acquisition.
Step S140 increases third void after the robot sets out in the robot in preset scene map
Quasi- wall, to prevent the robot from retreating.
Specifically, the service terminal will be in machine after robot starts independent navigation according to the travel route planned
The position that robot sets out in preset scene map in people increases third virtual wall, and the third virtual wall is for stopping robot
It retreats.Also i other words, robot can only advance according to current travel route to other directions, and cannot draw back, so that
Robot can correctly navigate, and avoid robot and turn everywhere.
Step S150 periodically controls the first virtual wall and appears in the first half-duplex channel, or periodically the second virtual wall of control goes out
Present second half-duplex channel, obtains updated travelling route.
Also i other words, in travel route shown in Fig. 1, which will periodically be controlled on the first half-duplex channel 110
There is the first virtual wall 160, which goes ahead the robot limited on the first half-duplex channel 110, and makes
Robot on second half-duplex channel 120 preferentially passes through.In other words, which is to allow second unidirectionally to lead to
Robot on road 120 gets ahead, and then it is current to limit the robot on the first half-duplex channel 110 in the given time.
It or referring to figure 3., is the schematic diagram of another robot travel route provided in an embodiment of the present invention, the service
Terminal, which can also be controlled periodically, there is the second virtual wall 170 on the second half-duplex channel 120, which will limit second
Robot on half-duplex channel 120 goes ahead, and the robot on the first half-duplex channel 110 is preferentially passed through.In other words,
Second virtual wall 170 is and then to limit second in the given time to allow the robot on the first half-duplex channel 110 to get ahead
Robot on half-duplex channel 120 is current.
Also i other words, in the travel route for being originally used for robot planning it is that there is no virtual walls, i other words, robot
It is at the parting of the ways still to carry out independent navigation according to travel route pre-planned, due to the robot convergence amount of crossroad
Greatly, then multiple robots are easy that obstruction or loop deadlock occur at the parting of the ways.It is unidirectional periodically to regulate and control first for service terminal as a result,
Occurs the first virtual wall 160 on channel 110 so that preferentially by the robot on the second half-duplex channel 120, or regular regulation
The second virtual wall 170 for occurring on second half-duplex channel 120 so that preferentially by the robot on the first half-duplex channel 110,
By temporarily update arrive at crossroad robot travel route, with effectively prevent between robot occur obstruction or
Loop deadlock.In other words, which regulates and controls the first virtual wall 160 and appears or disappears, or the second virtual wall 170 of regulation goes out
Existing or disappearance is equivalent to and is mounted with virtual " traffic lights " in the crossroad, effectively to have standardized multiple robots
Traveling rule.
Step S160, the distance value of detection robot real time position and the joint on the robot driving path.
Specifically, be equipped with GPS navigation device in each robot, and then the robot will be oneself real time position
It is sent to service terminal.Due to robot can along a route in the same direction, which will calculate the robot
Real time position and robot with the joint 150 on a path in the same direction distance value.
Step S170, if the distance value updates institute within the scope of pre-determined distance, according to the updated travelling route
Preset travel route in robot is stated, so that the robot carries out independent navigation according to updated travel route.
Specifically, if service terminal detects the distance value of joint 150 on the real time position and same path of robot
Within the scope of pre-determined distance, then updated travelling route is increased by the first virtual wall 160 or increases by the second void by service terminal
Route after quasi- wall 170, updates preset travel route in robot, so that robot can be according to updated traveling
Route carries out independent navigation.If the half-duplex channel where robot i.e. at this time increases virtual wall, slow down travel speed or
Stopping is waited in line, to allow the robot of another half-duplex channel preferentially to pass through, if or the half-duplex channel where robot at this time
Do not increase virtual wall, then accelerates travel speed to pass through more quickly, when reducing the waiting of the robot on another half-duplex channel
Between.
It should be noted why the service terminal only updates the row of robot of the distance value within the scope of pre-determined distance
Route to be sailed, is because current robot is closer to crossroad, urgent need changes travel route by the crossroad, meanwhile,
At this time without updating the travel route of robot remotely, also improve the reaction speed of system, allow system faster
Ground updates the travel route for needing the robot passed through, has saved system resource.
It can be seen that the embodiment of the present invention provides the dispatching method of a kind of pair of robot crossroad, by four crossway
Virtual wall is periodically added or removed at two half-duplex channels of mouth, the traveling of the robot of crossroad need to be passed through with effective adjusting
Route avoids and obstruction or loop deadlock occurs between multiple robots.
Referring to figure 4., be a kind of pair of robot crossroad provided in an embodiment of the present invention dispatching device 200 function
Module diagram, the device include obtaining module 210, planning module 220, navigation module 230, increasing module 240, control module
250, detection module 260 and update module 270.
Module 210 is obtained, for obtaining the starting point and destination of the robot.
In embodiments of the present invention, step S110 can be executed by acquisition module 210.
Planning module 220, for being institute in preset scene map according to the starting point and destination of the robot
State robot planning travel route.
In embodiments of the present invention, step S120 can be executed by planning module 220.
Navigation module 230 carries out independent navigation and avoidance according to the travel route for controlling the robot.
In embodiments of the present invention, step S130 can be executed by navigation module 230.
Increase module 240, for increasing in preset scene map after the robot sets out in the robot
Third virtual wall, to prevent the robot from retreating.
In embodiments of the present invention, step S140 can be executed by increase module 240.
Control module 250 appears in first half-duplex channel for periodically controlling the first virtual wall, or periodically controls
Two virtual walls appear in second half-duplex channel, obtain updated travelling route.
In embodiments of the present invention, step S150 can be executed by control module 250.
Detection module 260, for detect the joint on robot real time position and the robot driving path away from
From value.
In embodiments of the present invention, step S160 can be executed by detection module 260.
Update module 270, if for the distance value within the scope of pre-determined distance, according to the updated travelling route
Preset travel route in the robot is updated, so that the robot is carried out according to updated travel route from leading
Boat.
In embodiments of the present invention, step S170 can be executed by update module 270.
Due to having been described in the dispatching method part to robot crossroad, details are not described herein,
In conclusion the dispatching method and device of a kind of pair of robot crossroad provided in an embodiment of the present invention, are answered
For service terminal.Wherein, which is made of the first half-duplex channel and the second half-duplex channel, sets on the first half-duplex channel
It is equipped with a plurality of first path in the same direction, a plurality of second path in the same direction is provided on the second half-duplex channel, a plurality of first path in the same direction
Intersection point with the second path in the same direction is the joint in respective path.This method comprises: periodically the first virtual wall of control appears in
First half-duplex channel, or periodically the second virtual wall of control appears in the second half-duplex channel, obtains updated travelling route；Into
And the distance value of the joint on robot real time position and robot driving path is detected, if the distance value is in pre-determined distance
In range, then preset travel route in robot is updated according to updated travelling route, so that robot can be according to more
Travel route after new carries out independent navigation.It can be seen that this programme can pass through the first virtual wall of control and the second virtual wall tune
The travel route of the robot within the scope of pre-determined distance is saved, obstruction occurs to avoid multiple robots or loop deadlock is asked
Topic.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
Claims (10)
1. the dispatching method of a kind of pair of robot crossroad, be applied to service terminal, which is characterized in that the crossroad by
First half-duplex channel and the second half-duplex channel form, and are provided with a plurality of first path in the same direction on first half-duplex channel, described
Second half-duplex channel is provided with a plurality of second path in the same direction, a plurality of first path in the same direction and a plurality of second path in the same direction
Intersection point be respective path on joint, which comprises
Periodically the first virtual wall of control appears in first half-duplex channel, or periodically the second virtual wall of control appears in described the
Two half-duplex channels obtain updated travelling route；
Detect the distance value of the joint on robot real time position and the robot driving path；
If the distance value within the scope of pre-determined distance, is updated in the robot according to the updated travelling route and is preset
Travel route so that the robot according to updated travel route carry out independent navigation.
2. the method as described in claim 1, which is characterized in that the method also includes:
After the robot sets out, increase third virtual wall in preset scene map, in the robot to prevent
State robot retrogressing.
3. the method as described in claim 1, which is characterized in that the method also includes:
Obtain the starting point and destination of the robot.
4. method as claimed in claim 3, which is characterized in that the method also includes:
It is the robot planning travel route in preset scene map according to the starting point of the robot and destination.
5. method as claimed in claim 4, which is characterized in that the method also includes:
It controls the robot and independent navigation and avoidance is carried out according to the travel route.
6. the dispatching device of a kind of pair of robot crossroad, be applied to service terminal, which is characterized in that the crossroad by
First half-duplex channel and the second half-duplex channel form, and are provided with a plurality of first path in the same direction on first half-duplex channel, described
Second half-duplex channel is provided with a plurality of second path in the same direction, a plurality of first path in the same direction and a plurality of second path in the same direction
Intersection point be joint in respective path, described device includes:
Control module appears in first half-duplex channel for periodically controlling the first virtual wall, or periodically control second is virtual
Wall appears in second half-duplex channel, obtains updated travelling route；
Detection module, for detecting the distance value of the joint on robot real time position and the robot driving path；
Update module, if updating institute according to the updated travelling route for the distance value within the scope of pre-determined distance
Preset travel route in robot is stated, so that the robot carries out independent navigation according to updated travel route.
7. device as claimed in claim 6, which is characterized in that described device further include:
Increase module, for increasing third void in preset scene map in the robot after the robot sets out
Quasi- wall, to prevent the robot from retreating.
8. device as claimed in claim 6, which is characterized in that described device further include:
Module is obtained, for obtaining the starting point and destination of the robot.
9. device as claimed in claim 8, which is characterized in that described device further include:
Planning module, for being the robot in preset scene map according to the starting point and destination of the robot
Plan travel route.
10. device as claimed in claim 9, which is characterized in that described device further include:
Navigation module carries out independent navigation and avoidance according to the travel route for controlling the robot.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110793532A (en) * | 2019-11-06 | 2020-02-14 | 深圳创维数字技术有限公司 | Path navigation method, device and computer readable storage medium |
| CN110853392A (en) * | 2019-11-12 | 2020-02-28 | 深圳创维数字技术有限公司 | Intelligent order grabbing method and device and computer readable storage medium |
| CN111360808A (en) * | 2018-12-25 | 2020-07-03 | 深圳市优必选科技有限公司 | Method and device for controlling robot to move and robot |
| CN111736606A (en) * | 2020-06-28 | 2020-10-02 | 杭州海康机器人技术有限公司 | Mobile robot driving method, device and storage medium |
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