CN109144064A - The control method and device that robot path shunts - Google Patents
The control method and device that robot path shunts Download PDFInfo
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- CN109144064A CN109144064A CN201810996268.3A CN201810996268A CN109144064A CN 109144064 A CN109144064 A CN 109144064A CN 201810996268 A CN201810996268 A CN 201810996268A CN 109144064 A CN109144064 A CN 109144064A
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- 230000008859 change Effects 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000000518 rheometry Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to Internet technical fields, the control method and device shunted more particularly to a kind of robot path, it is applied to service terminal, which is communicatively coupled with robot, and intervenes when robot needs to shunt the driving path of robot.This method comprises: determining whether robot needs to carry out path shunting according to the travel route of robot, if robot needs to carry out path shunting, it then controls robot and switches to shunt paths at preset shunting lane change line, if robot does not need to carry out path shunting, controls robot and advance along preset straight trip path.It can be seen that, in the embodiment of the present invention, the service terminal can determine whether robot needs to carry out path shunting according to the travel route of robot, simultaneously when robot needs to carry out path shunting, robot toggle path can be regulated and controled, to effectively prevent the problem of stopping between multiple robots.
Description
Technical field
The present invention relates to Internet technical field, a kind of shunted in particular to robot path control method 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 carries out food delivery etc. using robot.Since the road conditions in current real life scene are complicated, even if robot can
Independent navigation is carried out, when multiple robots are in moving process, if at fork crossing only by way of robot autonomous avoidance
Also it is easy so that multiple robots the case where mutually obstruction occur at crossing.It can be seen that in order to avoid multiple robots are being cut
Stop when changing crossing, while improving the saturation of same direction robot, a kind of control robot traveling road is provided
The method of diameter is very necessary.
Summary of the invention
The purpose of the present invention is to provide the control methods that a kind of robot path shunts, and are being needed with realizing to robot
The intervention in path is carried out when shunting, to prevent from stopping between multiple robots.
Another object of the present invention is to provide the control devices that a kind of robot path shunts, and are existed with realizing to robot
Needing to shunt is the intervention for carrying out path, to prevent from stopping 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 eventually the embodiment of the invention provides the control method that a kind of robot path shunts
End, the service terminal are connect with robot communication, which comprises according to the determination of the travel route of the robot
Whether robot needs to carry out path shunting；If the robot needs to carry out path shunting, the robot is controlled default
Shunting lane change line at switch to shunt paths；If the robot does not need to carry out path shunting, the Robot is controlled
Preset straight trip path advance.
Second aspect, the embodiment of the invention also provides the control devices that a kind of robot path shunts, and are applied to service
Terminal, the service terminal are connect with robot communication, and described device comprises determining that module, for according to the robot
Travel route determines whether the robot needs to carry out path shunting；Control module, if needing to carry out for the robot
Path shunts, and controls the robot and switches to shunt paths at preset shunting lane change line；If the robot does not need
Path shunting is carried out, the robot is controlled and advances along preset straight trip path.
The control method and device that a kind of robot path provided in an embodiment of the present invention shunts are applied to service eventually
End, the service terminal are communicatively coupled with robot, and are carried out when robot needs to shunt to the driving path of robot
Intervene.This method comprises: determining whether robot needs to carry out path shunting according to the travel route of robot, if robot needs
Path shunting is carried out, then controls robot and switches to shunt paths at preset shunting lane change line, if robot does not need
Path shunting is carried out, then controls robot and advances along preset straight trip path.It can be seen that in the embodiment of the present invention,
The service terminal can determine whether robot needs to carry out path shunting according to the travel route of robot, while need in robot
When carrying out path shunting, robot toggle path can be regulated and controled, to effectively prevent occurring between multiple robots
The problem of blocking.
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 the flow diagram for the control method that a kind of robot path provided in an embodiment of the present invention shunts.
Fig. 2 shows a kind of schematic diagrames of robot travel route provided in an embodiment of the present invention.
Fig. 3 shows the schematic diagram of another robot travel route provided in an embodiment of the present invention.
Fig. 4 shows the functional module signal for the control device that a kind of robot path provided in an embodiment of the present invention shunts
Figure.
Diagram: 110- shunts lane change line；120- shunts starting point；130- shunt paths；What 200- robot path shunted
Control device；210- obtains module；220- planning module；230- sending module；240- determining module；250- control 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 control method that a kind of robot path provided in an embodiment of the present invention shunts is applied to service terminal, and the service is whole
End may be, but not limited to, the intelligent electronic devices such as server or desktop computer.The service terminal and multiple robot communications connect
Connect, multiple robot can carry out independent navigation and avoidance according to the travel route of setting, if but multiple robots needs cut
Path is changed, when such as entering fork on the road, if fully relying on independent navigation, is easy to happen blocking accident, robot mutually stops
The problem of continuous contexture by self path of robot does not stall circle can occur.Therefore the embodiment of the invention provides a kind of robot paths
The control method of shunting is when robot carries out path shunting, to control robot in scheduled place transform path, to prevent
Multiple robots stop.
Fig. 1 is please referred to, is the process signal for the control method that a kind of robot path provided in an embodiment of the present invention shunts
Figure, 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 determines the travel route of the robot according to the starting point of the robot and destination.
Specifically, service terminal is the traveling of each robot planning personalization according to the starting point of robot and destination
Route.
The travel route is sent to the robot and is shown in preset scene in the robot by step S130
So that the robot carries out independent navigation in map.
Meanwhile robot memory stores up scene map, and then the travel route planned is sent to machine by service terminal
It in people and shows on the scene map stored up with robot memory, so that robot can carry out independently according to specific travel route
Navigation and avoidance.
Step S140 determines whether the robot needs to carry out path shunting according to the travel route of the robot.
Specifically, specifying that robot needs to switch in which position which position of keeping straight on the travel route of the robot
Crossing is turned round, and therefore, can determine whether robot needs to carry out path shunting according to the travel route of robot.It is easy reason
Solution, a robot when driving, can be carried out multiple path and shunt according to the travel route planned.
Step S150 controls the robot in preset shunting lane change if the robot needs to carry out path shunting
Shunt paths are switched at line.
It referring to figure 2., is a kind of schematic diagram of robot travel route provided in an embodiment of the present invention, under normal circumstances,
Robot will move ahead according to the direction of arrow meaning, if but the travel route of the robot indicates that the robot needs to switch to
Fork on the road then shows that the robot needs to carry out path shunting, and then service terminal will control robot and switch to shunting road
Diameter.Specifically, being provided with a plurality of path in the same direction in the virtual channel of robot traveling, under normal circumstances, robot is by edge
Wherein a path in the same direction travelled.Start in addition, being additionally provided in the virtual channel and shunting lane change line 110 and shunting
Point 120, when the robot needs to carry out path shunting, which will control the robot and is shunting at lane change line 110
It switches to another path in the same direction and arrives at shunting starting point 120 into shunting zone, and then from shunting starting point 120 in shunting zone
Start to carry out the terminal that traveling arrives at travel route along shunt paths 130.Also i other words, one needs to carry out path shunting
Total driving path of robot is the distance between the path of straight trip, shunting lane change line 110 to shunting starting point 120, shunts
Starting point 120 to travel route terminal sum of the distance.
Wherein, the shunting starting point 120 interval lane joint preset distance setting, the lane joint are shunt paths
With straight trip path crosspoint, and then can be spaced lane joint preset distance be provided shunt starting point 120.The preset distance
Method of determination are as follows:
Wherein, lqSafe distance between robot, N are robotic traffic, and a is that robot shunts probability, and s is machine
Speed for each person, LdTo shunt the preset distance between starting point and lane joint.
I other words the position of the shunting starting point 120 setting is apart from lane joint LdAt distance, it is clear that,
Setting position and the current machine flow of the people of the shunting starting point 120, the factors such as average speed of robot traveling are related, are
It says, when robotic traffic is bigger, which will be arranged with lane joint apart from farther position, to avoid more
Occur crowded between a robot or stops.
In addition, the shunting lane change line 110, which is also spaced, shunts the setting of another preset distance of starting point 120, the shunting lane change line
110 with the method for determination that shunts the distance between starting point 120 are as follows:
Wherein, LcTo shunt the distance that lane change line interval shunts starting point, lqSafe distance between robot, k are
The lane quantity of road setting, N are robotic traffic, and a is robot shunting
Probability, s are robot average speed.
Also i other words, the shunting lane change line 110 and the number of track-lines for shunting the distance between starting point 120 and being arranged on road
The factors such as amount, robotic traffic are related, and lane quantity, the robotic traffic for road setting of holding sway are bigger, then shunt lane change line 110
The distance between starting point 120 is bigger with shunting.The lane quantity being arranged on the road be arranged in the virtual channel it is same
Dotted line quantity to the quantity in path, in virtual channel as shown in figure.
In addition, the shunt paths can be not limited to relative to straight trip path any angle setting perpendicular to straight trip path
Mode, as the positional relationship in the shunt paths and straight trip path can be as shown in figure 3, Fig. 3 be provided in an embodiment of the present invention
Another schematic diagram of robot travel route.
Step S160 controls the robot along preset straight trip if the robot does not need to carry out path shunting
Advance in path.
Also i other words, if robot haves no need to change direction of travel, before controlling robot along preset straight trip path
Into robot can realize independent navigation and avoidance on straight trip path.
It is emphasized that signal type of the embodiment of the present invention list robot and divided at a fork crossing
The case where stream, but it is readily comprehensible, and in a travel route, a robot can be carried out multiple path and shunt, and also be
It says, multiple shunting lane change lines may be provided in the travel route of a robot and shunt starting point, so that robot
It can start transform path a preferably position.
It can be seen that the control method that a kind of robot path provided in an embodiment of the present invention shunts, by for robot
It plans travel route, while robot transform path is intervened, to effectively prevent hindering between multiple robots
Gear.Meanwhile the robot for needing to shunt reach shunt lane change line 110 before for straight trip path, by shunt lane change line 110 it
It is afterwards shunt paths；Robot without shunting is path of keeping straight on.
It referring to figure 4., is the function mould for the control device 200 that a kind of robot path provided in an embodiment of the present invention shunts
Block schematic diagram, the device include obtaining module 210, planning module 220, sending module 230, determining module 240 and control mould
Block 250.
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 determines the traveling road of the robot for the starting point and destination according to the robot
Line.
In embodiments of the present invention, step S120 can be executed by planning module 220.
Sending module 230, it is pre- for the travel route to be sent to the robot and is shown in the robot
If scene map in for the robot carry out independent navigation.
In embodiments of the present invention, step S130 can be executed by sending module 230.
Determining module 240, for determining whether the robot needs to carry out road according to the travel route of the robot
Diameter shunts.
In embodiments of the present invention, step S140 can be executed by determining module 240.
Control module 250 controls the robot at preset point if needing to carry out path shunting for the robot
Shunt paths are switched at rheology diatom；If the robot does not need to carry out path shunting, the robot is controlled along pre-
If straight trip path advance.
In embodiments of the present invention, step S150 and step S160 can be executed by control module 250.
Since the control method part shunted in robot path has been described in, details are not described herein.
In conclusion the control method and device that a kind of robot path provided in an embodiment of the present invention shunts, application
In service terminal, which is communicatively coupled with robot, and when robot needs to shunt to the traveling of robot
Intervened in path.This method comprises: determine whether robot needs to carry out path shunting according to the travel route of robot, if
Robot needs to carry out path shunting, then controls robot and switch to shunt paths at preset shunting lane change line, if machine
People does not need to carry out path shunting, then controls robot and advance along preset straight trip path.It can be seen that the present invention is real
It applies in example, which can determine whether robot needs to carry out path shunting according to the travel route of robot, while
When robot needs to carry out path shunting, robot toggle path can be regulated and controled, to effectively prevent multiple robots
Between the problem of stopping.
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 control method that a kind of robot path shunts, is applied to service terminal, the service terminal and robot communication connect
It connects, which is characterized in that the described method includes:
Determine whether the robot needs to carry out path shunting according to the travel route of the robot；
If the robot needs to carry out path shunting, controls the robot and switch to shunting at preset shunting lane change line
Path；
If the robot does not need to carry out path shunting, controls the robot and advance along preset straight trip path.
2. the method as described in claim 1, which is characterized in that if the robot needs to carry out path shunting, control
The step of robot switches to shunt paths at preset shunting lane change line include:
If the robot needs to carry out path shunting, control the robot switched at preset shunting lane change line it is default
Shunting starting point enter shunting zone；
The robot is controlled to be travelled in the shunting zone along the shunt paths.
3. method according to claim 2, which is characterized in that shunting starting point interval lane joint preset distance,
The lane joint is the crosspoint of the shunt paths and path of keeping straight on, the shunting starting point and the lane joint
Between preset distance method of determination are as follows:
Wherein, lqSafe distance between robot, N are robotic traffic, and a is that robot shunts probability, and s is flat for robot
Equal speed, LdTo shunt the preset distance between starting point and lane joint.
4. method according to claim 2, which is characterized in that shunting starting point described in shunting lane change line interval is another pre-
Set a distance, the close method of determination of another preset distance are as follows:
Wherein, LcTo shunt the distance that lane change line interval shunts starting point, lqSafe distance between robot, k are on road
The lane quantity of setting, N are robotic traffic, and a is that robot shunts probability, and s is robot average speed.
5. 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；
The travel route of the robot is determined according to the starting point of the robot and destination；
The travel route is sent to the robot and is shown in the robot in preset scene map for institute
It states robot and carries out independent navigation.
6. the control device that a kind of robot path shunts, is applied to service terminal, the service terminal and robot communication connect
It connects, which is characterized in that described device includes:
Determining module, for determining whether the robot needs to carry out path shunting according to the travel route of the robot；
Control module controls the robot in preset shunting lane change if needing to carry out path shunting for the robot
Shunt paths are switched at line；
If the robot does not need to carry out path shunting, controls the robot and advance along preset straight trip path.
7. device as claimed in claim 6, which is characterized in that the control module is specifically used for: if the robot needs
Path shunting is carried out, the robot is controlled and switches to preset shunting starting point at preset shunting lane change line and enter shunting
Area；
The robot is controlled to be travelled in the shunting zone along the shunt paths.
8. device as claimed in claim 7, which is characterized in that shunting starting point interval lane joint preset distance,
The lane joint is the crosspoint of the shunt paths and path of keeping straight on, the shunting starting point and the lane joint
Between preset distance method of determination are as follows:
Wherein, lqSafe distance between robot, N are robotic traffic, and a is that robot shunts probability, and s is flat for robot
Equal speed, LdTo shunt the preset distance between starting point and lane joint.
9. device as claimed in claim 7, which is characterized in that shunting starting point described in shunting lane change line interval is another pre-
Set a distance, the close method of determination of another preset distance are as follows:
Wherein, LcTo shunt the distance that lane change line interval shunts starting point, lqSafe distance between robot, k are on road
The lane quantity of setting, N are robotic traffic, and a is that robot shunts probability, and s is robot average speed.
10. device as claimed in claim 6, which is characterized in that described device includes:
Module is obtained, for obtaining the starting point and destination of the robot；
Planning module determines the travel route of the robot for the starting point and destination according to the robot；
Sending module, for the travel route to be sent to the robot and is shown in preset scene in the robot
So that the robot carries out independent navigation in map.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810996268.3A CN109144064B (en) | 2018-08-29 | 2018-08-29 | Robot path shunting control method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810996268.3A CN109144064B (en) | 2018-08-29 | 2018-08-29 | Robot path shunting control method and device |
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| CN109144064A true CN109144064A (en) | 2019-01-04 |
| CN109144064B CN109144064B (en) | 2021-09-10 |
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| CN105739504A (en) * | 2016-04-13 | 2016-07-06 | 上海物景智能科技有限公司 | Working area ranking method and ranking system for robot |
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| CN107967500A (en) * | 2017-10-18 | 2018-04-27 | 旗瀚科技有限公司 | A kind of scheduling system of more magnetic navigation meal delivery robots |
-
2018
- 2018-08-29 CN CN201810996268.3A patent/CN109144064B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8935046B2 (en) * | 2008-01-18 | 2015-01-13 | Garmin Switzerland Gmbh | Navigation device |
| CN105739504A (en) * | 2016-04-13 | 2016-07-06 | 上海物景智能科技有限公司 | Working area ranking method and ranking system for robot |
| CN107515610A (en) * | 2017-09-25 | 2017-12-26 | 芜湖智久机器人有限公司 | A kind of anticollision AGV dolly management systems |
| CN107967500A (en) * | 2017-10-18 | 2018-04-27 | 旗瀚科技有限公司 | A kind of scheduling system of more magnetic navigation meal delivery robots |
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| CN109144064B (en) | 2021-09-10 |
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