CN109144065A - Robot preventing collision method and device - Google Patents
Robot preventing collision method and device Download PDFInfo
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- CN109144065A CN109144065A CN201810997706.8A CN201810997706A CN109144065A CN 109144065 A CN109144065 A CN 109144065A CN 201810997706 A CN201810997706 A CN 201810997706A CN 109144065 A CN109144065 A CN 109144065A
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- 238000005303 weighing Methods 0.000 description 4
- 238000005342 ion exchange Methods 0.000 description 3
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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
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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Abstract
The present invention relates to robotic technology fields, a kind of robot preventing collision method and device are provided, the described method includes: obtaining the current location information of the location information in crosspoint, the current location information of the first robot and the second robot when the preset path of the first robot and the preset path of the second robot are intersected there are path；According to preset path, the preset path of the second robot, the current location information of the first robot, the current location information of the second robot and the location information in crosspoint of the first robot, evacuation robot is determined from the first robot and the second robot and by evacuation robot；Go out to avoid evacuation waiting time and the evacuation point of robot according to the current location information of evacuation robot, by the positional information calculation in the current location information of evacuation robot and crosspoint.The present invention is by rationally determining that evacuation robot, evacuation waiting time and evacuation point realize the reasonable evacuation between the robot that meets.
Description
Technical field
The present invention relates to robotic technology fields, in particular to a kind of robot preventing collision method and device.
Background technique
Since the control system of robot itself has the ability of voluntarily planning path, when encountering barrier, robot can
Planning is re-started to current movement routine to rely on the control system of itself, realizes the autonomous evacuation of barrier, is carried out autonomous
Mobile, therefore, two Tai Huoduotai robots may be simultaneously using another channel as avoidance path, then may be at another
It meets again in channel, cannot achieve the reasonable evacuation between robot.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of robot preventing collision method and device, by rationally determine meet it is double
The priority of square robot, the evacuation time for avoiding robot and evacuation point, realize rationally keeping away between the both sides robot that meets
It allows.
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 background server the embodiment of the invention provides a kind of robot preventing collision method, backstage is taken
Business end communicated to connect per capita with the first robot and the second machine, which comprises when the first robot preset path and
There are when the intersection of path, obtain the location information in crosspoint, the current location of the first robot for the preset path of second robot
The current location information of information and the second robot；According to the preset path of the first robot, the preset path of the second robot,
The location information of the current location information of first robot, the current location information of the second robot and crosspoint, from the first machine
It determines to avoid robot and by evacuation robot in device people and the second robot；Present bit confidence according to evacuation robot
Breath is gone out to avoid the evacuation waiting time of robot by the positional information calculation in the current location information of evacuation robot and crosspoint
And evacuation point, so that evacuation robot is moved to evacuation point pause evacuation waiting time and is avoided.
Second aspect, the embodiment of the invention also provides a kind of robot avoiding device, described device include obtain module,
Determining module and evacuation module.Wherein, module is obtained to be used for when the preset path of the first robot and presetting for the second robot
There are when the intersection of path, obtain the location information in crosspoint, the current location information of the first robot and the second robot in path
Current location information；Determining module is used for preset path, the preset path of the second robot, first according to the first robot
The location information of the current location information of robot, the current location information of the second robot and crosspoint, from the first robot
And second determine evacuation robot in robot and by evacuation robot, avoid module and be used for according to the current of evacuation robot
Location information goes out to avoid evacuation of robot etc. by the positional information calculation in the current location information of evacuation robot and crosspoint
To duration and evacuation point, so that evacuation robot is moved to evacuation point pause evacuation waiting time and is avoided.
Compared with the prior art, a kind of robot preventing collision method and device provided in an embodiment of the present invention, firstly, background service
End judges whether there is path and intersects according to the preset path of the first robot and the preset path of the second robot, when there are institutes
When stating path intersection, the current of the location information in crosspoint, the current location information of the first robot and the second robot is obtained
Location information；Then, according to the preset path of the first robot, the preset path of the second robot, the first robot it is current
The location information of location information, the current location information of the second robot and crosspoint, from the first robot and the second robot
In determine evacuation robot and by evacuation robot；Finally, according to evacuation robot current location information, by evacuation machine
The current location information of people and the positional information calculation in crosspoint go out to avoid evacuation waiting time and the evacuation point of robot, so that
Evacuation robot be moved to evacuation point pause evacuation a waiting time avoided.Compared with prior art, the embodiment of the present invention is logical
It spends the priority for rationally determining the both sides robot that meets and the evacuation waiting time for avoiding robot and evacuation point, realization is met double
Reasonable evacuation between square robot.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, special embodiment below, and appended by cooperation
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 application scenarios schematic diagram that the present invention implements the robot preventing collision method provided.
Fig. 2 shows the block diagrams of background server provided in an embodiment of the present invention.
Fig. 3 shows robot preventing collision method flow chart provided in an embodiment of the present invention.
Navigation distance exemplary diagram between the preset path of the first robot of Fig. 4 and the preset path of the second robot.
Fig. 5 is the sub-step flow chart of the step S103 shown in Fig. 3.
Fig. 6 shows the block diagram of robot avoiding device provided in an embodiment of the present invention.
Icon: 100- background server；101- memory；102- storage control；103- processor；200- robot is kept away
Allow device；201- judgment module；202- obtains module；203- determining module；204- avoids module；The first robot of 300-；
The second robot of 400-.
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.
Fig. 1 is please referred to, Fig. 1 shows the application scenarios schematic diagram that the present invention implements the robot preventing collision method provided.Afterwards
Platform server-side 100 is communicated to connect with the first robot 300 and the second robot 400, and background server 100 is according to the first machine
The preset path of people 300 and the preset path of the second robot 400 judge whether there is path intersection, when there are path intersections
When, preset path, the preset path of the second robot 400, the present bit of the first robot 300 according to the first robot 300
Confidence breath, the current location information of the second robot 400 and the location information in crosspoint, from the first robot 300 and the second machine
Evacuation robot and by evacuation robot is determined in device people 400, and calculates the evacuation waiting time of evacuation robot, so as to keep away
Robot pause evacuation waiting time is allowed to be avoided.
Although it should be pointed out that only showing first robot 300 and second robot 400 in Fig. 1, simultaneously
The case where present invention is only applicable to first robot 300 and second robot 400 is not meant that, when having multiple first
Robot 300 and when multiple second robots 400, the scheme that each first robot 300 is used with each second robot 400
Be it is the same, robot preventing collision method that those skilled in the art can disclose according to an embodiment of the present invention completely is not being made
The robot in the case where multiple first robots 300 and multiple second robots 400 is realized under the premise of new innovation and creation
Preventing collision method.
Referring to figure 2., Fig. 2 shows the block diagrams of background server 100 provided in an embodiment of the present invention.Backstage takes
Business end 100 may be, but not limited to, PC (personal computer, PC), server etc..Background server 100
Operating system may be, but not limited to, Windows system, linux system etc..The background server 100 includes robot
Avoiding device 200, memory 101, storage control 102 and processor 103.
Memory 101, storage control 102 and each element of processor 103 are directly or indirectly electrically connected between each other,
To realize the transmission or interaction of data.For example, these elements can pass through one or more communication bus or signal wire between each other
It realizes and is electrically connected.Robot avoiding device 200 includes that at least one can be stored in the form of software or firmware (firmware)
In memory 101 or the software that is solidificated in the operating system (operating system, OS) of the background server 100
Functional module.Processor 103 is for executing the executable module stored in memory 101, such as 200 institute of robot avoiding device
Including software function module and computer program etc..
Wherein, memory 101 may be, but not limited to, random access memory (Random AccessMemory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 101 is for storing program, and the processor 103 executes described program after receiving and executing instruction.
Processor 103 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor 103 can be with
It is general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network
Processor, NP), speech processor and video processor etc.；Can also be digital signal processor, specific integrated circuit,
Field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be
Microprocessor or the processor 103 are also possible to any conventional processor etc..
First embodiment
Referring to figure 3., Fig. 3 shows robot preventing collision method flow chart provided in an embodiment of the present invention.This method includes
Following steps:
Step S101 judges the first robot according to the preset path of the first robot and the preset path of the second robot
Preset path and the preset path of the second robot intersect with the presence or absence of path.
In embodiments of the present invention, it is in advance the first machine that the preset path of the first robot 300, which is background server 100,
The movement routine that people 300 plans, include in the preset path of the first robot 300 at least two arrange in sequence first
Navigation spots, sequence successively approach each first navigation spots of first robot 300 according to the first navigation spots, the second robot 400
Preset path be background server 100 in advance for the second robot 400 planning movement routine, the second robot 400 it is pre-
If including at least two the second navigation spots arranged in sequence in path, the second robot 400 is according to the second navigation spots
Sequence successively each second navigation spots of approach.
As an implementation, the preset path according to the preset path of the first robot 300 and the second robot 400
The method that the preset path for judging the first robot 300 and the preset path of the second robot 400 are intersected with the presence or absence of path can
To be:
Firstly, calculating multiple navigation distances between each first navigation spots and each second navigation spots；
Secondly, being ranked up to multiple navigation distances, the minimum navigation distance in multiple navigation distances is obtained；
Finally, determining the preset path and second of the first robot when minimum navigation distance is less than default safe distance
There are path intersections for the preset path of robot.
In embodiments of the present invention, when default safe distance refers to that the first robot 300 and the second robot 400 meet,
The lowest distance value that can be passed through in the case where not changing current movement routine.For example, referring to figure 4., Fig. 4 shows
Navigation distance exemplary diagram between the preset path of one robot 300 and the preset path of the second robot 400, in Fig. 4, first
The preset path of robot 300 includes tri- the first navigation spots of A1, A2, A3, the preset path of the second robot 400 include B1,
Tri- the second navigation spots of B2, B3, default safe distance 5, A1 and B1, A1 and B2, A1 and B3, A2 and B1, A2 and B2, A2 and
Navigation distance between B3, A3 and B1, A3 and B2, A3 and B3 is respectively 6,4,12,7,3,7,10,8,6, then multiple first navigation
Minimum navigation distance is 3 in multiple navigation distances between point and multiple second navigation spots, and is less than default safe distance 5, therefore,
Determining the preset path of the preset path of the first robot 300 and the second robot 400, there are paths to intersect.
Step S102, when the preset path of the first robot and the preset path of the second robot are intersected there are path,
Obtain location information, the current location information of the first robot and the current location information of the second robot in crosspoint.
In embodiments of the present invention, each first navigation spots according to by way of sequencing have corresponding first sequence
Number, each second navigation spots according to by way of sequencing have corresponding second serial number, according to preset rules from most
Determine crosspoint in corresponding first navigation spots of small navigation distance and the second navigation spots, preset rules can be with minimum navigation away from
From serial number lesser one in corresponding first navigation spots and the second navigation spots, it is also possible to corresponding from minimum navigation distance at random
The first navigation spots and the second navigation spots in choose wherein any one.
Step S103 works as according to the preset path of the first robot, the preset path of the second robot, the first robot
The location information of front position information, the current location information of the second robot and crosspoint, from the first robot and the second machine
Evacuation robot is determined in people and by evacuation robot.
In embodiments of the present invention, firstly, according to the preset path of the first robot 300, the second robot 400 it is default
Path, the current location information of the first robot 300, the current location information of the second robot 400 and crosspoint position letter
Breath calculates the evacuation priority of the first robot 300 and the evacuation priority of the second robot 400, small by priority is avoided
Robot is determined as avoiding robot, will avoid the big robot of priority and is determined as being avoided robot.
Referring to figure 5., step S103 further includes following sub-step:
Sub-step S1031, according to the current location information of the first robot, the current location information of the second robot and friendship
First priority factors of the first robot of positional information calculation of crunode and the first priority factors of the second robot.
In embodiments of the present invention, the first priority factors of the first robot 300 for characterize the first robot 300 away from
The how far of ion-exchange crunode, the first priority factors of the second robot 400 are for characterizing the second robot 400 apart from intersection
The how far of point.
As an implementation, according to the current location information of the first robot 300, the second robot 400 it is current
The first priority factors and the second robot 400 of location information and first robot of positional information calculation 300 in crosspoint
The method of first priority factors may is that
Firstly, calculating first according to the current location information of the first robot, the current location information of the second robot
Intersecting angle between robot and the second robot.
In embodiments of the present invention, the intersecting angle between the first robot 300 and the second robot 400 can be first
Between the line of the current location and crosspoint of the current location of robot 300 and the line in crosspoint and the second robot 400
Angle, intersecting angle can be calculated by following formula:
Wherein, xcAnd ycRespectively indicate the abscissa and ordinate in crosspoint, xs1And ys1Respectively indicate the first robot 300
Current location abscissa and ordinate, xs2And ys2It respectively indicates the abscissa of the current location of the second robot 400 and indulges
Coordinate, α indicate intersecting angle.
Secondly, calculating initial evaded distance according to intersecting angle.
In embodiments of the present invention, initial evaded distance can be calculated by following formula:
Wherein,Indicate that initial evaded distance, α indicate intersecting angle, k1Indicate the first safety coefficient, k2Indicate the second peace
Overall coefficient, lqIndicate default safe distance.
Third, according to the first robot current location information and crosspoint positional information calculation go out the first robot with
The first physical distance between crosspoint.
In embodiments of the present invention, the current location information of the first robot 300 and the location information in crosspoint are applicable in
Grid coordinate indicates that the first physical distance can be calculated by following formula:
l1=| xs1-xc|+|ys1-yc|
Wherein, xcAnd ycRespectively indicate the abscissa and ordinate in crosspoint, xs1And ys1Respectively indicate the first robot 300
Current location abscissa and ordinate.
4th, the first priority factors of the first robot are obtained according to the first physical distance and initial evaded distance.
In embodiments of the present invention, the of the first robot 300 is obtained according to the first physical distance and initial evaded distance
One priority factors can specifically be accomplished by the following way: first, it is determined that the first physical distance whether be greater than initial evacuation away from
From when the first physical distance is greater than initial evaded distance, using the first physical distance as the first final evaded distance；When first
When physical distance is less than or equal to initial evaded distance, using initial evaded distance as the first final evaded distance；Then, will
First priority factors of the ratio of first physical distance and the first final evaded distance as the first robot 300.
5th, calculate the second physical distance between the current location information and crosspoint of the second robot.
In embodiments of the present invention, the second physical distance is similar with the first physical distance calculation method, and details are not described herein again.
Finally, obtaining the first priority factors of the second robot according to the second physical distance and initial evaded distance.
In embodiments of the present invention, the of the second robot 400 is obtained according to the second physical distance and initial evaded distance
One priority factors can be accomplished by the following way: first, it is determined that whether the second physical distance is greater than initial evaded distance, when
When second physical distance is greater than initial evaded distance, using the second physical distance as the second final evaded distance；When the second physics
When distance is less than or equal to initial evaded distance, using initial evaded distance as the second final evaded distance, secondly, by second
First priority factors of the ratio of physical distance and the second final evaded distance as the second robot 400.
Sub-step S1032 is calculated according to the preset path of the first robot and the current location information of the first robot
Second priority factors of the first robot, wherein the second priority factors of the first robot are that the first robot has walked
Journey accounts for the percentage of the total distance of the preset path of the first robot.
In embodiments of the present invention, the first robot 300 is in moving process, the real time position of the first robot 300 with
It might have deviation between the preset path of first robot 300, that is to say, that the first robot 300 may not be pressed strictly
It is moved according to the navigation spots in the preset path of the first robot 300, therefore, has walked distance calculating the first robot 300
When accounting for the percentage of the total distance of the preset path of the first robot 300, firstly, determining the preset path of the first robot 300
On the first navigation spots in immediate first navigation spots in current location with the first robot 300, then, according to and the first machine
The preset path of immediate first navigation spots in the current location of device people 300 and the first robot 300 calculates the first robot 300
Walked distance account for the first robot 300 preset path total distance percentage, calculation formula is as follows:
Wherein, x*And y*The abscissa and ordinate of the current location of the first robot 300 are respectively indicated, i indicates that first is pre-
If the serial number of the first navigation spots on path, m indicates the number of the first navigation spots in the first preset path, xiAnd yiRespectively indicate
The abscissa and ordinate of one navigation spots i,It indicates between the current location of the first robot 300 and the first navigation spots i
Distance, wi(xi,yi) indicate the first robot 300 preset path, (xs,ys) indicate the first robot 300 preset path
Upper (the x with the first robot 300*,y*) current location apart from nearest navigation spots, ls(xs,ys) indicate (xs,ys) and (x*,
y*The distance between), ws(xs,ys) indicate (xs,ys) composition movement routine, P1Indicate the second preferential of the first robot 300
The grade factor, liIndicate the distance between the first navigation spots i and the first navigation spots (i-1).
Sub-step S1033 is calculated according to the preset path of the second robot and the current location information of the second robot
Second priority factors of the second robot, wherein the second priority factors of the second robot are that the second robot has walked
Journey accounts for the percentage of the total distance of the preset path of the second robot.
In embodiments of the present invention, the calculation method of the second priority factors of the second robot 400 and the first robot
The calculation method of 300 the second priority factors is similar, and details are not described herein again.
Sub-step S1034, according to the first priority factors of the first robot and the second priority factors and the second machine
The first priority factors and the second priority factors of people determine evacuation robot and by evacuation robots.
In embodiments of the present invention, firstly, the first priority factors and the first robot of the first robot 300 of foundation
300 the second priority factors calculate the evacuation priority of the first robot 300, then, the according to the second robot 400
One priority factors and the second priority factors of the second robot 400 calculate the evacuation priority of the second robot 400, most
Afterwards, the low robot of priority will be avoided to be determined as avoiding robot, the high robot of priority will be avoided and be determined as being avoided
Robot.
As an implementation, according to the first robot 300 the first priority factors and the second priority factors and
The first priority factors and the second priority factors of second robot 400 determine evacuation robot and by evacuation robots
Method may is that
Firstly, being calculated according to the first priority factors of the first robot and the second priority factors of the first robot
The evacuation priority of first robot.
In embodiments of the present invention, the evacuation priority for calculating the first robot 300 can be calculated by the following formula
It arrives:
R1=a1*P11+a2*P12
Wherein, R1Indicate the evacuation priority of the first robot 300, a1Indicate the weight of the first priority factors, i.e., first
Weighing factor of the priority to evacuation priority, P11Indicate the first priority factors of the first robot 300, a2Indicate that second is excellent
The weighing factor of the weight of the first grade factor, i.e. the second priority to evacuation priority, P12Indicate the second excellent of the first robot 300
The first grade factor.
Secondly, being calculated according to the first priority factors of the second robot and the second priority factors of the second robot
The evacuation priority of second robot.
In embodiments of the present invention, the evacuation priority for calculating the second robot 400 can be calculated by the following formula
It arrives:
R2=a1*P21+a2*P22
Wherein, R2Indicate the evacuation priority of the second robot 400, a1Indicate the weight of the first priority factors, i.e., first
Weighing factor of the priority to evacuation priority, P21Indicate the first priority factors of the second robot 400, a2Indicate that second is excellent
The weighing factor of the weight of the first grade factor, i.e. the second priority to evacuation priority, P22Indicate the second excellent of the second robot 400
The first grade factor.
Third, when the evacuation priority of the first robot is greater than the evacuation priority of the second robot, by the first machine
People is determined as being avoided robot, and the second robot is determined as to avoid robot；
Finally, when the first robot evacuation priority avoids priority less than the second robot, the first robot is true
It is set to evacuation robot, and the second robot is determined as to be avoided robot.
Step S104, according to the current location information of evacuation robot, by the current location information of evacuation robot and friendship
The positional information calculation of crunode goes out to avoid evacuation waiting time and the evacuation point of robot, so that evacuation robot is moved to evacuation
Point pause evacuation waiting time is avoided.
In embodiments of the present invention, evacuation robot is to avoid priority in the first robot 300 and the second robot 400
Low robot, when avoiding robot is the first robot 300, the second robot 400 is by evacuation robot, according to evacuation
The current location information of robot goes out evacuation machine by the positional information calculation of the current location information of evacuation robot and crosspoint
The evacuation waiting time of device people is the present bit by current location information, the second robot 400 according to the first robot 300
The positional information calculation in confidence breath and crosspoint goes out the evacuation waiting time of the first robot 300, so that the first robot 300 is temporarily
Stop avoid waiting time avoided, when avoid robot be the second robot 400 when, the first robot 300 be by evacuation machine
Device people, when determining that the method for avoiding waiting time and evacuation robot are the first robots 300, the second robot 400 is to be kept away
Make the situation of robot similar.
As an implementation, according to the current location information of evacuation robot, by the current location of evacuation robot
Information and the positional information calculation in crosspoint go out to avoid the evacuation waiting time of robot, so that evacuation robot pause evacuation etc.
The method avoided to duration may is that
Firstly, obtain evacuation robot current location and crosspoint between physical distance, and according to the physics away from
From and default movement speed calculate evacuation robot first evacuation duration.
In embodiments of the present invention, when avoiding artificial first robot 300 of machine, avoid the current location of robot with
Physical distance between crosspoint is exactly the physical distance between the current location and crosspoint of the first robot 300, i.e., and first
Physical distance avoids the physics between the current location of robot and crosspoint when artificial second robot 400 of evacuation machine
Distance is exactly the physical distance between the current location and crosspoint of the second robot 400, i.e. the second physical distance, in the present invention
In embodiment, the first physical distance and the second physical distance are calculated in step s 103, so step can be direct
Obtain the physical distance between the current location and crosspoint of evacuation robot.First evacuation duration can be by avoiding robot
Current location and crosspoint between physical distance calculate and obtain divided by default movement speed, wherein default movement speed can be with
It is the average movement speed of robot.
Secondly, obtaining the final evaded distance of evacuation robot, and according to final evaded distance and default movement speed meter
Calculate the second evacuation duration of evacuation robot.
In embodiments of the present invention, when avoiding artificial first robot 300 of machine, avoid robot it is final avoid away from
From being exactly the first final evaded distance, when artificial second robot 400 of evacuation machine, the final evaded distance of robot is avoided
It is exactly the second final evaded distance.In embodiments of the present invention, the first final evaded distance and the second final evaded distance be
It is calculated in step s 103, so step can directly acquire the final evaded distance of evacuation robot.When the second evacuation
Length can calculate acquisition divided by default movement speed by avoiding the final evaded distance of robot.
The sum of the first evacuation duration for avoiding robot and the second evacuation duration for avoiding robot are used as and avoid by third
The evacuation waiting time of robot.
In embodiments of the present invention, evacuation waiting time can be calculated by following formula:
Wherein, t1Indicate the first evacuation duration, t2Indicate the second evacuation duration, v indicates default movement speed, and s indicates distance
The nearest navigation spots in the current location of robot are avoided, c indicates crosspoint, liIt indicates between navigation spots i and navigation spots (i-1)
Distance, ldIndicate the final evaded distance of evacuation robot.
Finally, determining evacuation point according to final evaded distance and the current location for avoiding robot.
In embodiments of the present invention, evacuation point is the navigation that the current location of distance evacuation robot is final evaded distance
Point, wherein the navigation spots can be located in the preset path of the first robot 300 or the preset path of the second robot 400,
Point can also be avoided i.e. not in the preset path that the preset path of the first robot 300 is not also located at the second robot 400
With the distance between current location of evacuation robot for final evaded distance not necessarily avoid a little with avoid robot
The distance between current location just be equal to final evaded distance, be also possible to evacuation point with avoid robot current location it
Between distance in the preset range of final evaded distance.For example, evacuation artificial first robot 300 of machine, the first robot
300 preset path includes that tri- navigation spots of A, B, C, final evaded distance, that is, the first final evaded distance are 5, first
The current location distance navigation point A of robot 300 is 3, and the current location distance navigation point B of the first robot 300 is 6, first
The current location distance navigation point C of robot 300 is 9, and preset range is (final evaded distance -1, final evaded distance+1),
Then determine that navigation spots B is evacuation point.In another example evacuation artificial first robot 300 of machine, the default road of the first robot 300
Diameter includes that tri- navigation spots of A, B, C, final evaded distance, that is, the first final evaded distance are 5, the first robot 300
Current location distance navigation point A is 3, and the current location distance navigation point B of the first robot 300 is 9, the first robot 300
Current location distance navigation point C is 12, and the current location distance navigation point D of the first robot 300 is 5, then navigation spots D is evacuation
Point.
In embodiments of the present invention, after determining evacuation point, if evacuation point is not in preset path, by the evacuation point
It is added in preset path, and evacuation waiting time is set, background server 100 will be added the evacuation point and evacuation is arranged and waits
The preset path of duration is sent to evacuation robot, so that evacuation robot is moved to evacuation point pause evacuation waiting time and carries out
Evacuation.
In embodiments of the present invention, by rationally determining that the first robot 300 and the second robot 400 avoid priority,
According to evacuation priority determined from the first robot 300 and the second robot 400 evacuation robot, by evacuation robot,
Evacuation waiting time and evacuation point have the advantages that compared with prior art
First, the distance using robot apart from crosspoint is pitched as the first priority factors of evacuation priority for ion-exchange
Higher priority is arranged in the closer robot of point, so that the closer robot of ion-exchange crunode passes through crosspoint, reduction pair as early as possible
The influence of the mobile efficiency of the both sides robot that path intersects.
Second, the percentage that the total distance that distance accounts for preset path has been walked by robot is excellent as avoid priority second
Higher priority is arranged for the estimated robot for first covering preset path, so that it is expected that first covering preset path in the first grade factor
Robot cover preset path as early as possible, reduce the influence that efficiency is moved to the both sides robot that path intersects.
Different weights, a side is arranged from the second priority factors according to different scenes for the first priority factors in third
Face makes the evacuation robot determined more reasonable, is applicable in the robot preventing collision method in the embodiment of the present invention
Scene it is richer.
Second embodiment
Fig. 6 is please referred to, Fig. 6 shows the block diagram of robot avoiding device 200 provided in an embodiment of the present invention.Machine
Device people avoiding device 200 is applied to background server 100 comprising judgment module 201；Obtain module 202；Determining module 203；
Avoid module 204.
Judgment module 201, the preset path for preset path and the second robot according to the first robot judge the
The preset path of one robot and the preset path of the second robot are intersected with the presence or absence of path.
In embodiments of the present invention, module 201 is obtained for executing step S101.
Module 202 is obtained, for there are paths when the preset path and the preset path of the second robot of the first robot
When intersection, the present bit confidence of the location information in crosspoint and the current location information of the first robot and the second robot is obtained
Breath.
In embodiments of the present invention, module 202 is obtained for executing step S102.
Determining module 203, for preset path, the preset path of the second robot, the first machine according to the first robot
The location information of the current location information of device people, the current location information of the second robot and crosspoint, from the first robot and
Evacuation robot is determined in second robot and by evacuation robot.
In embodiments of the present invention, determining module 203 is for executing step S103 and its sub-step S1031-S1034.
Module 204 is avoided, for the current location information of foundation evacuation robot, by the present bit confidence of evacuation robot
The positional information calculation in breath and crosspoint goes out to avoid the evacuation waiting time of robot, so that evacuation robot pause evacuation waits
Duration is avoided.
In embodiments of the present invention, evacuation module 204 is for executing step S104.
In conclusion a kind of robot preventing collision method provided by the invention and device, are applied to background server, backstage is taken
Business end communicated to connect per capita with the first robot and the second machine, which comprises when the first robot preset path and
There are when the intersection of path, obtain the location information in crosspoint and the current location of the first robot for the preset path of second robot
The current location information of information and the second robot；According to the preset path of the first robot, the preset path of the second robot,
The location information of the current location information of first robot, the current location information of the second robot and crosspoint, from the first machine
It determines to avoid robot and by evacuation robot in device people and the second robot；Present bit confidence according to evacuation robot
When breath, the evacuation for being gone out evacuation robot by the positional information calculation in the current location information of evacuation robot and crosspoint wait
It is long, so that evacuation robot pause evacuation waiting time is avoided.Compared with prior art, compared with prior art, this hair
Bright embodiment is by the rationally priority of the determining both sides robot that meets and avoids the evacuation waiting time of robot and avoids point,
Realize the reasonable evacuation between the both sides robot that meets.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
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. a kind of robot preventing collision method, which is characterized in that be applied to background server, the background server and the first machine
People and the second machine communicate to connect per capita, which comprises
When the preset path of first robot and the preset path of second robot are intersected there are path, obtains and hand over
The current location information of the location information of crunode, the current location information of first robot and second robot；
Work as according to the preset path of first robot, the preset path of second robot, first robot
The location information of front position information, the current location information of second robot and the crosspoint, from first machine
It determines to avoid robot and by evacuation robot in people and second robot；
Current location information, described by the current location information of evacuation robot and the intersection according to the evacuation robot
The positional information calculation of point goes out evacuation waiting time and the evacuation point of the evacuation robot, so that the evacuation robot is mobile
It is avoided to the evacuation point pause evacuation waiting time.
2. robot preventing collision method as described in claim 1, which is characterized in that described when the default road of first robot
When the preset path of diameter and second robot is intersected there are path, location information, first machine in crosspoint are obtained
Before the step of current location information of the current location information of people and second robot, further includes:
First robot is judged according to the preset path of first robot and the preset path of second robot
Preset path and the preset path of second robot intersect with the presence or absence of path.
3. robot preventing collision method as claimed in claim 2, which is characterized in that the preset path of first robot includes
At least two first navigation spots, the preset path of second robot include at least two second navigation spots, described according to institute
The preset path of the preset path and second robot of stating the first robot judges the preset path of first robot
The step of intersecting with the preset path of second robot with the presence or absence of path, comprising:
Calculate multiple navigation distances between each first navigation spots and each second navigation spots；
The multiple navigation distance is ranked up, the minimum navigation distance in the multiple navigation distance is obtained；
When the minimum navigation distance is less than default safe distance, the preset path and described the of first robot is determined
There are path intersections for the preset path of two robots.
4. robot preventing collision method as claimed in claim 3, which is characterized in that described when the default road of first robot
When the preset path of diameter and second robot is intersected there are path, the step of obtaining the location information in crosspoint, comprising:
Crosspoint is determined from the first navigation spots corresponding with minimum navigation distance and the second navigation spots according to preset rules.
5. robot preventing collision method as described in claim 1, which is characterized in that described according to the default of first robot
Path, the preset path of second robot, the current location information of first robot, second robot work as
The location information in front position information and the crosspoint is determined to avoid from first robot and second robot
Robot and the step of by evacuation robot, comprising:
According to the current location information of first robot, the current location information of second robot and the crosspoint
Positional information calculation go out first robot the first priority factors and second robot the first priority because
Son；
First machine is calculated according to the preset path of first robot and the current location information of the first robot
The second priority factors of people, wherein the second priority factors of first robot are that the first robot has walked distance and accounts for
The percentage of the total distance of the preset path of first robot；
Second machine is calculated according to the preset path of second robot and the current location information of the second robot
The second priority factors of people, wherein the second priority factors of second robot are that the second robot has walked distance and accounts for
The percentage of the total distance of the preset path of second robot；
First according to the first priority factors of first robot and the second priority factors and second robot
Priority factors and the second priority factors determine the evacuation robot and by evacuation robots.
6. robot preventing collision method as claimed in claim 5, which is characterized in that first according to first robot
The first priority factors and the second priority factors of priority factors and the second priority factors and second robot are true
Make the evacuation robot and the step of by evacuation robot, comprising:
It is calculated according to the first priority factors of first robot and the second priority factors of first robot
The evacuation priority of first robot；
It is calculated according to the first priority factors of second robot and the second priority factors of second robot
The evacuation priority of second robot；
When the evacuation priority of first robot is greater than the evacuation priority of second robot, by first machine
Device people is determined as described by evacuation robot, and second robot is determined as the evacuation robot；
When first robot evacuation priority is less than second robot evacuation priority, by first robot
It is determined as the evacuation robot, and second robot is determined as described by evacuation robot.
7. robot preventing collision method as claimed in claim 5, which is characterized in that described according to the current of first robot
The positional information calculation of location information, the current location information of second robot and the crosspoint goes out first machine
The step of the first priority factors of people and the first priority factors of second robot, comprising:
Described is calculated according to the current location information of first robot, the current location information of second robot
Intersecting angle between one robot and second robot；
Initial evaded distance is calculated according to the intersecting angle；
Go out first machine according to the current location information of first robot and the positional information calculation in the crosspoint
The first physical distance between people and the crosspoint；
The first priority factors of first robot are obtained according to first physical distance and the initial evaded distance；
Calculate the second physical distance between the current location information and the crosspoint of second robot；
The first priority factors of second robot are obtained according to second physical distance and the initial evaded distance.
8. robot preventing collision method as claimed in claim 7, which is characterized in that described according to first physical distance and institute
State the step of initial evaded distance obtains the first priority factors of first robot, comprising:
When first physical distance is greater than the initial evaded distance, finally kept away using first physical distance as first
Allow distance；
When first physical distance is less than or equal to the initial evaded distance, using the initial evaded distance as the
One final evaded distance；
Using the ratio of first physical distance and the described first final evaded distance as the first priority of the first robot
The factor；
It is described to obtain the first priority of second robot according to second physical distance and the initial evaded distance
The step of factor, comprising:
When second physical distance is greater than the initial evaded distance, finally kept away using second physical distance as second
Allow distance；
When second physical distance is less than or equal to the initial evaded distance, using the initial evaded distance as the
Two final evaded distances；
Using the ratio of second physical distance and the described second final evaded distance as the first priority of the second robot
The factor.
9. robot preventing collision method as claimed in claim 8, which is characterized in that the current location according to evacuation robot
Information, the positional information calculation by the current location of evacuation robot and the crosspoint go out keeping away for the evacuation robot
Allow waiting time and evacuation point, so that evacuation robot is moved to evacuation point pause evacuation the step of being avoided waiting time,
Include:
The physical distance between the current location of the evacuation robot and the position in the crosspoint is obtained, and according to the object
Reason distance and default movement speed calculate the first evacuation duration of the evacuation robot；
The final evaded distance of the evacuation robot is obtained, and according to the final evaded distance and the default movement speed
Calculate the second evacuation duration of the evacuation robot；
Evacuation waiting time by the sum of the first evacuation duration and the second evacuation duration as the evacuation robot；
The evacuation point is determined according to the current location of the evacuation robot and the final evaded distance.
10. a kind of robot avoiding device, which is characterized in that be applied to background server, the background server and the first machine
Device people and the second machine communicate to connect per capita, and described device includes:
Module is obtained, for there are paths when the preset path and the preset path of second robot of first robot
When intersection, the location information, the current location information of first robot and working as second robot in crosspoint are obtained
Front position information；
Determining module, for preset path, second robot according to first robot preset path, described
The location information of the current location information of one robot, the current location information of second robot and the crosspoint, from
Evacuation robot is determined in first robot and second robot and by evacuation robot；
Module is avoided, for the current location information according to the evacuation robot, the current location by evacuation robot
Information and the positional information calculation in the crosspoint go out evacuation waiting time and the evacuation point of the evacuation robot, so that described
Evacuation robot is moved to the evacuation point pause evacuation waiting time and is avoided.
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| CN117325185A (en) * | 2023-11-27 | 2024-01-02 | 成都越凡创新科技有限公司 | Method for removing deadlock of mobile robot and scheduling equipment |
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