CN110370270A - A kind of method and apparatus for preventing robot from colliding - Google Patents

A kind of method and apparatus for preventing robot from colliding Download PDF

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Publication number
CN110370270A
CN110370270A CN201811187970.1A CN201811187970A CN110370270A CN 110370270 A CN110370270 A CN 110370270A CN 201811187970 A CN201811187970 A CN 201811187970A CN 110370270 A CN110370270 A CN 110370270A
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CN
China
Prior art keywords
route
interference region
mark
point
sub
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CN201811187970.1A
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Chinese (zh)
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CN110370270B (en
Inventor
蔡卫卫
段蕾
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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Priority to CN201811187970.1A priority Critical patent/CN110370270B/en
Publication of CN110370270A publication Critical patent/CN110370270A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a kind of method and apparatus for preventing robot from colliding, and are related to field of computer technology.One specific embodiment of this method includes: benchmark point set of the passage path plane-generating from starting point to target point, obtains the corresponding interference region mark of datum mark of benchmark point set；According to the corresponding interference region mark of datum mark, benchmark point set is split, interference region mark is respectively set to split obtained a plurality of sub-route；Corresponding interference region is locked according to the interference region of sub-route mark, route instruction is issued after locking successfully, so that robot enters interference region；Wherein, interference region is to be divided according to the distribution situation of datum mark in target area to datum mark.This method divides interference region in advance, and interference region is arranged for sub-route and identifies, and locks corresponding interference region to identify according to the interference region of sub-route, guarantees to can only enter a robot in interference region, avoids robot and collide.

Description

A kind of method and apparatus for preventing robot from colliding
Technical field
The present invention relates to computer field more particularly to a kind of method and apparatus for preventing robot from colliding.
Background technique
Robot control system will do it path planning after receiving the task that up-stream system is sent, with obtain from Starting point to target point by way of benchmark point set；Benchmark point set is issued to robot, each base of benchmark point set It is provided with datum mark number on schedule, robot parses the location information that datum mark number obtains corresponding datum mark, later can edge The corresponding track of benchmark point set be moved to target point.Wherein, the robot, such as transportation robot (unmanned fork lift), Sweeping robot etc..
After robot when target area is more than one, the anticollision effect between robot whether can to robot On time, the goods task that takes, puts that up-stream system issues is completed according to quantity to make a big impact.Anticollision scheme between robot is divided into The anticollision mechanism of hardware view and the anticollision mechanism of software view.The anticollision mechanism of hardware view rely primarily on laser, Barrier around the detection of the detectors such as radar, if having barrier around detecting, according to the distance of barrier into Row acceleration and deceleration, to stop before encountering barrier.The anticollision mechanism of software view relies primarily on lock point mechanism and realizes, It, therefore can be by locking and discharging datum mark, to control the movement of robot since robot is moved between datum mark Situation.
In realizing process of the present invention, at least there are the following problems in the prior art for inventor's discovery:
(1) the anticollision mechanism of hardware view relies on detector, cannot detect surrounding machine people in time for detector The case where, for example the robot travelled in opposite directions in intersection causes since detector cannot detect opposite robot in time Collide all standing；
(2) the anticollision mechanism of software view requires that each datum mark that robot passes by is locked and discharged, meeting Robot low running speed is caused, task execution efficiency is influenced；And simple lock point mechanism is relied on, it may make in duplicate rows section Into more robots, cause the robot being introduced into can not reversed.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of method and apparatus for preventing robot from colliding, by according to target The distribution situation of datum mark divides interference region in region, and the subsequent benchmark point set by from starting point to target point splits into son Routing, and interference region is set for sub-route and is identified, with robot carry out according to sub-route it is mobile before, according to the dry of sub-route Area identification is related to, corresponding interference region is locked, guarantees to can only enter a robot in interference region, avoid in interference region Robot collide.
To achieve the above object, according to an aspect of an embodiment of the present invention, provide it is a kind of prevent robot collide Method.
A kind of method for preventing robot from colliding of the embodiment of the present invention, comprising: passage path plane-generating is from starting point To the benchmark point set of target point, the corresponding interference region mark of datum mark of the benchmark point set is obtained；According to the base Corresponding interference region mark on schedule, the benchmark point set is split, and is set respectively to split obtained a plurality of sub-route Set interference region mark；Lock corresponding interference region according to the interference region of sub-route mark, after locking successfully under Route instruction is sent out, so that robot enters the interference region；Wherein, the interference region is according to datum mark in target area Distribution situation, the datum mark is divided.
Optionally, according to the distribution situation of datum mark in target area, the datum mark is divided to obtain interference region Domain, comprising: the datum mark for belonging to any one following situation in target area is divided into an interference region: adjacent institute The size that the distance between datum mark is less than or equal to the robot is stated, the datum mark is located at intersection, the datum mark It is located in tunnel and tunnel entrance positioned at straight line and camber line infall and the datum mark；The method also includes: for institute The datum mark setting interference region stated in interference region identifies.
Optionally, described to split the benchmark point set, for split obtained a plurality of sub-route be respectively set it is dry Relate to area identification, comprising: the benchmark point set is traversed, if current base point is first point of the benchmark point set, It is identified according to the interference region of the current base point and next datum mark, the current base point is added to current sub-route Point set in, next datum mark is added in the point set of the current sub-route or new sub-route, is described Interference region mark is respectively set in current sub-route and the new sub-route, and the new sub-route is updated to the current sub- road By identifying setting lock area flag according to the interference region of next datum mark；If the current base point is the benchmark Other points of point set are then identified according to the interference region of the lock area flag and next datum mark, will be described next Datum mark is added in the point set of the current sub-route or next new sub-route, under being the current sub-route and being described Interference region mark is respectively set in one new sub-route, and next new sub-route is updated to the current sub-route；Wherein, institute Stating other points is the datum mark in the benchmark point set in addition to first point.
Optionally, described that setting lock area flag is identified according to the interference region of next datum mark, comprising: to judge institute The interference region for stating next datum mark identifies whether as sky, will be described if the interference region of next datum mark is identified as sky Lock area flag is set to false as；If the interference region mark of next datum mark is not sky, the lock area flag is set It is set to true.
Optionally, described that the current base point is added in the point set of current sub-route, by next benchmark Point is added in the point set of the current sub-route or new sub-route, is the current sub-route and the new sub-route point Not She Zhi interference region identify, comprising: if the interference region of current base point and next datum mark mark be not Sky, and it is identical, then the current base point and next datum mark are added in the point set of current sub-route, it will be described The interference region mark of current sub-route is set as the interference region mark of the current base point；If the current base point and The interference region mark of next datum mark is not sky, and different, then is added to the current base point described current In the point set of sub-route, it sets the interference region mark of the current sub-route to the interference region of the current base point Mark, the current sub-route is added in route set, new sub-route is generated, and next datum mark is added to described In the point set of new sub-route, it sets the interference region mark of the new sub-route to the interference region of next datum mark Mark；If the interference region mark of the current base point is not sky, the interference region of next datum mark is identified as sky, then The current base point is added in the point set of the current sub-route, the interference region of the current sub-route is identified It is set as the interference region mark of the current base point, the current sub-route is added in the route set, is generated Next datum mark is added in the point set of the new sub-route by the new sub-route；If the current base point Interference region is identified as sky, and the interference region mark of next datum mark is not sky, then is added to the current base point In the point set of the current sub-route, the current sub-route is added in the route set, generates the road Xin Zi By next datum mark being added in the point set of the new sub-route, the interference region of the new sub-route being identified It is set as the interference region mark of next datum mark；If the interference region of the current base point and next datum mark Mark is sky, then the current base point and next datum mark is added in the point set of the current sub-route.
Optionally, the point set that next datum mark is added to the current sub-route or next new sub-route In conjunction, interference region mark is respectively set for the current sub-route and next new sub-route, comprising: if the lock region Mark is that very, the interference region mark of next datum mark identifies phase for sky and with the interference region of the current sub-route Together, then next datum mark is added in the point set of the current sub-route；If the lock area flag be it is true, it is described The interference region mark of next datum mark is for sky and different with the interference region of current sub-route mark, then works as by described in Preceding sub-route is added in route set, generates next new sub-route, the current base point and next datum mark are added It is added in the point set of next new sub-route, sets described next for the interference region mark of next new sub-route The interference region of datum mark identifies；If the lock area flag is true, and the interference region of next datum mark is identified as sky, The lock area flag is then updated to vacation, the current sub-route is added in the route set, is generated described next The current base point and next datum mark are added in the point set of next new sub-route by new sub-route, will The interference region mark of next new sub-route is set as the interference region mark of next datum mark；If the lock region Mark is false, and the interference region of next datum mark is identified as not empty, then is updated to the lock area flag very, by institute It states current sub-route to be added in the route set, generates next new sub-route, by the current base point and described Next datum mark is added in the point set of next new sub-route, and the interference region mark of next new sub-route is set It is set to the interference region mark of next datum mark；If the lock area flag is false, and the interference of next datum mark Area identification is sky, then is added to next datum mark in the point set of the current sub-route.
Optionally, the method also includes: judge next datum mark whether be the benchmark point set last It is a, if next datum mark is the last one point of the benchmark point set, the current sub-route is added to institute It states in route set；If next datum mark is not the last one point of the benchmark point set, from the benchmark point set New current base point and new next datum mark are taken out in conjunction, using the new current base point as the current base point, by institute New next datum mark is stated as next datum mark.
Optionally, the method also includes: according to sub-route described in the currently performed route instruction of the robot The interference region of starting point and ending point identifies and the location information of the robot, judges whether the robot leaves The interference region；If the robot leaves the interference region, the interference region of the starting point ownership is discharged.
Optionally, described to judge whether the robot leaves the interference region, comprising: if the starting of the sub-route The interference region mark of point is not sky, and the interference region of the terminating point is identified as sky, and the robot leaves the termination When point, illustrate that the robot leaves the interference region；If the interference region mark of the starting point and ending point of the sub-route Know to be empty and different, and when the robot leaves the terminating point, illustrates that the robot leaves the interference region Domain.
To achieve the above object, according to another aspect of an embodiment of the present invention, provide it is a kind of prevent robot collide Device.
A kind of device for preventing robot from colliding of the embodiment of the present invention, comprising: generate and obtain module, be used for passage path Benchmark point set of the plane-generating from starting point to target point obtains the corresponding interference region of datum mark of the benchmark point set Mark；Setup module is split, for being identified according to the corresponding interference region of the datum mark, the benchmark point set is torn open Point, interference region mark is respectively set to split obtained a plurality of sub-route；Locking issues module, for according to the sub-route Interference region mark lock corresponding interference region, route instruction is issued after lock successfully, so that described in robot entrance Interference region；Wherein, the interference region is to be drawn according to the distribution situation of datum mark in target area to the datum mark Get.
Optionally, described device further include: interference region division module, it is following any one for will belong in target area The datum mark of kind situation is divided into an interference region: the distance between adjacent described datum mark is less than or equal to the machine The size of people, the datum mark are located at intersection, and the datum mark is located at straight line and camber line infall and the datum mark In tunnel and the entrance of tunnel；And interference region is set for the datum mark in the interference region and is identified.
Optionally, the fractionation setup module, is also used to: the benchmark point set is traversed, if current base point is described First point of benchmark point set is then identified according to the interference region of the current base point and next datum mark, is worked as by described in Preceding datum mark is added in the point set of current sub-route, and next datum mark is added to the current sub-route or new In the point set of sub-route, interference region mark is respectively set for the current sub-route and the new sub-route, it will be described new Sub-route is updated to the current sub-route, identifies setting lock area flag according to the interference region of next datum mark；With And if current base point be the benchmark point set other points, according to the lock area flag and next benchmark Next datum mark, is added to the point set of the current sub-route or next new sub-route by the interference region mark of point In, interference region mark is respectively set for the current sub-route and next new sub-route, by next new sub-route It is updated to the current sub-route；Wherein, other described points are the base in the benchmark point set in addition to first point On schedule.
Optionally, the fractionation setup module, is also used to: judge the interference region of next datum mark identify whether as The lock area flag is set to false as by sky if the interference region of next datum mark is identified as sky；And if it is described under The interference region mark of one datum mark is not sky, then sets true for the lock area flag.
Optionally, the fractionation setup module, is also used to: if the interference of current base point and next datum mark Area identification is not sky, and identical, then the current base point and next datum mark is added to current sub-route In point set, the interference region that the interference region mark of the current sub-route is set as the current base point is identified；If The interference region of the current base point and next datum mark mark is not sky, and different, then by the current base Point is added in the point set of the current sub-route, sets described current for the interference region mark of the current sub-route The interference region of datum mark identifies, and the current sub-route is added in route set, new sub-route is generated, will be described next Datum mark is added in the point set of the new sub-route, sets described next for the interference region mark of the new sub-route The interference region of datum mark identifies；If the interference region mark of the current base point is not sky, next datum mark is done Area identification is related to as sky, then the current base point is added in the point set of the current sub-route, by the current son The interference region mark of routing is set as the interference region mark of the current base point, and the current sub-route is added to institute It states in route set, generates the new sub-route, next datum mark is added in the point set of the new sub-route；If The interference region of the current base point is identified as sky, and the interference region mark of next datum mark is not sky, then will be described Current base point is added in the point set of the current sub-route, and the current sub-route is added to the route set In, the new sub-route is generated, next datum mark is added in the point set of the new sub-route, by the road Xin Zi By interference region mark be set as next datum mark interference region mark；And if current base point and described The interference region mark of next datum mark is sky, then the current base point and next datum mark is added to described work as In the point set of preceding sub-route.
Optionally, the fractionation setup module, is also used to: if the lock area flag be it is true, next datum mark Interference region mark then adds next datum mark not to be empty and identical as the interference region mark of the current sub-route Into the point set of the current sub-route；If the lock area flag is true, the interference region mark of next datum mark It is for sky and different with the interference region of current sub-route mark, then the current sub-route is added to route set In, next new sub-route is generated, the current base point and next datum mark are added to next new sub-route In point set, the interference region that the interference region mark of next new sub-route is set as next datum mark is identified； If the lock area flag is true, and the interference region of next datum mark is identified as sky, then more by the lock area flag It is newly vacation, the current sub-route is added in the route set, next new sub-route is generated, by the current base It is added on schedule with next datum mark in the point set of next new sub-route, by the interference of next new sub-route Area identification is set as the interference region mark of next datum mark；If the lock area flag is false, and next base Interference region on schedule is identified as not empty, then is updated to very the lock area flag, the current sub-route is added to institute It states in route set, generates next new sub-route, the current base point and next datum mark are added to described In the point set of next new sub-route, next datum mark is set by the interference region mark of next new sub-route Interference region mark；And if the lock area flag is false, and the interference region of next datum mark is identified as sky, then will Next datum mark is added in the point set of the current sub-route.
Optionally, described device further include: update module is judged, for judging whether next datum mark is the base The last one point gathered on schedule is worked as by described in if next datum mark is the last one point of the benchmark point set Preceding sub-route is added in the route set；If next datum mark is not the last one point of the benchmark point set, New current base point and new next datum mark are then taken out from the benchmark point set, using the new current base point as described in Current base point, using new next datum mark as next datum mark.
Optionally, described device further include: release module is judged, for referring to according to the currently performed routing of the robot The interference region of the starting point and ending point of sub-route described in order identifies and the location information of the robot, judges institute State whether robot leaves the interference region；And if the robot leaves the interference region, discharges the starting The interference region of point ownership.
Optionally, the judgement release module, is also used to: if the interference region mark of the starting point of the sub-route is not Sky, the interference region of the terminating point are identified as sky, and when the robot leaves the terminating point, illustrate the robot from Open the interference region；And if the interference region mark of the starting point and ending point of the sub-route is to be empty and different, And when the robot leaves the terminating point, illustrate that the robot leaves the interference region.
To achieve the above object, according to an embodiment of the present invention in another aspect, providing a kind of electronic equipment.
The a kind of electronic equipment of the embodiment of the present invention, comprising: one or more processors；Storage device, for storing one A or multiple programs, when one or more of programs are executed by one or more of processors, so that one or more A processor realizes a kind of method for preventing robot from colliding of the embodiment of the present invention.
To achieve the above object, according to an embodiment of the present invention in another aspect, providing a kind of computer-readable medium.
A kind of computer-readable medium of the embodiment of the present invention, is stored thereon with computer program, and described program is processed A kind of method for preventing robot from colliding of the embodiment of the present invention is realized when device executes.
One embodiment in foregoing invention has the following advantages that or the utility model has the advantages that previously according to datum mark in target area Distribution situation divide interference region, the subsequent benchmark point set by from starting point to target point splits into sub-route, and is son Routing setting interference region identifies, to be identified according to the interference region of sub-route before robot carries out movement according to sub-route, Corresponding interference region is locked, guarantees to can only enter a robot in interference region, avoids the machine human hair in interference region Raw collision；According to the distribution situation of datum mark in target area, interference region is divided, it can be by hardware view anticollision mechanism not The region division of collision can be prevented into interference region, and do not lock hardware view anticollision mechanism to prevent the region of collision Datum mark, it is not only complementary with hardware view anticollision mechanism, but improve robot execute task efficiency；By according to interference Area identification and lock area flag split benchmark point set, make the datum mark of each sub-route will not be in multiple interference regions It is interior, effectively robot is avoided to collide；According to the into or out interference region of robot, interference region is locked or is released It puts, rationally utilizes resource, avoid interference with more robots of appearance in region and cause to collide.
Further effect possessed by above-mentioned non-usual optional way adds hereinafter in conjunction with specific embodiment With explanation.
Detailed description of the invention
Attached drawing for a better understanding of the present invention, does not constitute an undue limitation on the present invention.Wherein:
Fig. 1 is the schematic diagram of the key step of the method according to an embodiment of the present invention for preventing robot from colliding；
Fig. 2 is the main flow schematic diagram of the method according to an embodiment of the present invention for preventing robot from colliding；
Fig. 3 is the interference region division result schematic diagram for interleaving route of the embodiment of the present invention；
Fig. 4 is the schematic illustration of the locking interference region of the embodiment of the present invention；
Fig. 5 is the main flow schematic diagram that benchmark point set is split in the embodiment of the present invention；
Fig. 6 is the schematic diagram of the main modular of the device according to an embodiment of the present invention for preventing robot from colliding；
Fig. 7 is that the embodiment of the present invention can be applied to exemplary system architecture figure therein；
Fig. 8 is the structural schematic diagram for being suitable for the computer installation of the electronic equipment to realize the embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing, an exemplary embodiment of the present invention will be described, including the various of the embodiment of the present invention Details should think them only exemplary to help understanding.Therefore, those of ordinary skill in the art should recognize It arrives, it can be with various changes and modifications are made to the embodiments described herein, without departing from scope and spirit of the present invention.Together Sample, for clarity and conciseness, descriptions of well-known functions and structures are omitted from the following description.
The technical term being related in the embodiment of the present invention is explained below.
Datum mark: being used for the fixed point of positioning robot in target area, the fixed point is artificially arranged.
Interference region: the region that robot may collide.
Sub-route: it is identified including at least one datum mark and interference region.
Route set: the set including multiple sub-routes.
Route instruction: being handed down to the instruction of robot, including travel commands, charging instruction, lifts pallet fork instruction, puts down goods Interdigital order etc..
Section: the line segment being made of datum mark is a part of robot motion track.
Fig. 1 is the schematic diagram of the key step of the method according to an embodiment of the present invention for preventing robot from colliding.Such as Fig. 1 institute Show, the method for preventing robot from colliding of the embodiment of the present invention mainly includes the following steps:
Step S101: benchmark point set of the passage path plane-generating from starting point to target point obtains the datum mark The corresponding interference region mark of the datum mark of set.According to the distribution situation of datum mark in target area, in advance to the benchmark Point is divided to obtain at least one interference region, and interference region is arranged for the datum mark in the interference region and identifies.When After robot control system receives the task that up-stream system is sent, path planning will do it, generate from starting point to target Point by way of benchmark point set, obtain later all datum marks in the benchmark point set interference region mark.Wherein, described First point of benchmark point set is the starting point, the last one point of the benchmark point set is the target point.
Step S102: it is identified according to the corresponding interference region of the datum mark, the benchmark point set is split, is It splits obtained a plurality of sub-route and interference region mark is respectively set.Machine can't be disposably issued to after obtaining benchmark point set Device people, but the datum mark in benchmark point set is split to obtain the route set including multiple sub-routes.Specific implementation When need to be traversed for benchmark point set, if current base point be the benchmark point set first point, according to the current base It is identified on schedule with the interference region of next datum mark, the current base point is added in the point set of current sub-route, it will Next datum mark is added in the point set of the current sub-route or new sub-route, for the current sub-route and institute It states new sub-route and interference region mark is respectively set, the new sub-route is updated to the current sub-route, under described The interference region mark setting lock area flag of one datum mark.If the current base point is other of the benchmark point set Point then identifies according to the interference region of the lock area flag and next datum mark, next datum mark is added to It is the current sub-route and next new sub-route point in the point set of the current sub-route or next new sub-route Not She Zhi interference region identify, next new sub-route is updated to the current sub-route.
Step S103: corresponding interference region is locked according to the interference region of sub-route mark, after locking successfully Route instruction is issued, so that robot enters the interference region；Wherein, the interference region is according to benchmark in target area The distribution situation of point, divides the datum mark.The interference region and robot mark are stored in database The locking relation of knowledge illustrates the interference region not by any machine if the corresponding robot identity of the interference region is sky Device people locking, can increase the robot identity, in the locking relation at this time to lock the interference region.It locks successfully Afterwards, the sub-route is issued to by robot by route instruction, so that the robot is according to described in sub-route entrance Interference region.
Fig. 2 is the main flow schematic diagram of the method according to an embodiment of the present invention for preventing robot from colliding.Such as Fig. 2 institute Show, the method for preventing robot from colliding of the embodiment of the present invention mainly includes the following steps:
Step S201: according to the distribution situation of datum mark in target area, the datum mark is divided to obtain at least Corresponding interference region mark is arranged for the datum mark in one interference region.In embodiment, hardware view anticollision will be passed through Mechanism, the bad region division for avoiding robot from colliding are subsequent to be locked for these datum marks into interference region With release, the short slab of hardware view anticollision mechanism is made up, and improves the efficiency that robot executes task.Specific division principle can Think it is such as following any one or it is a variety of: (1) by datum mark densely distributed in target area, be divided into an interference region In domain；(2) datum mark of intersection will be located at, be divided into an interference region；(3) straight line and camber line infall will be located at Datum mark, be divided into an interference region；(4) datum mark in tunnel with tunnel entrance will be located at, be divided into one In interference region.The interference region is identified as interference region number.On the basis of point setting interference region identify purpose be mark Know which interference region datum mark belongs to.If the corresponding interference region of datum mark is identified as sky, illustrate that the datum mark is not returned Belong to any one interference region.
In above-mentioned 1st kind of principle, distribution whether intensive judgment basis, can be the distance between adjacent reference point and be less than Equal to the size of robot, a robot can not be accommodated between two datum marks at this time, therefore needs to divide these datum marks Into an interference region, to guarantee that Liang Liang robot will not collide.2nd kind of principle is for preventing due to opposite unexpected Shi Lai robot, the case where causing detector that can not detect.Between 3rd kind of principle can prevent between the datum mark of infall The case where away from that can not accommodate a robot, and collide.4th kind of principle can guarantee to can only enter one in a tunnel Robot, the robot be free to enter and exit at this time.
Fig. 3 is the interference region division result schematic diagram for interleaving route of the embodiment of the present invention.As shown in figure 3, handing over Cross road mouth has a section 1 and section 2, includes datum mark 2 in section 1, includes datum mark 2, datum mark 9 and datum mark 10 in section 2, And section 1 and section 2 are intersected in datum mark 2.Assuming that robot 1 is from left to right (in the direction of arrows) mobile in section 1, robot 2 move in the direction of arrows in section 2, will if the distance between datum mark 9 and datum mark 10 are greater than the size of robot 2 Datum mark 2 and datum mark 9 are divided into an interference region；If the distance between datum mark 9 and datum mark 10 are less than or equal to machine Datum mark 2, datum mark 9 and datum mark 10 are then divided into an interference region by the size of device people 2.
Step S202: benchmark point set of the passage path plane-generating from starting point to target point obtains the datum mark The corresponding interference region mark of the datum mark of set.Robot control system after receiving the task that up-stream system is sent, Will do it path planning generate from starting point to target point by way of benchmark point set.It later, is all in benchmark point set Datum mark, the interference region mark being arranged in obtaining step S201.
Step S203: it is identified according to the corresponding interference region of the datum mark, the benchmark point set is split, is It splits obtained a plurality of sub-route and interference region mark is respectively set, and be added in route set.It will be in benchmark point set Datum mark is split to obtain the route set including multiple sub-routes, later refers to the sub-route in route set by routing Order is successively issued to robot.It just can will include next son after robot has executed the route instruction including current sub-route The route instruction of routing is issued to robot.Interference region mark is provided in every sub-route.The step needs basis The interference region of current base point and next datum mark mark, a point situation are handled, and specific implementation process is shown in subsequently with respect to Fig. 5 Description.
Step S204: judge that the interference region of current sub-route identifies whether, if it is sky, to then follow the steps for sky S205；If being not sky, S206 is thened follow the steps.Benchmark point set has been split into multiple sub-routes by step S203, is later Sectional is issued to robot.But before issuing, need to check that the interference region of current sub-route identifies whether as sky, if For sky, illustrate, when robot is mobile according to the current sub-route, does not need to enter interference region；If being not sky, illustrate machine It when people is mobile according to the current sub-route, needs to enter interference region, needs to lock interference region first at this time.
In another embodiment, interference region can not be locked in advance, but is believed by the heartbeat that robot uploads in real time It ceases to calculate the location information of the robot, judges whether the robot enters interference region according to location information.It should Mode can find there is its robot people in the interference region and stops moving, avoid touching after robot enters interference region It hits.
Step S205: the current sub-route is issued to robot by route instruction, executes step S211.Due to machine Device people is not necessarily to enter interference region, therefore the route instruction including current sub-route directly can be issued to robot, so that institute Robot is stated to be moved according to the datum mark of the current sub-route.
Step S206: the interference region of the sub-route is identified into corresponding interference region and is locked, step is executed S207.The locking relation of interference region and robot identity is stored in database, if the corresponding robot mark of interference region It is empty for knowing, and illustrates that the interference region is not locked by any robot, can increase the robot in the locking relation at this time Mark, to lock the interference region.If the corresponding robot identity of interference region is not empty, and the machine with pending locking People identifies difference, illustrates that the interference region is locked by other robot.
Step S207: judging whether the locking of interference region succeeds, if locked successfully, thens follow the steps S208；If Locking failure, thens follow the steps S206.If the interference region is not locked by any robot, success is locked；If institute It states interference region to be locked by other robot, then locks failure.Locking failure, would not be by the routing including current sub-route Instruction is issued to robot, and robot can be then parked in outside interference region.
Step S208: the current sub-route is issued to the robot by the route instruction, so that the machine Device people enters the interference region, executes step S209.After locking successfully, the route instruction including current sub-route is issued to Robot, so that the robot enters the interference region.
Fig. 4 is the schematic illustration of the locking interference region of the embodiment of the present invention.As shown in figure 4, there is volume in target area Number be respectively 1 to 14 datum mark, datum mark 12, datum mark 11 and datum mark 3 belong to interference region 1, datum mark 10, benchmark Point 9 and datum mark 2 belong to interference region 2, other datum marks do not belong to any one interference region.Assuming that robot needs It is moved to datum mark 1 from datum mark 8, the benchmark point set through path plane-generating is { 8,4,3,2,1 }.It is handled through step S203 After benchmark point set can be split as to four sub-routes, wherein the point set of the 1st sub-route is combined into { 8,4 }, the 2nd sub-route Point set be combined into { 4,3 }, the point set of the 3rd sub-route is combined into { 3,2 }, and the point set of the 4th sub-route is combined into { 2,1 }, the 1st and The interference region of 4 sub-routes is identified as sky, and the interference region of the 2nd sub-route is identified as the interference region of the 1, the 3rd sub-route Domain identifier is 2.Therefore, corresponding interference region can be locked before issuing the 2nd sub-route and the 3rd sub-route.If interference region There is other robot in domain, locking failure, robot can rest on outside interference region, and the benchmark nearest apart from interference region The base sites 3 before datum mark 4 and interference region 2 before point, such as interference region 1.
Step S209: according to the starting point and ending point of sub-route described in the currently performed route instruction of the robot Interference region mark and the robot location information, judge whether the robot leaves the interference region, such as Fruit has left, and thens follow the steps S210；If do not left, without any processing.Robot can report own location information The starting point and ending point for the route instruction being carrying out with it.Wherein, the starting point is first base of the sub-route On schedule, the terminating point is the last one datum mark of the sub-route.Still referring to Fig. 4, it is assumed that robot is just according to the 3rd Sub-route is mobile, then puts 3 on the basis of its starting point reported, put 2 on the basis of terminating point, since starting point is in interference region 1, eventually Stop need to then discharge interference region 1 in interference region 2 when leaving interference region 1.Assuming that robot is just according to the 4th road Ge Zi By moving, then 2 are put on the basis of its starting point reported, puts 1 on the basis of terminating point, since starting point is in interference region 2, terminating point Not in interference region, then interference region 2 need to be discharged when leaving interference region 2.
Judge whether the robot leaves the judgment basis of the interference region are as follows: if the currently performed routing of robot In instruction, the interference region mark of the starting point of the sub-route is not sky, and the interference region of the terminating point is identified as sky, and When the robot leaves the terminating point, illustrate that the robot leaves the interference region；If the starting of the sub-route The interference region of point and terminating point mark illustrates institute to be empty and different, and when the robot leaves the terminating point It states robot and leaves the interference region.I.e. when starting point is in interference region, and terminating point not in interference region or with When starting point is in different interference regions, need to discharge interference region.
Step S210: the interference region of the starting point ownership is discharged, step S211 is executed.This in locking relation is done It relates to the corresponding robot identity in region and is updated to sky.
Step S211: judging whether the current sub-route is the last one sub-route in the route set, if It is then to terminate this process；If it is not, then executing step S212.The step is used to judge all sub-routes in route set Whether robot is issued to by route instruction, so that robot is moved to target point from starting point.
Step S212: using next sub-route of the route set as the current sub-route, step S204 is executed.When When not being issued to robot there is still sub-route in route set, according to the sequence of sub-route in route set, pass through routing Execution is issued to robot.
Fig. 5 is the main flow schematic diagram that benchmark point set is split in the embodiment of the present invention.As shown in figure 5, the present invention is real The realization process for applying the step S203 of example, mainly includes the following steps:
Step S501: traversing the benchmark point set, takes out current base point and next benchmark from the benchmark point set Point.Wherein, the initial value of the current base point is first point in the benchmark point set.Assuming that being obtained through path planning Benchmark point set A={ S, P1, P2..., Pn, D }, wherein S is starting point, and D is target point, P1, P2..., PnIt is centre Point.The current base point taken out for the first time from benchmark point set A is S, and next datum mark is P1；Second of current base taken out It is on schedule P1, next datum mark is P2；And so on, the current base point of (n+1)th taking-up is Pn, next datum mark is D.It is real It applies in example, current base point indicates that next datum mark is indicated with to point with from point.
Step S502: judge the current base point whether be the benchmark point set first point, if it is, holding Row step S503；Otherwise, step S519 is executed.
Step S503: current sub-route and lock area flag are generated, step S504 is executed.Current sub-route is sky at this time, Lock area flag for indicating a datum mark whether in interference region, distinguished different situations and said by subsequent step It is bright.In embodiment, lock area flag is represented with L, there are two types of value, specific values to be customized by the user by L.L is set in embodiment It has been set to true or false.
Step S504: judging that the interference region of the current base point identifies whether as sky, if it is not empty, executes step Rapid S505；If it is sky, S512 is thened follow the steps.
Step S505: judging that the interference region of next datum mark identifies whether as sky, if being not sky, executes step Rapid S506；If it is sky, S510 is thened follow the steps.If the interference region mark of next datum mark is not sky, illustrate this Point is in interference region；If the interference region of next datum mark is identified as sky, illustrate this point not in interference region.
Step S506: judge the interference region mark of the interference region mark and next datum mark of the current base point Whether knowledge is identical, if identical, thens follow the steps S507；If it is different, then executing step S508.If the current base point Interference region mark it is identical as the interference region mark of next datum mark, illustrate the current base point with it is described next Datum mark is in the same interference region；If the interference region mark of the current base point is dry with next datum mark Area identification difference is related to, illustrates the current base point and next datum mark not in the same interference region.
Step S507: the current base point and next datum mark are added in the point set of current sub-route, The interference region mark of the current sub-route is set to the interference region mark of the current base point, by the lock region Traffic sign placement is true, execution step S516.In embodiment, the interference region mark of sub-route is indicated with lockAreaId.
Step S508: the current base point is added in the point set of the current sub-route, by the current son The interference region mark of routing is set as the interference region mark of the current base point, and the current sub-route is added to road By executing step S509 in set.
Step S509: generating new sub-route, next datum mark is added in the point set of the new sub-route, will The interference region mark of the new sub-route is set as the interference region mark of next datum mark, by the lock area flag It is set as true, the new sub-route is updated to the current sub-route, executes step S516.
Step S510: the current base point is added in the point set of the current sub-route, by the current son The interference region mark of routing is set as the interference region mark of the current base point, and the current sub-route is added to institute It states in route set, executes step S511.
Step S511: the new sub-route is generated, next datum mark is added to the point set of the new sub-route In, the lock area flag is set to false as, the new sub-route is updated to the current sub-route, executes step S516.
Step S512: judging that the interference region of next datum mark identifies whether as sky, if being not sky, executes step Rapid S513；If it is sky, S515 is thened follow the steps.
Step S513: the current base point is added in the point set of the current sub-route, by the current son Routing is added in the route set, executes step S514.
Step S514: the new sub-route is generated, next datum mark is added to the point set of the new sub-route In, the interference region that the interference region mark of the new sub-route is set as next datum mark is identified, by the lock area Domain traffic sign placement is very, the new sub-route to be updated to the current sub-route, executes step S516.
Step S515: the current base point and next datum mark are added to the point set of the current sub-route In, the lock area flag is set to false as, step S516 is executed.
Step S516: judge next datum mark whether be the benchmark point set the last one point, if it is, Execute step S517；If it is not, then executing step S518.If next datum mark is the last of the benchmark point set One point illustrates that the fractionation of benchmark point set is completed.
Step S517: the current sub-route is added in the route set, this process is terminated.
Step S518: new current base point and new next datum mark are taken out from the benchmark point set, is newly worked as described Preceding datum mark executes step S502 using new next datum mark as next datum mark as the current base point. Wherein, the new current base point is the last next datum mark taken out.
Step S519: judge the lock area flag whether be it is true, if it is true, then follow the steps S520；If it is vacation, Then follow the steps S527.If current base point is not first point of benchmark point set, need to judge current lock region Mark whether be it is true, if it is true, illustrate the current base point in interference region；If it is vacation, illustrate the current base Point is not in interference region.
Step S520: judging that the interference region of next datum mark identifies whether as sky, if being not sky, executes step Rapid S521；If it is sky, S525 is thened follow the steps.
Step S521: judge the interference region mark of the interference region mark and next datum mark of the current base point Whether knowledge is identical, if identical, thens follow the steps S522；If it is different, then executing step S523.
Step S522: next datum mark being added in the point set of the current sub-route, executes step S516. If next datum mark is added to by the current base point and next datum mark in the same interference region In the point set of the current sub-route.
Step S523: the current sub-route is added in route set, executes step S524.
Step S524: generating next new sub-route, the current base point and next datum mark is added to described In the point set of next new sub-route, next datum mark is set by the interference region mark of next new sub-route Next new sub-route is updated to the current sub-route, executes step S516 by interference region mark.
Step S525: the lock area flag is updated to vacation, the current sub-route is added to the route set In, execute step S526.
Step S526: next new sub-route is generated, the current base point and next datum mark are added to In the point set of next new sub-route, next benchmark is set by the interference region mark of next new sub-route The interference region mark of point, is updated to the current sub-route for next new sub-route, executes step S516.
Step S527: judging that the interference region of next datum mark identifies whether as sky, if being not sky, executes step Rapid S528；If it is sky, S530 is thened follow the steps.
Step S528: the lock area flag is updated to very, and the current sub-route is added to the route set In, execute step S529.
Step S529: next new sub-route is generated, the current base point and next datum mark are added to In the point set of next new sub-route, next benchmark is set by the interference region mark of next new sub-route The interference region mark of point, is updated to the current sub-route for next new sub-route, executes step S516.
Step S530: next datum mark being added in the point set of the current sub-route, executes step S516.
The process of fractionation benchmark point set of the invention is illustrated combined with specific embodiments below.In the embodiment, Set benchmark point set A={ S, the P obtained through path planning1, D }.According to above-mentioned treatment process, then following result can be obtained:
(1) when taking from benchmark point set A for the first time, the datum mark of taking-up is S point and P1Point, and S point is from point, P1Point is to point.
At this time due to first point that S point is benchmark point set A, then judge whether the lockAreaId of S point is empty；
11) if not sky, judge P1Whether the lockAreaId of point is empty；
111) if not sky, then judge S point and P1Whether the lockAreaId of point is identical；
If 1111) S point and P1The lockAreaId of point is identical, then the point set of current sub-route is combined into { S, P1, setting is worked as The lockAreaId of preceding sub-route is S point or P1The lockAreaId of point, and set true for L.
If 1112) S point and P1The lockAreaId of point is different, then the point set of current sub-route is combined into { S }, and setting is current The lockAreaId of sub-route is the lockAreaId of S point, and the point set { S } of current sub-route is added to as sub-route 1 In route set B；The point set of newly-built sub-route 2 and sub-route 2 is combined into { P1, the lockAreaId of setting sub-route 2 is P1Point LockAreaId, and set true for L.
112) if it is sky, then the point set of current sub-route is combined into { S }, and the lockAreaId that current sub-route is arranged is S The point set { S } of current sub-route is added in route set B by the lockAreaId of point as sub-route 1；Newly-built sub-route 2 and the point set of sub-route 2 be combined into { P1, the lockAreaId of setting sub-route 2 is sky, and L is set to false as.
12) if it is sky, judge P1Whether the lockAreaId of point is empty；
121) if not sky, then the point set of current sub-route is combined into { S }, and the lockAreaId that current sub-route is arranged is The point set { S } of current sub-route is added in route set B by sky as sub-route 1；Newly-built sub-route 2 and sub-route 2 Point set is combined into { P1, the lockAreaId of setting sub-route 2 is P1The lockAreaId of point, and set true for L.
122) if it is sky, the point set of current sub-route is combined into { S, P1, the lockAreaId that current sub-route is arranged is Sky, and L is set to false as.
(2) due to P1Point is not the last one point of benchmark point set A, need to carry out following circular treatments:
Second from benchmark point set A when taking, and the datum mark of taking-up is P1With D point, and P1Point is from point, and D point is To point.
At this time due to P1Point is not first point, then judges that lockAreaId is true or false；
21) if it is true, judge whether the lockAreaId of D point is empty；
211) if not sky, then judge P1Whether point is identical as the lockAreaId of D point；
If 2111) P1Point is identical as the lockAreaId of D point, then the point set of current sub-route is combined into { S, P1, D } and (i.e. pair The case where answering 1111)) or { P1, D } and (i.e. corresponding 1112) and 121) the case where).
If 2112) P1Point is different from the lockAreaId of D point, then the point set of current sub-route is combined into { S, P1(i.e. corresponding 1111) the case where) or { P1(i.e. corresponding 1112) and 121) the case where), using the point set of current sub-route as sub-route 2 It is added in route set B；The point set of newly-built sub-route 3 and sub-route 3 is combined into { P1, D }, setting sub-route 3 LockAreaId is the lockAreaId of D point.
212) if it is sky, then L is updated to vacation, the point set of current sub-route is combined into { S, P1(i.e. corresponding 1111) feelings Condition) or { P1(i.e. corresponding 1112) and 121) the case where), it is added to road for the point set of current sub-route as sub-route 2 By in set B；The point set of newly-built sub-route 3 and sub-route 3 is combined into { P1, D }, the lockAreaId of setting sub-route 3 is sky.
22) if it is vacation, then judge whether the lockAreaId of D point is empty；
221) if not sky, then L is updated to very, the point set of current sub-route is combined into { P1(i.e. corresponding 112) feelings Condition) or { S, P1(i.e. corresponding 122) the case where), be added to route set for the point set of current sub-route as sub-route 2 In B；The point set of newly-built sub-route 3 and sub-route 3 is combined into { P1, D }, the lockAreaId of setting sub-route 3 is D point lockAreaId。
222) if it is sky, then the point set of current sub-route is combined into { P1, D } (i.e. corresponding 112) the case where) or { S, P1, D } (i.e. corresponding 122) the case where).
(3) due to the last one point that D point is benchmark point set A, current sub-route is added in route set B.Under Face corresponds to above-mentioned several situations and illustrates respectively:
For 2111) and 222) the case where, the point set of current sub-route is combined into { S, P1, D } it is added to as sub-route 1 In route set B；Or by { P1, D } it is added in route set B as sub-route 2, at this point, the point set of sub-route 1 is combined into { S } is made of sub-route 1 and sub-route 2 in route set B.
For 2112), 212) He 221) the case where, by the point set { P of sub-route 31, D } it is added in route set B, At this point, route set B is by including { S, P1Sub-route 1 and sub-route 3 constitute, or by including { S } sub-route 1, by wrapping Include { P1Sub-route 2 and sub-route 3 constitute.
The method for preventing robot from colliding through the embodiment of the present invention can be seen that previously according to benchmark in target area The distribution situation of point divides interference region, and the subsequent benchmark point set by from starting point to target point splits into sub-route, and is Sub-route is arranged interference region and identifies, with robot carry out according to sub-route it is mobile before, according to the interference region mark of sub-route Know, lock corresponding interference region, guarantees to can only enter a robot in interference region, avoid the robot in interference region It collides；According to the distribution situation of datum mark in target area, interference region is divided, it can be by hardware view anticollision mechanism The region division of collision cannot be prevented into interference region, and do not lock hardware view anticollision mechanism to prevent the area of collision The datum mark in domain, it is not only complementary with hardware view anticollision mechanism, but also improve the efficiency that robot executes task；By according to dry It relates to area identification and lock area flag splits benchmark point set, make the datum mark of each sub-route will not be in multiple interference regions In domain, effectively robot is avoided to collide；According to the into or out interference region of robot, to interference region carry out locking or Release rationally utilizes resource, avoids interference with more robots of appearance in region and causes to collide.
Fig. 6 is the schematic diagram of the main modular of the device according to an embodiment of the present invention for preventing robot from colliding.Such as Fig. 6 institute Show, the device 600 for preventing robot from colliding of the embodiment of the present invention specifically includes that
It generates and obtains module 601, for benchmark point set of the passage path plane-generating from starting point to target point, obtain The corresponding interference region mark of the datum mark of the benchmark point set.According to the distribution situation of datum mark in target area, in advance The datum mark is divided to obtain at least one interference region, and interference region is set for the datum mark in the interference region Domain identifier.After robot control system receives the task that up-stream system is sent, path planning will do it, generate from the beginning of Point to target point by way of benchmark point set, obtain later all datum marks in the benchmark point set interference region mark. Wherein, first point of the benchmark point set is the starting point, the last one point of the benchmark point set is the mesh Punctuate.
Setup module 602 is split, for identifying according to the corresponding interference region of the datum mark, by the benchmark point set It is split, interference region mark is respectively set to split obtained a plurality of sub-route.Obtaining after benchmark point set can't one Secondary property is issued to robot, but the datum mark in benchmark point set is split to obtain the set of routes including multiple sub-routes It closes.Benchmark point set is needed to be traversed for when specific implementation, if current base point is first point of the benchmark point set, basis The current base point, is added to the point of current sub-route by the interference region of the current base point and next datum mark mark In set, next datum mark is added in the point set of the current sub-route or new sub-route, is described current Interference region mark is respectively set in sub-route and the new sub-route, and the new sub-route is updated to the current sub-route, Setting lock area flag is identified according to the interference region of next datum mark.If the current base point is the benchmark point set Other points closed are then identified according to the interference region of the lock area flag and next datum mark, by next benchmark Point is added in the point set of the current sub-route or next new sub-route, is the current sub-route and described next new Interference region mark is respectively set in sub-route, and next new sub-route is updated to the current sub-route.
Locking issues module 603, for locking corresponding interference region according to the interference region of sub-route mark, Route instruction is issued after locking successfully, so that robot enters the interference region；Wherein, the interference region is according to target The distribution situation of datum mark in region, divides the datum mark.The interference region is stored in database Illustrate the interference region if the corresponding robot identity of the interference region is sky with the locking relation of robot identity It is not locked by any robot, the robot identity can be increased in the locking relation at this time, to lock the interference region Domain.After locking successfully, the sub-route is issued to by robot by route instruction, so that the robot is according to the sub- road By entering the interference region.
In addition, the device 600 for preventing robot from colliding of the embodiment of the present invention can also include: that interference region divides mould Block judges update module and judges release module (being not shown in Fig. 6).Wherein, the interference region division module is used for mesh The datum mark for belonging to any one following situation in mark region is divided into an interference region: between the adjacent datum mark Distance be less than or equal to the size of the robot, the datum mark is located at intersection, and the datum mark is located at straight line and arc Line infall and the datum mark are located in tunnel and tunnel entrance；And it is set for the datum mark in the interference region Set interference region mark.The judgement update module, for judging whether next datum mark is the benchmark point set The last one point adds the current sub-route if next datum mark is the last one point of the benchmark point set It is added in the route set；And if next datum mark is not the last one point of the benchmark point set, from institute It states and takes out new current base point and new next datum mark in benchmark point set, using the new current base point as the current base On schedule, using new next datum mark as next datum mark.The judgement release module, for according to the robot The interference region of the starting point and ending point of sub-route described in currently performed route instruction identifies and the robot Location information, judges whether the robot leaves the interference region；And if the robot leaves the interference region, Then discharge the interference region of the starting point ownership.
From the above, it can be seen that the distribution situation previously according to datum mark in target area divides interference region, after It is continuous that the benchmark point set from starting point to target point is split into sub-route, and interference region is set for sub-route and is identified, with It before robot carries out movement according to sub-route, is identified according to the interference region of sub-route, locks corresponding interference region, guarantee to interfere It can only enter a robot in region, the robot avoided in interference region collides；According to benchmark in target area Point distribution situation, divide interference region, hardware view anticollision mechanism can cannot be prevented collision region division to do It relates in region, and does not lock the datum mark that hardware view anticollision mechanism can prevent the region of collision, it is both anti-with hardware view Collision molange is complementary, and improves the efficiency that robot executes task.
Fig. 7 shows the method for preventing robot from colliding that can apply the embodiment of the present invention or prevents robot from colliding The exemplary system architecture 700 of device.
As shown in fig. 7, system architecture 700 may include terminal device 701,702,703, network 704 and server 705. Network 704 between terminal device 701,702,703 and server 705 to provide the medium of communication link.Network 704 can be with Including various connection types, such as wired, wireless communication link or fiber optic cables etc..
User can be used terminal device 701,702,703 and be interacted by network 704 with server 705, to receive or send out Send message etc..Various telecommunication customer end applications, such as the application of shopping class, net can be installed on terminal device 701,702,703 The application of page browsing device, searching class application, instant messaging tools, mailbox client, social platform software etc..
Terminal device 701,702,703 can be the various electronic equipments with display screen and supported web page browsing, packet Include but be not limited to smart phone, tablet computer, pocket computer on knee and desktop computer etc..
Server 705 can be to provide the server of various services, for example, to administrator using terminal device 701,702, The back-stage management server that 703 tasks including starting point and target point provided are handled.Back-stage management server can be with The processing such as path planning, the fractionation of benchmark point set, interference region locking are carried out, and processing result (such as locking successfully) is fed back To terminal device.
It should be noted that the method for preventing robot from colliding provided by the embodiment of the present application is generally by server 705 It executes, correspondingly, the device for preventing robot from colliding is generally positioned in server 705.
It should be understood that the number of terminal device, network and server in Fig. 7 is only schematical.According to realization need It wants, can have any number of terminal device, network and server.
According to an embodiment of the invention, the present invention also provides a kind of electronic equipment and a kind of computer-readable medium.
Electronic equipment of the invention includes: one or more processors；Storage device, for storing one or more journeys Sequence, when one or more of programs are executed by one or more of processors, so that one or more of processors are real A kind of method for preventing robot from colliding of the existing embodiment of the present invention.
Computer-readable medium of the invention is stored thereon with computer program, real when described program is executed by processor A kind of method for preventing robot from colliding of the existing embodiment of the present invention.
Below with reference to Fig. 8, it illustrates the computer systems 800 being suitable for realize the electronic equipment of the embodiment of the present invention Structural schematic diagram.Electronic equipment shown in Fig. 8 is only an example, function to the embodiment of the present invention and should not use model Shroud carrys out any restrictions.
As shown in figure 8, computer system 800 includes central processing unit (CPU) 801, it can be read-only according to being stored in Program in memory (ROM) 802 or be loaded into the program in random access storage device (RAM) 803 from storage section 808 and Execute various movements appropriate and processing.In RAM 803, also it is stored with computer system 800 and operates required various programs And data.CPU 801, ROM 802 and RAM 803 are connected with each other by bus 804.Input/output (I/O) interface 805 It is connected to bus 804.
I/O interface 805 is connected to lower component: the importation 806 including keyboard, mouse etc.；It is penetrated including such as cathode The output par, c 807 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 808 including hard disk etc.； And the communications portion 809 of the network interface card including LAN card, modem etc..Communications portion 809 via such as because The network of spy's net executes communication process.Driver 810 is also connected to I/O interface 805 as needed.Detachable media 811, such as Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 810, in order to read from thereon Computer program be mounted into storage section 808 as needed.
Particularly, disclosed embodiment, the process of key step figure description above may be implemented as counting according to the present invention Calculation machine software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable Computer program on medium, the computer program include the program code for executing method shown in key step figure.? In such embodiment, which can be downloaded and installed from network by communications portion 809, and/or from can Medium 811 is dismantled to be mounted.When the computer program is executed by central processing unit (CPU) 801, system of the invention is executed The above-mentioned function of middle restriction.
It should be noted that computer-readable medium shown in the present invention can be computer-readable signal media or meter Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example can be --- but not Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to: have the electrical connection, just of one or more conducting wires Taking formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type may be programmed read-only storage Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device, Or above-mentioned any appropriate combination.In the present invention, computer readable storage medium can be it is any include or storage journey The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.And at this In invention, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for By the use of instruction execution system, device or device or program in connection.Include on computer-readable medium Program code can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. are above-mentioned Any appropriate combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction It closes to realize.
Being described in module involved in the embodiment of the present invention can be realized by way of software, can also be by hard The mode of part is realized.Described module also can be set in the processor, for example, can be described as: a kind of processor packet It includes generation acquisition module, fractionation setup module and locking and issues module.Wherein, the title of these modules is not under certain conditions The restriction to the module itself is constituted, " passage path plane-generating is from the beginning of for example, generation acquisition module is also described as Point arrives the benchmark point set of target point, obtains the module of the corresponding interference region mark of datum mark of the benchmark point set ".
As on the other hand, the present invention also provides a kind of computer-readable medium, which be can be Included in equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying equipment.Above-mentioned calculating Machine readable medium carries one or more program, when said one or multiple programs are executed by the equipment, makes Obtaining the equipment includes: benchmark point set of the passage path plane-generating from starting point to target point, obtains the benchmark point set Datum mark corresponding interference region mark；According to the corresponding interference region mark of the datum mark, by the benchmark point set It is split, interference region mark is respectively set to split obtained a plurality of sub-route；According to the interference region of the sub-route Mark locks corresponding interference region, issues route instruction after locking successfully, so that robot enters the interference region；Its In, the interference region is to be divided according to the distribution situation of datum mark in target area to the datum mark.
From the above, it can be seen that the distribution situation previously according to datum mark in target area divides interference region, after It is continuous that the benchmark point set from starting point to target point is split into sub-route, and interference region is set for sub-route and is identified, with It before robot carries out movement according to sub-route, is identified according to the interference region of sub-route, locks corresponding interference region, guarantee to interfere It can only enter a robot in region, the robot avoided in interference region collides.
Method provided by the embodiment of the present invention can be performed in the said goods, has the corresponding functional module of execution method and has Beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to method provided by the embodiment of the present invention.
Above-mentioned specific embodiment, does not constitute a limitation on the scope of protection of the present invention.Those skilled in the art should be bright It is white, design requirement and other factors are depended on, various modifications, combination, sub-portfolio and substitution can occur.It is any Made modifications, equivalent substitutions and improvements etc. within the spirit and principles in the present invention, should be included in the scope of the present invention Within.

Claims (20)

1. a kind of method for preventing robot from colliding characterized by comprising
Benchmark point set of the passage path plane-generating from starting point to target point, obtains the datum mark pair of the benchmark point set The interference region mark answered；
According to the corresponding interference region mark of the datum mark, the benchmark point set is split, is obtained for fractionation more Interference region mark is respectively set in sub-route；
Corresponding interference region is locked according to the interference region of sub-route mark, issues route instruction after locking successfully, So that robot enters the interference region；Wherein, the interference region be according to the distribution situation of datum mark in target area, The datum mark is divided.
2. the method according to claim 1, wherein according to the distribution situation of datum mark in target area, to institute Datum mark is stated to be divided to obtain interference region, comprising:
The datum mark for belonging to any one following situation in target area is divided into an interference region: the adjacent base It is less than or equal to the size of the robot the distance between on schedule, the datum mark is located at intersection, and the datum mark is located at Straight line and camber line infall and the datum mark are located in tunnel and tunnel entrance；
The method also includes: interference region is set for the datum mark in the interference region and is identified.
3. the method according to claim 1, wherein described split the benchmark point set, to split Interference region mark is respectively set in obtained a plurality of sub-route, comprising:
The benchmark point set is traversed, if current base point is first point of the benchmark point set, according to described current The interference region of datum mark and next datum mark mark, the current base point is added in the point set of current sub-route, Next datum mark is added in the point set of the current sub-route or new sub-route, be the current sub-route and Interference region mark is respectively set in the new sub-route, the new sub-route is updated to the current sub-route, according to described The interference region mark setting lock area flag of next datum mark；
If the current base point is other points of the benchmark point set, according to the lock area flag and next base Next datum mark, is added to the point set of the current sub-route or next new sub-route by interference region mark on schedule In conjunction, interference region mark is respectively set for the current sub-route and next new sub-route, by next road Xin Zi By being updated to the current sub-route；Wherein, it is described other point be the benchmark point set in addition to first point Datum mark.
4. according to the method described in claim 3, it is characterized in that, described identify according to the interference region of next datum mark Setting lock area flag, comprising:
Judge that the interference region of next datum mark identifies whether as sky, if the interference region of next datum mark is identified as The lock area flag is then set to false as by sky；
If the interference region mark of next datum mark is not sky, set true for the lock area flag.
5. according to the method described in claim 3, it is characterized in that, described be added to current sub-route for the current base point Point set in, next datum mark is added in the point set of the current sub-route or new sub-route, is described Interference region mark is respectively set in current sub-route and the new sub-route, comprising:
If the interference region of the current base point and next datum mark mark is not sky, and identical, then work as by described in Preceding datum mark and next datum mark are added in the point set of current sub-route, by the interference region of the current sub-route Mark is set as the interference region mark of the current base point；
If the interference region of the current base point and next datum mark mark is not sky, and different, then work as by described in Preceding datum mark is added in the point set of the current sub-route, sets institute for the interference region mark of the current sub-route The interference region mark for stating current base point, the current sub-route is added in route set, new sub-route is generated, by institute It states next datum mark to be added in the point set of the new sub-route, sets institute for the interference region mark of the new sub-route State the interference region mark of next datum mark；
If the interference region mark of the current base point is not sky, the interference region of next datum mark is identified as sky, then The current base point is added in the point set of the current sub-route, the interference region of the current sub-route is identified It is set as the interference region mark of the current base point, the current sub-route is added in the route set, is generated Next datum mark is added in the point set of the new sub-route by the new sub-route；
If the interference region of the current base point is identified as sky, the interference region mark of next datum mark is not sky, then The current base point is added in the point set of the current sub-route, the current sub-route is added to the routing In set, the new sub-route is generated, next datum mark is added in the point set of the new sub-route, it will be described new The interference region mark of sub-route is set as the interference region mark of next datum mark；
If the interference region of the current base point and next datum mark mark is sky, by the current base point and Next datum mark is added in the point set of the current sub-route.
6. according to the method described in claim 3, it is characterized in that, described be added to the current son for next datum mark In the point set of routing or next new sub-route, interference is respectively set for the current sub-route and next new sub-route Area identification, comprising:
If the lock area flag be it is true, the interference region mark of next datum mark for it is empty and with the current sub-route Interference region mark it is identical, then next datum mark is added in the point set of the current sub-route；
If the lock area flag be it is true, the interference region mark of next datum mark for it is empty and with the current sub-route Interference region mark it is different, then the current sub-route is added in route set, generates next new sub-route, will be described Current base point and next datum mark are added in the point set of next new sub-route, by next new sub-route Interference region mark be set as next datum mark interference region mark；
If the lock area flag is true, and the interference region of next datum mark is identified as sky, then marks the lock region Will is updated to vacation, and the current sub-route is added in the route set, generates next new sub-route, works as by described in Preceding datum mark and next datum mark are added in the point set of next new sub-route, by next new sub-route Interference region mark is set as the interference region mark of next datum mark；
If the lock area flag be it is false, and the interference region of next datum mark be identified as it is not empty, then by the lock region Mark is updated to that very, the current sub-route is added in the route set, generates next new sub-route, will be described Current base point and next datum mark are added in the point set of next new sub-route, by next new sub-route Interference region mark be set as next datum mark interference region mark；
If the lock area flag is false, and the interference region of next datum mark is identified as sky, then by next benchmark Point is added in the point set of the current sub-route.
7. according to described in any item methods of claim 3 to 6, which is characterized in that the method also includes:
Judge next datum mark whether be the benchmark point set the last one point, if next datum mark is described The current sub-route, then be added in the route set by the last one point of benchmark point set；
If next datum mark is not the last one point of the benchmark point set, taken out from the benchmark point set new Current base point and new next datum mark, using the new current base point as the current base point, by new next base It is used as next datum mark on schedule.
8. according to claim 1 to 6 described in any item methods, which is characterized in that the method also includes:
According to the interference region mark of the starting point and ending point of sub-route described in the currently performed route instruction of the robot The location information of knowledge and the robot, judges whether the robot leaves the interference region；
If the robot leaves the interference region, the interference region of the starting point ownership is discharged.
9. according to the method described in claim 8, it is characterized in that, described judge whether the robot leaves the interference region Domain, comprising:
If the interference region mark of the starting point of the sub-route is not sky, the interference region of the terminating point is identified as sky, and When the robot leaves the terminating point, illustrate that the robot leaves the interference region；
If the interference region mark of the starting point and ending point of the sub-route to be empty and different, and the robot from When opening the terminating point, illustrate that the robot leaves the interference region.
10. a kind of device for preventing robot from colliding characterized by comprising
It generates acquisition module and obtains the base for benchmark point set of the passage path plane-generating from starting point to target point The corresponding interference region mark of the datum mark gathered on schedule；
Setup module is split, for being identified according to the corresponding interference region of the datum mark, the benchmark point set is torn open Point, interference region mark is respectively set to split obtained a plurality of sub-route；
Locking issues module, for locking corresponding interference region according to the interference region of sub-route mark, is being locked into Route instruction is issued after function, so that robot enters the interference region；Wherein, the interference region is according in target area The distribution situation of datum mark divides the datum mark.
11. device according to claim 10, which is characterized in that described device further include: interference region division module is used In
The datum mark for belonging to any one following situation in target area is divided into an interference region: the adjacent base It is less than or equal to the size of the robot the distance between on schedule, the datum mark is located at intersection, and the datum mark is located at Straight line and camber line infall and the datum mark are located in tunnel and tunnel entrance；And
Interference region is arranged for the datum mark in the interference region to identify.
12. device according to claim 10, which is characterized in that the fractionation setup module is also used to:
The benchmark point set is traversed, if current base point is first point of the benchmark point set, according to described current The interference region of datum mark and next datum mark mark, the current base point is added in the point set of current sub-route, Next datum mark is added in the point set of the current sub-route or new sub-route, be the current sub-route and Interference region mark is respectively set in the new sub-route, the new sub-route is updated to the current sub-route, according to described The interference region mark setting lock area flag of next datum mark；And
If the current base point is other points of the benchmark point set, according to the lock area flag and next base Next datum mark, is added to the point set of the current sub-route or next new sub-route by interference region mark on schedule In conjunction, interference region mark is respectively set for the current sub-route and next new sub-route, by next road Xin Zi By being updated to the current sub-route；Wherein, it is described other point be the benchmark point set in addition to first point Datum mark.
13. device according to claim 12, which is characterized in that the fractionation setup module is also used to:
Judge that the interference region of next datum mark identifies whether as sky, if the interference region of next datum mark is identified as The lock area flag is then set to false as by sky；And
If the interference region mark of next datum mark is not sky, set true for the lock area flag.
14. device according to claim 12, which is characterized in that the fractionation setup module is also used to:
If the interference region of the current base point and next datum mark mark is not sky, and identical, then work as by described in Preceding datum mark and next datum mark are added in the point set of current sub-route, by the interference region of the current sub-route Mark is set as the interference region mark of the current base point；
If the interference region of the current base point and next datum mark mark is not sky, and different, then work as by described in Preceding datum mark is added in the point set of the current sub-route, sets institute for the interference region mark of the current sub-route The interference region mark for stating current base point, the current sub-route is added in route set, new sub-route is generated, by institute It states next datum mark to be added in the point set of the new sub-route, sets institute for the interference region mark of the new sub-route State the interference region mark of next datum mark；
If the interference region mark of the current base point is not sky, the interference region of next datum mark is identified as sky, then The current base point is added in the point set of the current sub-route, the interference region of the current sub-route is identified It is set as the interference region mark of the current base point, the current sub-route is added in the route set, is generated Next datum mark is added in the point set of the new sub-route by the new sub-route；
If the interference region of the current base point is identified as sky, the interference region mark of next datum mark is not sky, then The current base point is added in the point set of the current sub-route, the current sub-route is added to the routing In set, the new sub-route is generated, next datum mark is added in the point set of the new sub-route, it will be described new The interference region mark of sub-route is set as the interference region mark of next datum mark；And
If the interference region of the current base point and next datum mark mark is sky, by the current base point and Next datum mark is added in the point set of the current sub-route.
15. device according to claim 12, which is characterized in that the fractionation setup module is also used to:
If the lock area flag be it is true, the interference region mark of next datum mark for it is empty and with the current sub-route Interference region mark it is identical, then next datum mark is added in the point set of the current sub-route；
If the lock area flag be it is true, the interference region mark of next datum mark for it is empty and with the current sub-route Interference region mark it is different, then the current sub-route is added in route set, generates next new sub-route, will be described Current base point and next datum mark are added in the point set of next new sub-route, by next new sub-route Interference region mark be set as next datum mark interference region mark；
If the lock area flag is true, and the interference region of next datum mark is identified as sky, then marks the lock region Will is updated to vacation, and the current sub-route is added in the route set, generates next new sub-route, works as by described in Preceding datum mark and next datum mark are added in the point set of next new sub-route, by next new sub-route Interference region mark is set as the interference region mark of next datum mark；
If the lock area flag be it is false, and the interference region of next datum mark be identified as it is not empty, then by the lock region Mark is updated to that very, the current sub-route is added in the route set, generates next new sub-route, will be described Current base point and next datum mark are added in the point set of next new sub-route, by next new sub-route Interference region mark be set as next datum mark interference region mark；And
If the lock area flag is false, and the interference region of next datum mark is identified as sky, then by next benchmark Point is added in the point set of the current sub-route.
16. 2 to 15 described in any item devices according to claim 1, which is characterized in that described device further include: judgement is more New module is used for
Judge next datum mark whether be the benchmark point set the last one point, if next datum mark is described The current sub-route, then be added in the route set by the last one point of benchmark point set；And
If next datum mark is not the last one point of the benchmark point set, taken out from the benchmark point set new Current base point and new next datum mark, using the new current base point as the current base point, by new next base It is used as next datum mark on schedule.
17. 0 to 15 described in any item devices according to claim 1, which is characterized in that described device further include: judgement is released Amplification module is used for
According to the interference region mark of the starting point and ending point of sub-route described in the currently performed route instruction of the robot The location information of knowledge and the robot, judges whether the robot leaves the interference region；And
If the robot leaves the interference region, the interference region of the starting point ownership is discharged.
18. device according to claim 17, which is characterized in that the judgement release module is also used to:
If the interference region mark of the starting point of the sub-route is not sky, the interference region of the terminating point is identified as sky, and When the robot leaves the terminating point, illustrate that the robot leaves the interference region；And
If the interference region mark of the starting point and ending point of the sub-route to be empty and different, and the robot from When opening the terminating point, illustrate that the robot leaves the interference region.
19. a kind of electronic equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real The now method as described in any in claim 1-9.
20. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that described program is held by processor The method as described in any in claim 1-9 is realized when row.
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