CN112207832B

CN112207832B - Method for entering bearing equipment, mobile equipment, electronic equipment and storage medium

Info

Publication number: CN112207832B
Application number: CN202011112943.5A
Authority: CN
Inventors: 张金钟; 闵伟; 戴新宇; 邓旻鹏; 吴垒
Original assignee: Rajax Network Technology Co Ltd
Current assignee: Rajax Network Technology Co Ltd
Priority date: 2020-10-16
Filing date: 2020-10-16
Publication date: 2021-10-08
Anticipated expiration: 2040-10-16
Also published as: CN112207832A

Abstract

The embodiment of the disclosure discloses a method for entering a bearing device, a mobile device, an electronic device and a storage medium. The method comprises the following steps: detecting an obstacle in a first detection area in response to receiving an instruction to enter a bearing device, wherein the first detection area is located between a mobile device and the bearing device; if no obstacle is identified in the first detection area, moving to the direction of the bearing equipment along a preset path; and determining the current position of the mobile equipment in real time in the moving process, and stopping moving if the mobile equipment is determined to enter the bearing equipment according to the current position of the mobile equipment. According to the technical scheme, the mobile equipment is controlled to move in the first detection area, so that potential safety hazards caused by collision with other passengers are avoided, the current position of the mobile equipment is determined in real time in the moving process, and the mobile equipment can safely enter the bearing equipment along the preset path.

Description

Method for entering bearing equipment, mobile equipment, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of intelligent device technologies, and in particular, to a method for entering a bearer device, a mobile device, an electronic device, and a storage medium.

Background

With the development of the robot technology and the continuous and deep research of artificial intelligence, the robot plays an increasingly important role in human life. The floor limitation of indoor places such as office buildings or shopping malls can be overcome by the existing robot, and the elevator is used for food delivery or express service, so that labor force is greatly saved. However, other passengers may appear on the moving path of the robot while the robot moves in the elevator direction, thereby affecting the normal traveling of the robot and bringing about a safety hazard.

Disclosure of Invention

In order to solve the problems in the related art, embodiments of the present disclosure provide a method for entering a bearer device, a mobile device, an electronic device, and a storage medium. The embodiment of the disclosure also provides a robot.

In a first aspect, an embodiment of the present disclosure provides a method for entering a bearer device.

Specifically, the method for entering the bearer device includes: detecting an obstacle in a first detection area in response to receiving an instruction to enter a bearing device, wherein the first detection area is located between a mobile device and the bearing device; if no obstacle is identified in the first detection area, moving to the direction of the bearing equipment along a preset path; and determining the current position of the mobile equipment in real time in the moving process, and stopping moving if the mobile equipment is determined to enter the bearing equipment according to the current position of the mobile equipment.

With reference to the first aspect, in a first implementation manner of the first aspect, the first detection area is: scanning an area obtained by a preset angle by taking a waiting point of the bearing equipment as a starting point; wherein the first detection area is not larger than the area determined by the waiting point of the bearing device and the entry points at two sides of the bearing device.

With reference to the first aspect, in a second implementation manner of the first aspect, the determining a current location of a mobile device in real time during the moving process, and if it is determined that the mobile device has entered into the bearer device according to the current location of the mobile device, stopping moving includes: acquiring a plurality of corner positions of the bearing equipment; detecting the number of intersection points of a polygon edge formed by position identification rays sent by the mobile equipment and the corner positions, and determining the relative position of the mobile equipment and the bearing equipment according to the number of the intersection points; and if the mobile equipment is determined to enter the bearing equipment according to the relative position, stopping moving.

With reference to the second implementation manner of the first aspect, in a third implementation manner of the first aspect, the determining the relative position of the mobile device and the bearer device according to the number of intersection points includes: if the number of the intersection points is even, determining that the mobile equipment is positioned outside the bearing equipment; and if the number of the intersection points is odd, determining that the mobile equipment is positioned in the bearing equipment.

With reference to the first aspect, the first implementation manner of the first aspect, the second implementation manner of the first aspect, and the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the method further includes: and if the mobile equipment is determined not to enter the bearing equipment according to the current position of the mobile equipment, moving towards the bearing equipment at a preset speed.

With reference to the fourth implementation manner of the first aspect, in a fifth implementation manner of the first aspect, the moving towards the bearing device at the predetermined speed is implemented as:

if the distance between the mobile equipment and the bearing equipment is determined to be larger than a first distance threshold value according to the current position of the mobile equipment, or the residual space in the bearing equipment is larger than a first space threshold value, moving towards the bearing equipment at a first speed; and/or if the distance between the mobile equipment and the bearing equipment is smaller than a first distance threshold and larger than a second distance threshold according to the current position of the mobile equipment, or the residual space in the bearing equipment is smaller than the first space threshold and larger than the second space threshold, moving towards the bearing equipment at a second speed; and/or if the distance between the mobile equipment and the bearing equipment is determined to be smaller than a second distance threshold value according to the current position of the mobile equipment, or the residual space in the bearing equipment is smaller than a second space threshold value, moving towards the bearing equipment at a third speed; wherein the first speed is greater than the second speed, and the second speed is greater than the third speed.

With reference to the first aspect, in a sixth implementation manner of the first aspect, the method further includes: if an obstacle is identified in the first detection area, the mobile equipment stops moving at the current position; in a preset time period, if the first detection area is identified and determined to have no obstacles, the current position is taken as a starting point, and the first detection area moves towards the bearing equipment along the preset path; and if the preset time period is overtime, the mobile equipment moves to the waiting point of the bearing equipment to wait for the next instruction of entering the bearing equipment.

With reference to the sixth implementation manner of the first aspect, in a seventh implementation manner of the first aspect, the method further includes: if an obstacle is identified in the first detection area, determining a first distance between the mobile equipment and the obstacle; and when no obstacle exists in a second detection area formed by taking the mobile equipment as the center and taking the first distance as the radius, moving towards the direction of the bearing equipment at a fourth speed.

With reference to the seventh implementation manner of the first aspect, in an eighth implementation manner of the first aspect, during the moving at the fourth speed to the direction of the bearing device, the method further includes: predicting whether the bearing equipment has the residual space capable of accommodating the mobile equipment when the preset time period is overtime; if not, stopping moving at the current position; determining whether a current location of the mobile device is at an ingress location of the bearer device;

and if so, moving to the waiting point of the bearing equipment.

With reference to the sixth implementation manner of the first aspect, the seventh implementation manner of the first aspect, and the eighth implementation manner of the first aspect, in a ninth implementation manner of the first aspect, the method further includes: if no obstacle exists in the first detection area and the mobile equipment is blocked from moving, moving to the direction of the bearing equipment at a fifth speed in the first detection area; and if the mobile equipment is still blocked from moving, stopping moving at the current position.

With reference to the ninth implementation manner of the first aspect, in a tenth implementation manner of the first aspect, the method further includes: a predetermined path for a mobile device to enter the bearer from a bearer wait point is determined.

With reference to the tenth implementation manner of the first aspect, in an eleventh implementation manner of the first aspect, before the determining that the mobile device enters the predetermined path within the bearer device from the bearer device waiting point, the method further includes: determining the remaining space of the bearing equipment; and if the residual space is determined not to be enough to enter, waiting for the next instruction of entering the bearing equipment.

With reference to the sixth implementation manner of the first aspect, the seventh implementation manner of the first aspect, and the eighth implementation manner of the first aspect, in a twelfth implementation manner of the first aspect, the method further includes: identifying an obstacle within a third detection area starting at a current location of the mobile device and having a radius less than a radius of the first detection area; and if no obstacle exists in the third detection area, moving to the direction of the bearing equipment along the preset path.

In a second aspect, a mobile device is provided in embodiments of the present disclosure.

Specifically, the mobile device includes:

a first determination module configured to detect an obstacle within a first detection area in response to receiving an instruction to enter a host device, wherein the first detection area is located between a mobile device and the host device; the first identification module is configured to move towards the bearing equipment along a preset path if no obstacle is identified in the first detection area; the first moving module is configured to determine the current position of the mobile device in real time in the moving process, and stop moving if the mobile device is determined to enter the bearing device according to the current position of the mobile device.

With reference to the second aspect, in a first implementation manner of the second aspect, the first detection area is: scanning an area obtained by a preset angle by taking a waiting point of the bearing equipment as a starting point; wherein the first detection area is not larger than the area determined by the waiting point of the bearing device and the entry points at two sides of the bearing device.

With reference to the second aspect, in a second implementation manner of the second aspect, the first moving module includes: an acquisition unit configured to acquire a plurality of corner positions of the load bearing apparatus; the first determining unit is configured to detect the number of intersection points of a polygon edge formed by the position identification ray sent by the mobile equipment and the corner position, and determine the relative position of the mobile equipment and the bearing equipment according to the number of the intersection points; and the mobile unit is configured to stop moving if the mobile equipment is determined to enter the bearing equipment according to the relative position.

With reference to the second implementation manner of the second aspect, in a third implementation manner of the second aspect, the determining, by the first determining unit, the relative position of the mobile device and the bearer device according to the number of intersections is configured to: if the number of the intersection points is even, determining that the mobile equipment is positioned outside the bearing equipment; and if the number of the intersection points is odd, determining that the mobile equipment is positioned in the bearing equipment.

With reference to the second aspect, the first implementation manner of the second aspect, the second implementation manner of the second aspect, and the third implementation manner of the second aspect, in a fourth implementation manner of the second aspect, the apparatus further includes: and the second moving module is configured to move towards the bearing equipment at a preset speed if the mobile equipment is determined not to enter the bearing equipment according to the current position of the mobile equipment.

With reference to the fourth implementation manner of the second aspect, in a fifth implementation manner of the second aspect, the portion of the second moving module that moves towards the bearing device at a predetermined speed is configured to: if the distance between the mobile equipment and the bearing equipment is determined to be larger than a first distance threshold value according to the current position of the mobile equipment, or the residual space in the bearing equipment is larger than a first space threshold value, moving towards the bearing equipment at a first speed; and/or if the distance between the mobile equipment and the bearing equipment is smaller than a first distance threshold and larger than a second distance threshold according to the current position of the mobile equipment, or the residual space in the bearing equipment is smaller than the first space threshold and larger than the second space threshold, moving towards the bearing equipment at a second speed; and/or if the distance between the mobile equipment and the bearing equipment is determined to be smaller than a second distance threshold value according to the current position of the mobile equipment, or the residual space in the bearing equipment is smaller than a second space threshold value, moving towards the bearing equipment at a third speed; wherein the first speed is greater than the second speed, and the second speed is greater than the third speed.

With reference to the second aspect, in a sixth implementation manner of the second aspect, the apparatus further includes: a second identification module configured to stop movement of the mobile device at the current location if an obstacle is identified within the first detection area; a third moving module, configured to, within a predetermined time period, if it is determined that there is no obstacle in the first detection area, move along the predetermined path toward the carrier device with the current position as a starting point; and the fourth moving module is configured to move the mobile device to the bearer device waiting point to wait for a next instruction of entering the bearer device if the predetermined time period is overtime.

With reference to the sixth implementation manner of the second aspect, in a seventh implementation manner of the second aspect, the apparatus further includes: a second determination module configured to determine a first distance between the mobile device and an obstacle if the obstacle is identified within the first detection area; and the fifth moving module is configured to move towards the bearing device at a fourth speed when no obstacle exists in a second detection area which is formed by taking the mobile device as a center and taking the first distance as a radius.

With reference to the seventh implementation manner of the second aspect, in an eighth implementation manner of the second aspect, the apparatus further includes: a prediction module configured to predict whether the bearer device has a remaining space capable of accommodating the mobile device when the predetermined period of time expires; if not, stopping moving at the current position; a third determination module configured to determine whether a current location of the mobile device is at an entry location of the carrier device; and if so, moving to the waiting point of the bearing equipment.

With reference to the sixth implementation manner of the second aspect, the seventh implementation manner of the second aspect, and the eighth implementation manner of the second aspect, in a ninth implementation manner of the second aspect, the apparatus further includes: a sixth moving module configured to move in the direction of the bearing device at a fifth speed in the first detection area if no obstacle is identified in the first detection area but the movement of the mobile device is blocked; and if the mobile equipment is still blocked from moving, stopping moving at the current position.

With reference to the ninth implementation manner of the second aspect, in a tenth implementation manner of the second aspect, the apparatus further includes: a fourth determination module configured to determine a predetermined path for a mobile device to enter the bearer device from a bearer device wait point.

With reference to the tenth implementation manner of the second aspect, in an eleventh implementation manner of the second aspect, the fourth determining module includes: a second determination unit configured to determine a remaining space of the bearer device; and the waiting unit is configured to wait for the next instruction of entering the bearing equipment if the remaining space is determined not to be enough to enter.

With reference to the sixth implementation manner of the second aspect, the seventh implementation manner of the second aspect, and the eighth implementation manner of the second aspect, in a twelfth implementation manner of the second aspect, the apparatus further includes: a third identification module configured to identify an obstacle within a third detection area having a radius smaller than a radius of the first detection area as a starting point from a current location of the mobile device; and the seventh moving module is configured to move towards the bearing equipment along the predetermined path if no obstacle exists in the third detection area.

In a third aspect, the disclosed embodiments provide an electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to any one of the first aspect.

In a fourth aspect, the disclosed embodiments provide a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method according to any one of the first aspect.

In a fifth aspect, an embodiment of the present disclosure provides a robot, including: a processor, a readable storage medium, and one or more computer instructions stored on the readable storage medium and executable on the processor, the one or more computer instructions being executable by the processor to perform the method steps of the first aspect.

According to the technical scheme provided by the embodiment of the disclosure, after an instruction of entering a bearing device is received, an obstacle in a first detection area is detected, wherein the first detection area is located between a mobile device and the bearing device, if no obstacle is identified in the first detection area, the mobile device moves towards the bearing device along a preset path, the current position of the mobile device is determined in real time in the moving process, and if the mobile device is determined to have entered the bearing device according to the current position of the mobile device, the mobile device stops moving. According to the technical scheme, whether the first detection area is a safe area or not is determined by identifying whether an obstacle exists in the first detection area or not, the mobile device is controlled to move in the first detection area after the first detection area is determined to be the safe area, so that the potential safety hazard caused by collision with other passengers is avoided, the current position of the mobile device is determined in real time in the moving process, and the mobile device can safely enter the bearing device along a preset path.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:

fig. 1 shows a flow diagram of a method of entering a bearer device according to an embodiment of the present disclosure;

fig. 2 shows a schematic diagram of an ingress bearer scenario according to an embodiment of the present disclosure;

FIG. 3 illustrates a flow diagram for determining a current location of a mobile device in accordance with an embodiment of the present disclosure;

FIG. 4 illustrates a schematic diagram of determining a relative position of a mobile device and a carrier device according to an embodiment of the present disclosure;

FIG. 5 shows a block diagram of a mobile device according to an embodiment of the present disclosure;

FIG. 6 shows a block diagram of an electronic device according to an embodiment of the present disclosure;

FIG. 7 illustrates a schematic structural diagram of a computer system suitable for use in implementing an access-carrying device according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.

In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of the disclosed features, numbers, steps, behaviors, components, parts, or combinations thereof, and are not intended to preclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or combinations thereof may be present or added.

It should be further noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 shows a flow chart of a method of entering a bearer device according to an embodiment of the present disclosure. As shown in fig. 1, the method for entering the bearer device includes the following steps S101 to S103:

in step S101, in response to receiving an instruction to enter a bearer device, detecting an obstacle in a first detection area, where the first detection area is located between a mobile device and the bearer device;

in step S102, if it is identified that no obstacle exists in the first detection area, the vehicle moves along a predetermined path toward the bearing device;

in step S103, the current position of the mobile device is determined in real time during the moving process, and if it is determined that the mobile device has entered the bearer device according to the current position of the mobile device, the moving is stopped.

According to an embodiment of the present disclosure, the bearing device may be a device having an accommodating space and capable of bearing other objects and moving, such as an elevator, a lifting platform, and the like, which is not limited by the present disclosure.

According to an embodiment of the present disclosure, the mobile device may be a robot, an intelligent robot, and the like, such as a cleaning robot, a delivery robot, and the like, which is not limited by the present disclosure.

According to the embodiment of the disclosure, the first detection area is an area obtained by scanning a predetermined angle with a waiting point of the bearing device as a starting point; wherein the first detection area is not larger than the area determined by the waiting point of the bearing device and the entry points at two sides of the bearing device. The waiting point of the bearing equipment is a preset position point near the bearing equipment, can be a position point right facing the entrance of the bearing equipment, and can also be a position point marked in advance according to the surrounding environment of the bearing equipment. Before entering the bearer device, the mobile device may move to a bearer device waiting point according to a navigation algorithm, and wait to enter the bearer device at the location point, which is not limited in this disclosure.

According to an embodiment of the present disclosure, the predetermined path is a planned path, such as a straight path or a curved path, entering the carrier from a waiting point of the carrier. In a real-time manner, the first detection area may be a sector area with a predetermined angle, such as a sector area of 90 ° in the direction of the predetermined path.

According to the technical scheme provided by the embodiment of the disclosure, whether the first detection area is a safe area is determined by identifying whether an obstacle exists in the first detection area, and after the first detection area is determined to be the safe area, the mobile device is controlled to move in the first detection area, so that potential safety hazards caused by collision with other passengers are avoided, the current position of the mobile device is determined in real time in the moving process, and the mobile device can safely enter the bearing device along a preset path.

Fig. 2 shows a schematic diagram of an ingress bearer scenario according to an embodiment of the present disclosure. As shown in FIG. 2, A₁、A₂、A₃、A₄The enclosed rectangle is illustrated as a top view of a carrying device, wherein A₅And A₆The entry position of the carrier is marked, B is the waiting point of the carrier, and the arrow shown in the figureThe head direction is a predetermined path direction E, the first detection area D is a sector area with a predetermined radius D in the predetermined path direction E and the start point B, and when there is no obstacle in the first detection area D, the mobile device enters the carrying device along the predetermined path direction E.

Fig. 3 illustrates a flow diagram for determining a current location of a mobile device in accordance with an embodiment of the present disclosure. As shown in fig. 3, determining the current location of the mobile device in real time during the moving process in step S103, and if it is determined that the mobile device has entered into the bearer device according to the current location of the mobile device, stopping moving includes the following steps S201 to S203:

in step S201, a plurality of corner positions of the load-bearing device are obtained;

in step S202, detecting the number of intersection points of a polygon edge formed by the position identification ray sent by the mobile device and the corner position, and determining the relative position between the mobile device and the bearing device according to the number of intersection points;

in step S203, if it is determined that the mobile device has entered the bearer device according to the relative position, the mobile device stops moving.

In this disclosure, fig. 4 is a schematic diagram illustrating a principle of determining a relative position between a mobile device and a carrying device according to an embodiment of the disclosure, and as shown in fig. 4, it is assumed that there are four corner points in the carrying device, and the positions of the four corner points are a₁、A₂、A₃、A₄The p point is the current position of the mobile equipment, the relative position of the current position of the mobile equipment and the bearing equipment is determined, namely when the current position of the mobile equipment is determined to be in the bearing equipment or out of the bearing equipment, the current position of the mobile equipment can be identified by utilizing a ray projection algorithm₁、A₂、A₃、A₄The formed polygons are intersected, and the relative position of the mobile device and the bearing device is determined according to the number of the intersected points. Specifically, the direction of the arrow shown in fig. 4 is the moving direction of the mobile device ifIf the number of the intersection points q is even (2), determining that the mobile equipment is positioned outside the bearing equipment; if the number of the intersection points q is odd (1), the mobile device is determined to be located in the bearing device.

The above is illustrative, and those skilled in the art can determine the relative position of the mobile device and the carrying device in other ways, and the disclosure is not limited thereto.

According to an embodiment of the present disclosure, the method further comprises: and if the mobile equipment is determined not to enter the bearing equipment according to the current position of the mobile equipment, moving towards the bearing equipment at a preset speed.

In the method disclosed by the disclosure, in order to determine whether the mobile device has entered the bearer device during the process of moving to the bearer device along the predetermined path, the current location of the mobile device needs to be determined in real time. If it is determined that the mobile device does not enter the bearing device according to the current position of the mobile device, the mobile device moves towards the bearing device at a preset speed, wherein the preset speed can be flexibly set according to the relative position, for example, when the mobile device is far away from the bearing device, a larger preset speed can be set, so that the mobile device can enter the bearing device in time.

In this disclosure, the moving in the direction of the carrying device at a predetermined speed is implemented as:

if the distance between the mobile equipment and the bearing equipment is determined to be larger than a first distance threshold value according to the current position of the mobile equipment, or the residual space in the bearing equipment is larger than a first space threshold value, moving towards the bearing equipment at a first speed; and/or

If the distance between the mobile equipment and the bearing equipment is smaller than a first distance threshold and larger than a second distance threshold according to the current position of the mobile equipment, or the residual space in the bearing equipment is smaller than the first space threshold and larger than the second space threshold, the mobile equipment moves towards the bearing equipment at a second speed; and/or

If the distance between the mobile equipment and the bearing equipment is smaller than a second distance threshold value or the residual space in the bearing equipment is smaller than a second space threshold value according to the current position of the mobile equipment, moving towards the bearing equipment at a third speed;

wherein the first speed is greater than the second speed, and the second speed is greater than the third speed.

In the method, the distance between the relative positions of the mobile equipment and the bearing equipment is considered to be different, and the mobile equipment can move towards the bearing equipment at the preset speed with different sizes according to different conditions, so that the mobile equipment can timely enter the bearing equipment, and the condition that the stay time of the bearing equipment is exceeded to cause the failure of entering the bearing equipment is avoided. Meanwhile, when the mobile equipment enters the bearing equipment, other passengers or intelligent equipment can enter the bearing equipment, so that the mobile equipment can move at preset speeds of different sizes when no obstacle exists on a preset path, namely, an action of squeezing an elevator is made, other passengers can move towards the content of the bearing equipment as much as possible, the available space in the bearing equipment is increased, and the mobile equipment can conveniently enter the bearing equipment.

In this disclosure, the first distance threshold and the second distance threshold may be preset, and when the relative position between the mobile device and the bearer device satisfies a set threshold, the mobile device moves towards the bearer device at a corresponding moving speed. For example, the mobile device moves at a first speed when the distance between the mobile device and the carrying device is greater than a first distance threshold.

In the present disclosure, the first space threshold and the second space threshold may be set in advance, and when the remaining space in the carrier device satisfies the set threshold, the carrier device may move in the direction of the carrier device at a corresponding moving speed. For example, the remaining space within the carrier is greater than a first space threshold, moving at a first speed.

It should be noted that the remaining space in the carrying device may change because other passengers in the carrying device may continue to move toward the inside of the carrying device when the mobile device moves into the carrying device at a predetermined speed, thereby increasing the available space of the carrying device, in which case, when the remaining space of the carrying device changes, the predetermined speed of the mobile device may be adjusted adaptively, such as from the second speed to the first speed, or from the third speed to the second speed or the first speed. Wherein the first speed is greater than the second speed, and the second speed is greater than the third speed. In some cases, if other passengers or the smart device enter the carrying device in advance, which results in the reduction of the available space of the carrying device, the first speed may also be adjusted to the second speed, which is not described herein again.

According to an embodiment of the present disclosure, the method further comprises:

if an obstacle is identified in the first detection area, the mobile equipment stops moving at the current position;

in a preset time period, if the first detection area is identified and determined to have no obstacles, the current position is taken as a starting point, and the first detection area moves towards the bearing equipment along the preset path;

and if the preset time period is overtime, the mobile equipment moves to the waiting point of the bearing equipment to wait for the next instruction of entering the bearing equipment.

In this disclosure, the predetermined time period is the longest response time of the mobile device executing the instruction of entering the bearer device once, and is set according to the retention time of the bearer device. For example, when the carrying device stops for 5s, the predetermined time period is at most 5s, or may be 3s, 4s, and the calculation is started when the instruction to enter the carrying device is received, which is not limited by the present disclosure. If the time exceeds 5s, the next instruction entering the bearing equipment is waited to be received.

In the method, if no obstacle exists in the first detection area, the first detection area enters the bearing equipment within a preset time period; if an obstacle exists in the first detection area, stopping moving at the current position, continuing to move along a preset path to the direction of the bearing equipment by taking the current position as a starting point when the obstacle leaves the first detection area, and entering the bearing equipment within a preset time period; and if the preset time period is exceeded, moving to a bearing equipment waiting point, and waiting for receiving a next instruction entering the bearing equipment at the bearing equipment waiting point.

if an obstacle is identified in the first detection area, determining a first distance between the mobile equipment and the obstacle;

and when no obstacle exists in a second detection area formed by taking the mobile equipment as the center and taking the first distance as the radius, moving towards the direction of the bearing equipment at a fourth speed.

In this disclosure, when there is an obstacle in the first detection area, a safe area in which the mobile device can move may be determined between the mobile device and the obstacle, that is, a second detection area may be determined with a first distance between the obstacle and the mobile device as a radius with the mobile device as a center, and when there is no obstacle in the second detection area, the mobile device may move toward the carrier at a fourth speed, so that the mobile device may enter the carrier within a predetermined time period.

According to an embodiment of the present disclosure, during the moving at the fourth speed to the direction of the carrying device, the method further includes:

predicting whether the bearing equipment has the residual space capable of accommodating the mobile equipment when the preset time period is overtime;

if not, stopping moving at the current position;

determining whether a current location of the mobile device is at an ingress location of the bearer device;

and if so, moving to the waiting point of the bearing equipment.

In this disclosure, in order to enable the mobile device to enter the carrying device within a predetermined time period, when it is determined that the mobile device moves toward the carrying device at the fourth speed, after other passengers or smart devices in front of the mobile device enter the carrying device, whether the remaining space of the carrying device can accommodate the mobile device is determined, and if not, the mobile device stops moving at the current position. Considering that the current position of the mobile device may be located at the entrance position of the bearer device, in order to avoid the mobile device blocking the bearer device from closing and obstructing the operation of the bearer device, when the current position of the mobile device is determined to be located at the entrance position of the bearer device, the mobile device is controlled to return to the waiting point of the bearer device, to wait for the next instruction to enter the bearer device,

if no obstacle exists in the first detection area and the mobile equipment is blocked from moving, moving to the direction of the bearing equipment at a fifth speed in the first detection area;

and if the mobile equipment is still blocked from moving, stopping moving at the current position.

In the method, considering that the first detection area may have a blind area, so that an obstacle cannot be recognized, but the mobile device is blocked from moving, the mobile device still moves towards the bearing device at the fifth speed at the moment, if the mobile device touches the obstacle after moving in the first detection area, it indicates that the obstacle exists in the first detection area, and the mobile device stops moving at the current position, so that potential safety hazards caused by continuous movement or damage to the mobile device are avoided.

In the present disclosure, the fifth speed is generally set to a small value, preventing a large collision with an obstacle in a blind area. After passing through the blind area, if the mobile device is not blocked by the obstacle, the mobile device may enter the carrying device along a predetermined path at a predetermined speed, for example, the mobile device may move at the first speed, the second speed, or the third speed according to the relative position of the mobile device and the carrying device, which is specifically referred to above and will not be described herein again.

a predetermined path for a mobile device to enter the bearer from a bearer wait point is determined.

In this disclosure, the predetermined path may be planned in advance as a straight-line distance between the waiting point of the carrier and the entrance position of the carrier, or may be another route, which is not limited in this disclosure.

According to an embodiment of the present disclosure, before determining that the mobile device enters the predetermined path within the bearer device from the bearer device waiting point, the method further includes:

determining the remaining space of the bearing equipment;

and if the residual space is determined not to be enough to enter, waiting for the next instruction of entering the bearing equipment.

In this disclosure, before entering the bearer device, if it is determined that there is not enough space in the bearer device to accommodate the mobile device, a wait instruction is sent to a mobile component of the mobile device, so that the mobile device waits for the next bearer device at a bearer device wait point.

identifying an obstacle within a third detection area starting at a current location of the mobile device and having a radius less than a radius of the first detection area; and if no obstacle exists in the third detection area, moving to the direction of the bearing equipment along the preset path.

In the present disclosure, if an obstacle is detected in the first detection area, the range of the first detection area may be too wide due to an inappropriate predetermined distance, and therefore, an obstacle in a third detection area whose radius is smaller than the predetermined distance may be identified.

Fig. 5 shows a block diagram of a mobile device according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device through software, hardware, or a combination of both. As shown in fig. 5, the mobile device 500 includes a first determination module 510, a first identification module 520, and a first movement module 530.

The first determination module 510 is configured to detect an obstacle within a first detection area in response to receiving an instruction to enter a host device, wherein the first detection area is located between a mobile device and the host device;

the first identification module 520 is configured to move along a predetermined path toward the carrying device if no obstacle is identified in the first detection area;

the first moving module 530 is configured to determine a current location of the mobile device in real time during the moving process, and stop moving if it is determined that the mobile device has entered the bearer device according to the current location of the mobile device.

According to an embodiment of the present disclosure, the first detection area is:

scanning an area obtained by a preset angle by taking a waiting point of the bearing equipment as a starting point; wherein the first detection area is not larger than the area determined by the waiting point of the bearing device and the entry points at two sides of the bearing device.

According to an embodiment of the present disclosure, the first moving module includes:

an acquisition unit configured to acquire a plurality of corner positions of the load bearing apparatus;

the first determining unit is configured to detect the number of intersection points of a polygon edge formed by the position identification ray sent by the mobile equipment and the corner position, and determine the relative position of the mobile equipment and the bearing equipment according to the number of the intersection points;

and the mobile unit is configured to stop moving if the mobile equipment is determined to enter the bearing equipment according to the relative position.

According to an embodiment of the present disclosure, the portion of the first determination unit that determines the relative position of the mobile device and the carrier device according to the number of intersections is configured to:

if the number of the intersection points is even, determining that the mobile equipment is positioned outside the bearing equipment; and if the number of the intersection points is odd, determining that the mobile equipment is positioned in the bearing equipment.

According to an embodiment of the present disclosure, the apparatus further comprises:

and the second moving module is configured to move towards the bearing equipment at a preset speed if the mobile equipment is determined not to enter the bearing equipment according to the current position of the mobile equipment.

According to an embodiment of the present disclosure, a portion of the second moving module, which moves toward the carrying device at a predetermined speed, is configured to:

a second identification module configured to stop movement of the mobile device at the current location if an obstacle is identified within the first detection area;

a third moving module, configured to, within a predetermined time period, if it is determined that there is no obstacle in the first detection area, move along the predetermined path toward the carrier device with the current position as a starting point;

and the fourth moving module is configured to move the mobile device to the bearer device waiting point to wait for a next instruction of entering the bearer device if the predetermined time period is overtime.

a second determination module configured to determine a first distance between the mobile device and an obstacle if the obstacle is identified within the first detection area;

and the fifth moving module is configured to move towards the bearing device at a fourth speed when no obstacle exists in a second detection area which is formed by taking the mobile device as a center and taking the first distance as a radius.

a prediction module configured to predict whether the bearer device has a remaining space capable of accommodating the mobile device when the predetermined period of time expires; if not, stopping moving at the current position;

a third determination module configured to determine whether a current location of the mobile device is at an entry location of the carrier device; and if so, moving to the waiting point of the bearing equipment.

a sixth moving module configured to move in the direction of the bearing device at a fifth speed in the first detection area if no obstacle is identified in the first detection area but the movement of the mobile device is blocked; and if the mobile equipment is still blocked from moving, stopping moving at the current position.

a fourth determination module configured to determine a predetermined path for a mobile device to enter the bearer device from a bearer device wait point.

According to an embodiment of the present disclosure, the fourth determining module includes:

a second determination unit configured to determine a remaining space of the bearer device;

and the waiting unit is configured to wait for the next instruction of entering the bearing equipment if the remaining space is determined not to be enough to enter.

a third identification module configured to identify an obstacle within a third detection area having a radius smaller than a radius of the first detection area as a starting point from a current location of the mobile device;

and the seventh moving module is configured to move towards the bearing equipment along the predetermined path if no obstacle exists in the third detection area.

The present disclosure also discloses an electronic device, and fig. 6 shows a block diagram of the electronic device according to an embodiment of the present disclosure.

As shown in fig. 6, the electronic device 600 comprises a memory 601 and a processor 602, wherein the memory 601 is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 602 to implement the method steps according to the embodiments of the disclosure:

in response to receiving an instruction to enter a bearer device, determining that a mobile device enters a predetermined path in the bearer device from a bearer device waiting point;

the method comprises the steps of identifying an obstacle in a first detection area which takes a waiting point of a bearing device as a starting point and takes a preset distance as a radius in the preset path direction;

and if no obstacle exists in the detection area, moving towards the bearing equipment along the preset path.

As shown in fig. 7, the computer system 700 includes a processing unit 701 that can execute various processes in the above-described embodiments according to a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the system 700 are also stored. The processing unit 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary. The processing unit 701 may be implemented as a CPU, a GPU, a TPU, an FPGA, an NPU, or other processing units.

In particular, the above described methods may be implemented as computer software programs according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a medium readable thereby, the computer program comprising program code for performing the above-described method. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units or modules described in the embodiments of the present disclosure may be implemented by software or by programmable hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or the computer system in the above embodiments; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is possible without departing from the inventive concept. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims

1. A method of entering a bearer device, comprising:

responding to a received instruction of entering bearing equipment, and detecting an obstacle in a first detection area, wherein the first detection area is positioned between mobile equipment and the bearing equipment, and the bearing equipment is equipment which is provided with an accommodating space and can bear other objects and move;

if no obstacle is identified in the first detection area, moving to the direction of the bearing equipment along a preset path;

and determining the current position of the mobile equipment in real time in the moving process, and stopping moving if the mobile equipment is determined to enter the bearing equipment according to the current position of the mobile equipment.

2. The method of claim 1, the first detection region being:

3. The method of claim 1, wherein the determining a current location of the mobile device in real time during the moving process, and if it is determined that the mobile device has entered the bearer device according to the current location of the mobile device, stopping moving comprises:

acquiring a plurality of corner positions of the bearing equipment;

detecting the number of intersection points of a polygon edge formed by position identification rays sent by the mobile equipment and the corner positions, and determining the relative position of the mobile equipment and the bearing equipment according to the number of the intersection points;

and if the mobile equipment is determined to enter the bearing equipment according to the relative position, stopping moving.

4. The method of claim 3, the determining a relative location of the mobile device and the bearer device as a function of the number of intersection points, comprising:

5. The method according to any one of claims 1-4, further comprising:

and if the mobile equipment is determined not to enter the bearing equipment according to the current position of the mobile equipment, moving towards the bearing equipment at a preset speed.

6. The method of claim 5, the moving at a predetermined speed in a direction toward the carrying device, implemented as:

7. The method of claim 1, further comprising:

8. The method of claim 7, further comprising:

9. The method of claim 8, wherein moving in the direction of the carrier at the fourth speed, the method further comprises:

if not, stopping moving at the current position;

and if so, moving to the waiting point of the bearing equipment.

10. The method according to any one of claims 7-9, further comprising:

11. The method of claim 10, further comprising:

12. The method of claim 11, prior to determining that a mobile device enters a predetermined path within a bearer device from a bearer device waiting point, the method further comprising:

determining the remaining space of the bearing equipment;

13. The method according to any one of claims 7-9, further comprising:

14. A mobile device, comprising:

the first determination module is configured to detect an obstacle in a first detection area in response to receiving an instruction of entering a bearing device, wherein the first detection area is located between a mobile device and the bearing device, and the bearing device is a device which has an accommodating space and can bear other objects and move;

the first identification module is configured to move towards the bearing equipment along a preset path if no obstacle is identified in the first detection area;

the first moving module is configured to determine the current position of the mobile device in real time in the moving process, and stop moving if the mobile device is determined to enter the bearing device according to the current position of the mobile device.

15. The apparatus of claim 14, the first detection region being:

16. The apparatus of claim 14, the first movement module comprising:

17. The device of claim 16, the portion of the first determination unit that determines the relative location of the mobile device and the carrier device from the number of intersections configured to:

18. The apparatus according to any one of claims 14-17, further comprising:

19. The apparatus of claim 18, the portion of the second movement module moving at a predetermined speed toward the carrier configured to:

20. The apparatus of claim 14, the apparatus further comprising:

21. The apparatus of claim 20, the apparatus further comprising:

22. The apparatus of claim 21, the apparatus further comprising:

23. The apparatus according to any of claims 19-22, further comprising:

24. The apparatus of claim 23, the apparatus further comprising:

25. The apparatus of claim 24, the fourth determination module comprising:

26. The apparatus according to any one of claims 19-22, further comprising:

27. An electronic device comprising a memory and a processor; wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method steps of any of claims 1-13.

28. A readable storage medium having stored thereon computer instructions which, when executed by a processor, carry out the method steps of any of claims 1-13.

29. A robot, comprising: a processor, a readable storage medium, and one or more computer instructions stored on the readable storage medium and executable on the processor, the one or more computer instructions being executed by the processor to implement the method steps of any one of claims 1-13.