CN113156938A - Method and device for controlling robot to run, terminal equipment and storage medium - Google Patents
Method and device for controlling robot to run, terminal equipment and storage medium Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The application provides a method for controlling operation of a robot, relates to the technical field of robots, and can meet the requirement of safe movement of the robot in complex scenes such as intersection of public roads and internal roads. The method for controlling the operation of the robot comprises the following steps: acquiring first feedback information respectively fed back by signal sources corresponding to at least two intersections, wherein the first feedback information is used for describing the passing condition of the corresponding intersections; determining second feedback information from the at least two pieces of first feedback information, wherein the second feedback information is used for describing the passing condition of the target intersection; and controlling the operation of the robot according to the second feedback information.
Description
Technical Field
The present application relates to the field of robot technology, and in particular, to a method and an apparatus for controlling a robot to operate, a terminal device, and a storage medium.
Background
With the development of sensor technology, artificial intelligence and other technologies, the robot field becomes a new and briskly-developed field, and the mobile robot is receiving more and more attention as an important application product. Generally, an existing mobile robot plans a navigation path from a starting point to a destination in advance, and then performs autonomous navigation based on the navigation path.
However, in an actual cell or industrial park, its plan will typically include public roads or interior roads. The public road is mainly used for the public to walk and belongs to a public area; the inner road is mainly used for vehicles and pedestrians in residential or industrial parks to walk, fences, greening areas and entrances are generally arranged between public roads and the inner road, and due to the fences and the greening areas, when a robot passes through the entrances in the existing autonomous navigation mode, safety accidents often occur, namely the existing robot navigation mode is not suitable for similar scenes.
Disclosure of Invention
The embodiment of the application provides a method, a device, terminal equipment and a storage medium for controlling the operation of a robot, and aims to solve the problem that the robot is difficult to safely move in complex scenes such as intersection of public roads and internal roads in the conventional navigation planning mode.
In a first aspect, an embodiment of the present application provides a method for controlling operation of a robot, including:
acquiring first feedback information respectively fed back by signal sources corresponding to at least two intersections, wherein the first feedback information is used for describing the passing condition of the corresponding intersections;
determining second feedback information from the at least two pieces of first feedback information, wherein the second feedback information is used for describing the passing condition of the target intersection;
and controlling the operation of the robot according to the second feedback information.
According to the method for controlling the robot to operate, the first feedback information fed back by the signal sources corresponding to the at least two intersections on the traveling path of the robot is obtained, so that the passing conditions corresponding to the intersections can be known through the obtained first feedback information. Furthermore, second feedback information is determined from the at least two pieces of first feedback information, namely feedback information returned by a signal source corresponding to a target intersection through which the robot is about to pass is determined, so that the operation of the robot can be better controlled according to the traffic condition of the target intersection corresponding to the second feedback information, and safety accidents caused when the robot runs through the intersection can be effectively avoided.
In a second aspect, an embodiment of the present application provides an apparatus for controlling operation of a robot, including:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring first feedback information respectively fed back by signal sources corresponding to at least two intersections, and the first feedback information is used for describing the passing condition of the corresponding intersections;
the determining module is used for determining second feedback information from the at least two pieces of first feedback information, and the second feedback information is used for describing the passing condition of the target intersection;
and the control module is used for controlling the operation of the robot according to the second feedback information.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method for controlling the operation of the robot when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method for controlling the operation of the robot.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method for controlling operation of a robot according to any one of the first aspect.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a method for controlling operation of a robot according to an embodiment of the present disclosure.
Fig. 2 is a flowchart illustrating a specific implementation of step S12 of the method for controlling the operation of the robot according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an apparatus for controlling operation of a robot according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details.
As used in this specification and the appended claims, the term "if" may be interpreted in context to mean "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Referring to fig. 1, fig. 1 is a flowchart illustrating an implementation of a method for controlling an operation of a robot according to an embodiment of the present disclosure. In the embodiment, the method for controlling the robot to run is used for controlling the robot to pass through an intersection when the robot navigates to travel, and the execution subject is the terminal equipment. The terminal device may be the robot itself or a device other than the robot. When the terminal device is other than the robot, data communication can be performed between the terminal device and the robot, so that data interaction between the terminal device and the robot and operations such as control over the robot can be realized. The following description of the embodiment is made when the terminal device is a robot:
the method for controlling the operation of the robot as shown in fig. 1 comprises the following steps:
s11: the method comprises the steps of obtaining first feedback information respectively fed back by signal sources corresponding to at least two intersections, wherein the first feedback information is used for describing the passing conditions of the corresponding intersections.
In step S11, the signal source is a device corresponding to the intersection and configured to acquire the traffic situation of the intersection and feed back the first feedback information including the traffic situation of the intersection to the robot. For example, the electronic communication device which is arranged at the intersection and is provided with the monitoring camera can acquire the passing condition of the intersection based on the electronic communication device and then feed back the first feedback information to the robot.
The intersection is an intersection existing on a road where the robot performs a work task. For example, in the navigation traveling direction of the robot, the intersection between the public road to be passed by the robot and the internal road, and/or the intersection corresponding to the intersection, for example, the intersection to be passed by the robot is on one side of the road, and the intersection corresponding to the intersection is on the other side of the road.
The traffic condition is the intersection condition acquired by the signal source or the equipment connected with the signal source. Wherein the intersection condition may include at least one of a movement condition of an entering or exiting vehicle at the intersection, a walking condition of a pedestrian, or a movement condition of other movable objects. For example, if the signal source is an electronic communication device equipped with a monitoring camera, the electronic communication device can acquire an image of a corresponding intersection through the monitoring camera, process the image, obtain a communication condition of the intersection, and generate first feedback information to be fed back to the robot.
In this embodiment, because the robot often passes through a complex scene such as an intersection similar to a public road and an internal road during autonomous navigation driving based on a navigation path, and a safety accident often occurs in the complex scene, in order to enable the robot to safely move in the complex scene, the robot sends an information acquisition request to signal sources corresponding to intersections to acquire first feedback information respectively fed back by the signal sources corresponding to at least two intersections, so as to know the traffic condition of the corresponding intersection through the acquired first feedback information, thereby providing a data basis for controlling the robot to safely pass through the intersections, and avoiding the safety accident occurring when the robot passes through the intersections. In some embodiments, the robot sends an information acquisition request to the signal source corresponding to each intersection in an information broadcasting manner, so that the information acquisition request indicates the signal source corresponding to each intersection to return first feedback information to the robot.
In some embodiments, the robot may perform information interaction with the signal sources respectively corresponding to the intersections through a long-distance wireless communication technology or a short-distance wireless communication technology. In order to reduce communication cost, when the robot communicates with signal sources corresponding to each intersection, information interaction is preferably performed through a short-distance wireless communication technology, it is considered that when information interaction is performed through the short-distance wireless communication technology, the robot only performs information interaction with a signal source within a smaller distance range, the processing amount of information is small, the efficiency of information processing can also be improved, and therefore the passing condition of the intersection through which the robot passes can be known more quickly.
The long-distance wireless communication technology may include at least one of a second Generation wireless communication technology (2G), a third Generation wireless communication technology (3rd-Generation, 3G), a fourth Generation wireless communication technology (4G), or a fifth Generation wireless communication technology (5G).
The short-range wireless communication technology may include at least one of zigbee (zigbee) or bluetooth (bluetooth) technologies.
For example, in a specific implementation manner, information interaction is performed between a traveling robot and signal sources corresponding to intersections through a bluetooth technology, that is, in a process that the robot normally travels based on a navigation path, the robot broadcasts an information acquisition request to the outside through the bluetooth technology, and after receiving the information acquisition request, the signal sources corresponding to the intersections in a certain distance range in the traveling direction of the robot feed back first feedback information to the robot in time.
In some embodiments, there is a possible scenario that, when the robot travels from the reference point to the next intersection based on the navigation path, and a ratio of a distance traveled to a distance between the reference point and the next intersection is less than or equal to a preset ratio, first feedback information respectively fed back by signal sources corresponding to at least two intersections is acquired. The reference point may be a corresponding departure point in a navigation path of the robot or an intersection through which the robot has passed.
According to the scheme of the embodiment, the robot starts to broadcast the information acquisition request only when the traveling distance of the robot meets a certain condition so as to acquire the first feedback information respectively fed back by the signal sources corresponding to the at least two intersections, and the robot is not required to broadcast the information externally in real time, so that the energy consumption during communication is effectively reduced.
S12: and determining second feedback information from the at least two pieces of first feedback information, wherein the second feedback information is used for describing the passing condition of the target intersection.
In step S12, the target intersection is an intersection through which the standby robot travels. For example, when the robot navigates on one side of a road, the robot exists at an intersection between a public road and an internal road through which the robot passes in the navigation direction of travel.
In this embodiment, since the robot acquires at least two pieces of first feedback information, and each piece of the at least two pieces of first feedback information is fed back to the robot by the signal source corresponding to the intersection, in order to facilitate the robot to refer to the traffic condition corresponding to the intersection to be passed through, it is further necessary to determine second feedback information from the at least two pieces of first feedback information, so as to facilitate the second feedback information to know the traffic condition of the target intersection to be passed through by the robot.
In some embodiments, the first feedback information includes identification information of the corresponding signal source.
The determining second feedback information from the at least two pieces of first feedback information includes:
and determining second feedback information according to the identification information and the navigation path of the signal source corresponding to each piece of first feedback information.
In this embodiment, when the robot executes a task, the navigation path is a pre-planned route from a task start point to a task end point, and the route includes identification information of signal sources corresponding to intersections of the robot path.
In this embodiment, the identification information of the signal source corresponding to each first feedback information is matched with the identification information of the signal source corresponding to each intersection included in the navigation path, so as to determine the identification information of the signal source corresponding to the intersection closest to the robot, and further, the first feedback information corresponding to the identification information of the signal source corresponding to the closest intersection is used as the second feedback information.
In an embodiment of the present application, as shown in fig. 2, the determining the second feedback information from the at least two pieces of first feedback information includes:
s21: for each piece of first feedback information, determining attribute information corresponding to the first feedback information;
s22: and determining the second feedback information from the at least two pieces of first feedback information according to the attribute information corresponding to each piece of first feedback information.
In this embodiment, the attribute information is information for identifying the first feedback information. It can be understood that the first feedback information may be distinguished by the attribute information corresponding to each first feedback information.
The attribute information may include at least one of a signal strength of the first feedback information, a signal source direction of a signal source corresponding to the first feedback information, and positioning information of the signal source corresponding to the first feedback information.
For example, when the attribute information includes signal strengths of the first feedback information, because the signal strength corresponding to each first feedback information may be different, the first feedback information with the largest signal strength may be determined by comparing the signal strengths corresponding to the first feedback information, which indicates that the signal source corresponding to the first feedback information is closest to the robot, that is, the intersection corresponding to the signal source may be an intersection through which the robot will pass, the corresponding first feedback information corresponding to the signal source may serve as the second feedback information, and the robot may control the operation of the robot by referring to the traffic condition of the corresponding intersection described in the second feedback information.
For another example, when the attribute information includes the signal source direction of the signal source corresponding to the first feedback information, because the robot travels by navigating along the navigation path, when it is determined that the signal source direction of the signal source corresponding to one first feedback information is consistent with the navigation travel direction, the corresponding first feedback information may be information fed back by the signal source corresponding to the intersection through which the robot will pass, and therefore, the first feedback information may be determined as the second feedback information, and the operation of the robot may be controlled by referring to the traffic condition of the corresponding intersection described in the second feedback information.
In an embodiment of the present application, the attribute information includes at least one of the obtained signal strength of the first feedback information, the positioning information of the signal source corresponding to the first feedback information, and the signal source direction of the signal source corresponding to the first feedback information.
The determining, for each piece of first feedback information, attribute information corresponding to the first feedback information includes:
for each piece of first feedback information, determining signal strength, signal source direction and/or positioning information corresponding to the first feedback information;
the determining the second feedback information from the at least two pieces of first feedback information according to the attribute information corresponding to each piece of first feedback information includes:
and determining the second feedback information according to the first feedback information that the corresponding signal intensity meets a first preset condition, the corresponding signal source direction meets a second preset condition and/or the corresponding positioning information of the signal source meets a third preset condition.
In this embodiment, the signal strength corresponding to the first feedback information is the signal strength of the signal source corresponding to the first feedback information detected at a position when the robot receives the first feedback information at the position.
It will be appreciated that the signal strength of a signal source detected by the signal strength detection device will vary at different distances from the signal source. The signal strength detection device may be a device installed in the robot, or a device that is in communication connection with the robot and can feed back the signal strength corresponding to the first feedback information to the robot.
The signal source direction describes a reference direction a signal source sending first feedback information to the robot has with respect to the position of the robot. For example, when the robot travels forward, the signal source that transmits the first feedback information to the robot is located at the front left of the robot.
The positioning information of the signal source is determined satellite positioning information of the information source when the signal source is installed at a proper position of the intersection.
In this embodiment, the first preset condition is: when the signal strength corresponding to one first feedback information is the maximum signal strength among the signal strengths corresponding to at least two first feedback information acquired by the robot, the first feedback information may be used as the second feedback information.
It can be understood that, when the signal strength corresponding to the first feedback information meets the first preset condition, the first feedback information is information that the signal source closest to the robot feeds back to the robot, that is, the intersection corresponding to the signal source is an intersection through which the robot will pass, so that the robot can control the operation of the robot by referring to the first feedback information sent by the signal source.
In this embodiment, the second preset condition is: if the signal source direction corresponding to the first feedback information is the same as the traveling direction of the robot, the first feedback information may be used as the second feedback information.
It can be understood that, when a signal source direction corresponding to a first feedback information is the same as the traveling direction of the robot, it indicates that the signal source direction of the first feedback information meets a second preset condition, the first feedback information is information that a signal source corresponding to an intersection located in the traveling direction of the robot feeds back to the robot, and the first feedback information can be used as a second feedback information, so that the robot refers to the traffic condition of the corresponding intersection described in the second feedback information, thereby controlling the operation of the robot.
In addition, for each piece of first feedback information, the positioning information of the signal source corresponding to the first feedback information is determined, and it is considered that whether the signal source feeding the first feedback information back to the robot is located on a continuous travel route of the robot or the relative distance between the signal source and the robot can be known through the positioning information of the signal source, so as to determine whether the positioning information of the signal source corresponding to the first feedback information meets a third preset condition.
It can be understood that, when the positioning information of the signal source corresponding to one first feedback information meets the third preset condition, it indicates that the signal source is located on the continuous travel route of the robot, and/or the relative distance between the signal source and the robot is the minimum, the corresponding first feedback information corresponding to the signal source may be used as the second feedback information, and the robot may control the operation of the robot by referring to the traffic condition of the target intersection described by the second feedback information.
In one embodiment, when the signal sources corresponding to the intersections transmit the information, the signal intensities corresponding to the information are the same.
In one embodiment, when the signal intensity corresponding to one piece of first feedback information is determined to meet a first preset condition, whether a signal source corresponding to the first feedback information is in the traveling direction of the robot is determined;
and if the signal source corresponding to the first feedback information of which the corresponding signal intensity meets the first preset condition is in the traveling direction of the robot, taking the first feedback information as second feedback information.
In this embodiment, the positioning information of the signal source corresponding to the first feedback information is matched with the navigation path of the robot to determine whether the signal source corresponding to the first feedback information is in the traveling direction of the robot.
As a possible implementation manner of this embodiment, the first feedback information includes intersection characteristic information of a corresponding intersection.
The determining the second feedback information according to the first feedback information that the corresponding signal strength meets a first preset condition, the corresponding signal source direction meets a second preset condition, and/or the corresponding positioning information of the signal source meets a third preset condition includes:
taking the first feedback information of which the corresponding signal intensity meets a first preset condition, the corresponding signal source direction meets a second preset condition and/or the corresponding positioning information of the signal source meets a third preset condition as feedback information to be confirmed;
if the number of the feedback information to be confirmed is at least two, and the intersections corresponding to the at least two feedback information to be confirmed are different, acquiring the environment information of the robot;
matching intersection characteristic information in the feedback information to be confirmed with the environment information aiming at each feedback information to be confirmed to obtain a matching result;
and if the matching result meets a fourth preset condition, taking the feedback information to be confirmed as the second feedback information.
In this embodiment, the object at the intersection described by the intersection feature information has an appearance feature. For example, a stone lion placed in a fixed position at a crossing, which has the characteristics of the stone lion.
The environmental information describes the environmental situation in the direction of travel of the robot. It is understood that the environmental condition in the traveling direction can be collected by the camera device configured on the robot to process and obtain the environmental information of the robot. For example, an image of an intersection that is going to pass through in the traveling direction of the robot is captured by an image capturing device disposed on the robot, and the image is processed to obtain the appearance characteristics of a stone lion at the intersection.
The matching result describes the matching condition of the intersection characteristic information included in the feedback information to be confirmed and the environment information of the robot.
The fourth preset condition is as follows: when the intersection characteristic information in the feedback information to be confirmed is matched with the environmental information, if the intersection characteristic information in the feedback information to be confirmed is a part of the environmental information of the robot or is completely matched with the environmental information, the feedback information to be confirmed can be used as second feedback information.
For example, when the intersection feature information in the feedback information to be confirmed is a part of the intersection features of the intersection through which the robot will pass, the feedback information to be confirmed is information that is fed back to the robot by the information source corresponding to the intersection, so that the feedback information to be confirmed can be used as the second feedback information, and the robot can refer to the traffic situation of the corresponding intersection described in the second feedback information to control the operation of the robot. On the contrary, when the intersection feature information in the feedback information to be confirmed is not matched with the environment information of the robot completely, it indicates that the intersection corresponding to the feedback information to be confirmed is not the intersection through which the robot will pass, and when the robot continues to move forward, the robot does not need to refer to the passing condition of the corresponding intersection described in the feedback information to be confirmed to control the operation of the robot.
In this embodiment, when there are at least two pieces of feedback information to be confirmed and the intersections corresponding to the at least two pieces of feedback information to be confirmed are different, it is indicated that the distance from the robot to the signal source corresponding to the feedback information to be confirmed is the same, so that the robot cannot determine the traffic condition of the corresponding intersection described in the feedback information to be confirmed for reference to control the operation of the robot, and therefore, it is necessary to further obtain the environment information of the robot, match the intersection characteristic information in the feedback information to be confirmed with the environment information, determine a matching result meeting a second preset condition according to a matching result corresponding to each piece of feedback information to be confirmed, and use the feedback information to be confirmed, of which the matching result meets the second preset condition, as the second feedback information.
In some embodiments, the intersection feature information is an image feature obtained by image processing of a picture of a corresponding intersection after the signal source acquires the picture by using the camera device. It is understood that the robot is provided with an image pickup apparatus for acquiring environmental information.
In some embodiments, the intersection feature information is a feature of the corresponding intersection acquired by the signal source through radar equipment, infrared equipment or sonar equipment. Such as an acquired radar signature, infrared signature, or sonar signature.
It can be understood that, when the signal source acquires the radar feature of the corresponding intersection through the radar device, the robot is also provided with a device for acquiring the radar feature of the intersection. Correspondingly, when the signal source acquires the intersection characteristics, the corresponding robot is also provided with equipment for acquiring the infrared characteristics or the sonar characteristics.
In some embodiments, the first feedback information includes identification information of the signal source. For example, the Identity Document (ID) of the signal source.
And acquiring the positioning information of the signal source corresponding to the first feedback information from a preset storage area according to the identification information aiming at each piece of first feedback information.
In this embodiment, the robot sends a positioning information obtaining request to the device, which stores the identification information of the signal source corresponding to the first feedback information, according to the identification information of the signal source recorded in the first feedback information, so as to obtain the positioning information of the signal source from the preset storage area of the device.
In some embodiments, according to the positioning information and the navigation path, a next intersection through which the robot is going to pass is determined, and the first feedback information corresponding to the intersection is determined to be the second feedback information.
In some embodiments, after determining the second feedback information, the information recorded in the second feedback information is stored to a preset storage area.
In this embodiment, the preset storage area may be a storage area in the robot or a storage area in a server communicatively connected to the robot.
It can be understood that, when a navigation path corresponding to the current task executed by the robot is obtained through subsequent re-planning, the information recorded in the preset storage area may be obtained based on the navigation path.
S13: and controlling the operation of the robot according to the second feedback information.
In this embodiment, according to the traffic situation of the target intersection described by the second feedback information, the operation parameters that the robot should have when passing through the target intersection are determined, and the operation of the robot is controlled based on the operation parameters. Wherein the operating parameter may include at least one of an acceleration, an initial speed, and a target speed of the robot as it passes through the target intersection.
For example, if it is determined that no vehicle exists at the target intersection or only no pedestrian is included according to the traffic condition of the target intersection described by the second feedback information, the robot keeps the initial speed and passes through the target intersection; if there is a vehicle or a pedestrian, the robot stops at the edge of the target intersection, or the robot reduces the travel speed to slowly pass through the target intersection.
In one embodiment, the controlling the operation of the robot according to the second feedback information includes:
determining a target operation strategy from at least two operation strategies according to the second feedback information;
and controlling the operation of the robot according to the target operation strategy.
In this embodiment, a plurality of operation strategies to be adopted by the robot to pass through the target intersection are preset. Wherein, each operation strategy comprises operation parameters for controlling the operation of the robot. For example, the operating parameter may include at least one of an acceleration, an initial speed, and a target speed of the robot as it passes through the target intersection.
It can be understood that whether the robot can smoothly pass through the target intersection is verified according to each operation strategy and the determined second feedback information, if it is verified that one of the multiple operation strategies exists, the robot can smoothly pass through the target intersection, and the operation of the robot is controlled by the target operation strategy, so that the robot passes through the target intersection.
In an embodiment of the application, after controlling the operation of the robot according to the second feedback information, the method further includes:
and after controlling the robot to run through the target intersection, indicating a signal source corresponding to the second feedback information to feed back information to the robot according to a preset strategy.
In this embodiment, the preset policy describes a manner of controlling a signal source corresponding to the target intersection to perform information feedback on the robot after the robot runs through the target intersection.
It can be understood that, after the robot is controlled to run through the target intersection, the robot automatically generates a notification message and sends the notification message to the signal source corresponding to the second feedback message, so that the notification message indicates the signal source corresponding to the second feedback message to perform information feedback to the robot according to a preset strategy. In some embodiments, after controlling the robot to run through the target intersection, the robot shields the feedback information of the signal source based on the identification information of the signal source corresponding to the target intersection, so as to reduce the data processing burden of the robot.
In this embodiment, the notification information indicates that the signal source corresponding to the second feedback information feeds back information to the robot according to a preset policy, and it is considered that the data size when the signal source corresponding to the second feedback information feeds back information to the robot is reduced, for example, the data processing workload of the robot is greatly reduced if the signal source does not feed back information to the robot or only feeds back a part of information.
For example, when the robot is controlled to travel through the intersection a and continue to travel to the next intersection B, there is no need to worry about interference by vehicles or pedestrians moving at the intersection a, so the signal source corresponding to the intersection a can reduce the amount of data fed back to the robot, for example, the signal source corresponding to the intersection a does not feed back the image feature of the intersection a to the robot.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 3 shows a block diagram of a device for controlling operation of a robot according to an embodiment of the present application, which corresponds to the method for controlling operation of a robot according to the foregoing embodiment, and only shows portions related to the embodiment of the present application for convenience of description.
Referring to fig. 3, the apparatus 100 includes:
the system comprises an acquisition module 101, a processing module and a control module, wherein the acquisition module 101 is used for acquiring first feedback information respectively fed back by signal sources corresponding to at least two intersections, and the first feedback information is used for describing the passing conditions of the corresponding intersections;
a determining module 102, configured to determine second feedback information from the at least two pieces of first feedback information, where the second feedback information is used to describe a traffic condition of the target intersection;
and the control module 103 is used for controlling the operation of the robot according to the second feedback information.
Optionally, the determining module 101 includes a first determining unit and a second determining unit.
A first determining unit, configured to determine, for each piece of first feedback information, attribute information corresponding to the first feedback information;
and a second determining unit, configured to determine, according to the attribute information corresponding to each piece of first feedback information, the second feedback information from the at least two pieces of first feedback information.
Optionally, the attribute information includes at least one of the obtained signal strength of the first feedback information, the positioning information of the signal source corresponding to the first feedback information, and the signal source direction of the signal source corresponding to the first feedback information.
The first determining unit is further configured to determine, for each piece of first feedback information, a signal strength, a signal source direction, and/or positioning information corresponding to the first feedback information.
The second determining unit is further configured to determine the second feedback information according to the first feedback information that the corresponding signal strength meets a first preset condition, the corresponding signal source direction meets a second preset condition, and/or the corresponding positioning information of the signal source meets a third preset condition.
Optionally, the first feedback information includes intersection characteristic information of a corresponding intersection.
The second determining unit is further configured to use the first feedback information, as feedback information to be confirmed, where the corresponding signal strength meets the first preset condition, the corresponding signal source direction meets the second preset condition, and/or the corresponding positioning information of the signal source meets a third preset condition;
if the number of the feedback information to be confirmed is at least two, and the intersections corresponding to the at least two feedback information to be confirmed are different, acquiring the environment information of the robot;
matching intersection characteristic information in the feedback information to be confirmed with the environment information aiming at each feedback information to be confirmed to obtain a matching result;
and if the matching result meets a fourth preset condition, taking the feedback information to be confirmed as the second feedback information.
Optionally, the first feedback information includes identification information of the corresponding signal source.
And the first determining unit is further configured to acquire, according to the identification information, positioning information of the signal source corresponding to the first feedback information from a preset storage area.
Optionally, the control module 103 is further configured to determine a target operation policy from at least two operation policies according to the second feedback information; and controlling the operation of the robot according to the target operation strategy.
Optionally, the apparatus 100 further comprises a notification module.
And the notification module is used for indicating the signal source corresponding to the second feedback information to feed back information to the robot according to a preset strategy after controlling the robot to run through the target intersection.
The apparatus for controlling operation of a robot provided in this embodiment may specifically be a robot body or a device in communication connection with the robot, and is configured to implement the method for controlling operation of a robot in the foregoing method embodiment, where the functions of each module/unit may refer to corresponding descriptions in the method embodiment, and the implementation principle and technical effect thereof are similar, and are not described herein again.
Fig. 4 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 4, the terminal device 4 of this embodiment includes: at least one processor 40 (only one processor is shown in fig. 4), a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, the steps of any of the various method embodiments described above being implemented when the computer program 42 is executed by the processor 40.
The terminal device 4 may be a mobile robot, a desktop computer, a notebook, a palm computer, a cloud server, or the like. The terminal device may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 4 is merely an example of the terminal device 4, and does not constitute a limitation of the terminal device 4, and may include more or less components than those shown, or combine some components, or different components, such as an input-output device, a network access device, and the like.
The Processor 40 may be a Central Processing Unit (CPU), and the Processor 40 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may in some embodiments be an internal storage unit of the terminal device 4, such as a hard disk or a memory of the terminal device 4. In other embodiments, the memory 41 may also be an external storage device of the terminal device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the terminal device 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the terminal device 4. The memory 41 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, because the contents of information interaction, execution process, and the like between the modules/units are based on the same concept as that of the method embodiment of the present application, specific functions and technical effects thereof may be referred to specifically in the method embodiment section, and are not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments may be implemented.
The embodiments of the present application provide a computer program product, which when running on a terminal device, enables the terminal device to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to an apparatus/terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method for controlling operation of a robot, comprising:
acquiring first feedback information respectively fed back by signal sources corresponding to at least two intersections, wherein the first feedback information is used for describing the passing condition of the corresponding intersections;
determining second feedback information from the at least two pieces of first feedback information, wherein the second feedback information is used for describing the passing condition of the target intersection;
and controlling the operation of the robot according to the second feedback information.
2. The method of claim 1, wherein the determining second feedback information from the at least two first feedback information comprises:
for each piece of first feedback information, determining attribute information corresponding to the first feedback information;
and determining the second feedback information from the at least two pieces of first feedback information according to the attribute information corresponding to each piece of first feedback information.
3. The method according to claim 2, wherein the attribute information includes at least one of the obtained signal strength of the first feedback information, positioning information of a signal source corresponding to the first feedback information, and a signal source direction of the signal source corresponding to the first feedback information;
the determining, for each piece of first feedback information, attribute information corresponding to the first feedback information includes:
for each piece of first feedback information, determining signal strength, signal source direction and/or positioning information corresponding to the first feedback information;
the determining the second feedback information from the at least two pieces of first feedback information according to the attribute information corresponding to each piece of first feedback information includes:
and determining the second feedback information according to the first feedback information that the corresponding signal intensity meets a first preset condition, the corresponding signal source direction meets a second preset condition and/or the corresponding positioning information of the signal source meets a third preset condition.
4. The method of claim 3, wherein the first feedback information includes intersection characteristic information of the corresponding intersection;
the determining the second feedback information according to the first feedback information that the corresponding signal strength meets a first preset condition, the corresponding signal source direction meets a second preset condition, and/or the corresponding positioning information of the signal source meets a third preset condition includes:
taking the first feedback information of which the corresponding signal intensity meets the first preset condition, the corresponding signal source direction meets the second preset condition and/or the corresponding positioning information of the signal source meets the third preset condition as feedback information to be confirmed;
if the number of the feedback information to be confirmed is at least two, and the intersections corresponding to the at least two feedback information to be confirmed are different, acquiring the environment information of the robot;
matching intersection characteristic information in the feedback information to be confirmed with the environment information aiming at each feedback information to be confirmed to obtain a matching result;
and if the matching result meets a fourth preset condition, taking the feedback information to be confirmed as the second feedback information.
5. The method of claim 3, wherein the first feedback information includes identification information of the corresponding signal source;
when determining the positioning information of the signal source corresponding to the first feedback information, the method includes:
and acquiring the positioning information of the signal source corresponding to the first feedback information from a preset storage area according to the identification information.
6. The method of claim 1, wherein controlling operation of the robot based on the second feedback information comprises:
determining a target operation strategy from at least two operation strategies according to the second feedback information;
and controlling the operation of the robot according to the target operation strategy.
7. The method of any of claims 1-6, wherein after controlling operation of the robot based on the second feedback information, further comprising:
and after controlling the robot to run through the target intersection, indicating a signal source corresponding to the second feedback information to feed back information to the robot according to a preset strategy.
8. An apparatus for controlling operation of a robot, comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring first feedback information respectively fed back by signal sources corresponding to at least two intersections, and the first feedback information is used for describing the passing condition of the corresponding intersections;
the determining module is used for determining second feedback information from the at least two pieces of first feedback information, and the second feedback information is used for describing the passing condition of the target intersection;
and the control module is used for controlling the operation of the robot according to the second feedback information.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the method of any one of claims 1 to 7.
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