CN113359713A

CN113359713A - Control method, control device, avoidance device, storage medium, and avoidance system

Info

Publication number: CN113359713A
Application number: CN202110574026.7A
Authority: CN
Inventors: 许哲涛
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-05-25
Filing date: 2021-05-25
Publication date: 2021-09-07

Abstract

The invention discloses a control method, a control device, an avoidance device, a storage medium and an avoidance system. The method comprises the following steps: when a first robot is in a task execution state, if a communication tag of an avoidance device deployed on a second robot is detected, establishing communication connection with the avoidance device deployed on the second robot according to the communication tag; generating an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot sent by an avoidance device deployed on the second robot; the avoidance instruction is sent to the avoidance device deployed on the second robot, so that the avoidance device deployed on the second robot sends the avoidance instruction to the second robot.

Description

Control method, control device, avoidance device, storage medium, and avoidance system

Technical Field

The embodiment of the invention relates to the technical field of computers, in particular to a control method, a control device, an avoidance device, a storage medium and an avoidance system.

Background

Indoor robot can be in large-scale indoor scene transportation goods and materials such as hospital, market and station or carry out indoor cleanness to reduce artifical transportation or clean cost. In an indoor scene where a plurality of robots are deployed, the robots meet each other, and when the robots meet each other, an avoidance mechanism needs to be established so that the robots can smoothly pass through and are not blocked due to respective road robbing.

At present, a plurality of robots are deployed in the same operation area, a background scheduling system is usually established, each robot is connected to a background scheduling center through a wireless network, and when a scene that the robots meet occurs, the scheduling system issues an instruction and selects a preferential passing party and an avoiding party.

The main disadvantages of the current practice are as follows: 1. a plurality of robots are deployed in the same operation area, when a scene that the robots meet is generated, a dispatching system issues an instruction, a preferential passing party and an avoiding party are selected to depend on the network coverage of the dispatching system and a single operation area, and if no dispatching system or an area with poor network signals exists, an active avoiding mechanism when the robots meet is invalid, so that the passing of the plurality of robots is influenced. 2. The robots of different brands and manufacturers can not share the same set of dispatching system, and when the robots of a plurality of manufacturers and brands run in the same area, an avoidance mechanism can be out of order, so that the robot is easy to block.

Disclosure of Invention

The embodiment of the invention provides a control method, a control device, an avoidance device, a storage medium and an avoidance system, which can realize the dispatching of a plurality of robots in a unified operation area under the condition of no dispatching system and no network signal coverage, can realize the dispatching of the robots aiming at different brands and manufacturers, and can prevent the robot from being blocked.

In a first aspect, an embodiment of the present invention provides a control method, performed by an avoidance device deployed on a first robot, where the method includes:

when a first robot is in a task execution state, if a communication tag of an avoidance device deployed on a second robot is detected, establishing communication connection with the avoidance device deployed on the second robot according to the communication tag, wherein the second robot is in the task execution state;

generating an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot sent by an avoidance device deployed on the second robot;

and sending the avoidance instruction to an avoidance device deployed on the second robot so that the avoidance device deployed on the second robot sends the avoidance instruction to the second robot.

In a second aspect, an embodiment of the present invention provides a control method, performed by an avoidance apparatus disposed on a second robot, the method including:

after establishing communication connection with an avoidance device deployed on a first robot based on a communication tag of the avoidance device deployed on a second robot, sending operation parameters of the second robot to the avoidance device deployed on the first robot so that the avoidance device deployed on the first robot generates an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot;

and receiving an avoidance instruction sent by an avoidance device deployed on the first robot, and sending the avoidance instruction to the second robot so that the second robot carries out avoidance according to the avoidance instruction.

In a third aspect, an embodiment of the present invention further provides a control device, which is disposed in an avoidance device on a first robot, and includes:

the system comprises a connection establishing module, a task executing module and a task executing module, wherein the connection establishing module is used for establishing communication connection with an avoidance device deployed on a second robot according to a communication label if the communication label of the avoidance device deployed on the second robot is detected when the first robot is in a task executing state;

the first sending module is used for generating an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot sent by the avoidance device deployed on the second robot;

and the second sending module is used for sending the avoidance instruction to an avoidance device deployed on the second robot so that the avoidance device deployed on the second robot sends the avoidance instruction to the second robot.

In a fourth aspect, an embodiment of the present invention further provides a control device, which is disposed in an avoidance device on a second robot, and includes:

the third sending module is used for sending the operation parameters of the second robot to the avoidance device deployed on the first robot after the communication connection is established between the communication label based on the avoidance device deployed on the second robot and the avoidance device deployed on the first robot, so that the avoidance device deployed on the first robot generates an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot;

the receiving module is used for receiving an avoidance instruction sent by an avoidance device deployed on the first robot and sending the avoidance instruction to the second robot so that the second robot can carry out avoidance according to the avoidance instruction.

In a fifth aspect, an embodiment of the present invention further provides an avoidance apparatus, including: a communication tag, a wireless reader, a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the control method according to any one of the embodiments of the present invention when executing the program.

In a sixth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the control method according to any one of the embodiments of the present invention.

In a seventh aspect, an embodiment of the present invention further provides an avoidance system, where the avoidance system includes:

the robot comprises a first robot and a second robot, wherein at least one avoidance device is arranged on the first robot and the second robot; the avoidance device deployed on the first robot is configured to perform:

sending the avoidance instruction to an avoidance device deployed on the second robot;

the avoidance device disposed on the second robot is used for executing:

after establishing communication connection with an avoidance device deployed on a first robot, sending operating parameters of a second robot to the avoidance device deployed on the first robot;

In the embodiment of the invention, when a first robot is in a task executing state, if a communication label of an avoidance device deployed on a second robot is detected, a communication connection with the avoidance device deployed on the second robot is established according to the communication label, an avoidance instruction is generated according to an operation parameter of the first robot and an operation parameter of the second robot sent by the avoidance device deployed on the second robot, the avoidance instruction is sent to the avoidance device deployed on the second robot, so that the avoidance device deployed on the second robot sends the avoidance instruction to the second robot, the problem that a plurality of robots are deployed in the same operation area is solved, if a plurality of robots do not have a dispatching system, the area network signal difference of the robots, and the robots are robots of different manufacturers, when a scene that the robots meet each other occurs, the avoidance mechanism is invalid, the multiple robots are imaged to pass, the problem of robot blockage easily occurs, the multiple robots in a unified operation area can be dispatched under the condition that a dispatching system and network signal coverage are not available, and the robot dispatching aiming at different brands and manufacturers can be realized, so that the robot blockage is prevented.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a flow chart of a control method according to a first embodiment of the present invention;

fig. 1a is a diagram of a delivery robot in accordance with a first embodiment of the present invention;

fig. 1b is an architecture diagram of an avoidance apparatus deployed on a transfer robot in accordance with a first embodiment of the present invention;

fig. 1c is a data storage diagram of an avoidance device deployed on a delivery robot in accordance with a first embodiment of the present invention;

fig. 1d is a schematic view of a detection range of an avoidance apparatus disposed on a transfer robot according to a first embodiment of the present invention;

fig. 1e is a schematic diagram of an avoidance apparatus disposed on a transfer robot to establish communication according to a first embodiment of the present invention;

fig. 1f is a schematic view of the passing of an avoidance apparatus deployed on a transfer robot in the first embodiment of the present invention;

fig. 1g is a schematic diagram of a conveying robot after avoiding passing through in the first embodiment of the invention;

fig. 1h is a flowchart illustrating the operation of an avoidance apparatus disposed on a transfer robot according to a first embodiment of the present invention;

fig. 1i is a schematic diagram of a scheduling system in the prior art.

FIG. 2 is a flowchart of a control method according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a control device according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a control device according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural view of an avoidance apparatus according to a fifth embodiment of the present invention;

fig. 6 is a schematic structural diagram of an avoidance system according to a seventh embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Example one

Fig. 1 is a flowchart of a control method according to an embodiment of the present invention, where this embodiment is applicable to a situation where multiple robots are deployed in the same operation area, and the method may be executed by a control device according to an embodiment of the present invention, where the control device may be implemented in a software and/or hardware manner, and the device is deployed in an avoidance device on a first robot, as shown in fig. 1, where the method specifically includes the following steps:

s110, when the first robot is in a task execution state, if a communication tag of an avoidance device deployed on a second robot is detected, establishing communication connection with the avoidance device deployed on the second robot according to the communication tag, wherein the second robot is in the task execution state.

In the embodiment of the invention, aiming at a scene that a plurality of robots are deployed in the same operation area, at least one avoidance device is deployed on each robot, the robots and the avoidance devices deployed on the robots can carry out information interaction, any two avoidance devices can carry out data interaction after establishing communication connection, each avoidance device can detect communication tags of other avoidance devices in a certain range, the avoidance device which detects the communication tags firstly is determined as a main avoidance device, and the detected avoidance device is determined as a slave avoidance device, wherein the avoidance device deployed on a first robot is the main avoidance device, and the avoidance device deployed on a second robot is the slave avoidance device.

Wherein, dodge the device and include: communication label, wireless reader, communication module, processor and memory. The communication module can realize communication with other avoidance devices, a processor of the avoidance device can perform data interaction with a processor of the robot, the ID of the communication tag is unique, and the reader can read the communication tag within a certain range. The avoidance device processor can be communicated with the robot processor, and when the wireless reader reads the communication tag, the robot related information corresponding to the communication tag can be inquired according to the mapping relation.

The task executed by the first robot may be a conveying task or a cleaning task, which is not limited in this embodiment of the present invention.

The avoidance device deployed on the first robot can detect a communication tag of the avoidance device in an area with the first robot as a center and R as a radius.

The communication tag can be at least one of an RFID tag, a Bluetooth tag and a ZigBee tag, the RFID tag is composed of a coupling element and a chip, each RFID tag has a unique electronic code and is attached to an object to identify a target object, and the RFID tag is commonly called an electronic tag or an intelligent tag. After the Tag enters a magnetic field, receiving a radio frequency signal sent by the reader, and sending out product information (Passive Tag, Passive Tag or Passive Tag) stored in the chip by virtue of energy obtained by induced current, or actively sending a signal of a certain frequency (Active Tag, Active Tag or Active Tag); the information is read and decoded by the interpreter, and then relevant data processing is carried out.

The manner of establishing a communication connection with the avoidance device deployed on the second robot according to the communication tag may be: and searching a wireless communication check code corresponding to the communication tag ID locally according to the communication tag ID, and sending the wireless communication check code to an avoidance device deployed on the second robot so as to establish communication connection between the avoidance device deployed on the first robot and the avoidance device deployed on the second robot. The method for establishing communication connection with the avoidance device deployed on the second robot according to the communication tag may further include: and searching the robot SN code, the robot size and the wireless communication check code corresponding to the communication tag ID locally according to the communication tag ID, storing the robot SN code, the robot size and the wireless communication check code into a memory of an avoidance device, and sending the wireless communication check code to the avoidance device deployed on the second robot so as to establish communication connection between the avoidance device deployed on the first robot and the avoidance device deployed on the second robot.

For example, when the first robot is in a task executing state, if a communication tag of an avoidance device disposed on the second robot is detected, a communication connection with the avoidance device disposed on the second robot is established according to the communication tag. For example, a robot a, a robot B and a robot C are deployed in the same operation area, an avoidance device is deployed on the robot a, an avoidance device is deployed on the robot B, an avoidance device is deployed on the robot C, the robot a and the avoidance device deployed on the robot a can perform information interaction, the robot B and the avoidance device deployed on the robot B can perform information interaction, the robot C and the avoidance device deployed on the robot C can perform information interaction, after communication connection is established between any two avoidance devices, data interaction can be performed, each avoidance device can detect RFID tags of other avoidance devices within a certain range, the robot a, the robot B and the robot C are all in a task execution state, if the avoidance device deployed on the robot a detects a communication tag of the avoidance device deployed on the robot B, the avoidance device deployed on the robot A is determined as a master avoidance device, the avoidance device deployed on the robot B is determined as a slave avoidance device, and the avoidance device deployed on the robot A establishes communication connection with the avoidance device deployed on the robot B according to the RFID tag.

And S120, generating an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot sent by the avoidance device deployed on the second robot.

Wherein the operating parameters of the first robot may include: a map of the first robot, position coordinates of the first robot, a direction of travel of the first robot, and a size of the first robot. The operating parameters of the first robot may also include: the position coordinates of the first robot, the direction of travel of the first robot, and the size of the first robot.

Wherein the operating parameters of the second robot include: a size of the second robot, a position coordinate of the second robot, and a traveling direction of the second robot; the operating parameters of the second robot may also include: the position coordinate of the second robot and the traveling direction of the second robot are obtained by inquiring the communication tag; the operating parameters of the second robot may further include: a map of the second robot, a size of the second robot, position coordinates of the second robot, and a direction of travel of the second robot; the operating parameters of the second robot may further include: a map of the second robot, position coordinates of the second robot, and a direction of travel of the second robot. It should be noted that, since the first robot and the second robot are located in the same operation area, the map of the first robot is the same as the map of the second robot, and if only the map of the first robot or the map of the second robot needs to be acquired.

For example, the manner of generating the avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot sent by the avoidance device deployed on the second robot may be: and determining that the second robot and the first robot meet risks according to the map of the first robot, the position coordinate of the first robot, the advancing direction of the first robot, the size of the second robot, the position coordinate of the second robot and the advancing direction of the second robot, and drawing an obstacle with the size consistent with that of the second robot on the map of the first robot to prevent the first robot and the second robot from interfering and colliding with each other. Generating an avoidance instruction according to the drawn map; the method for generating the avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot sent by the avoidance device deployed on the second robot may further include: determining that the second robot and the first robot meet risks according to the map of the first robot, the position coordinate of the first robot, the traveling direction of the first robot, the size of the second robot, the position coordinate of the second robot and the traveling direction of the second robot, determining the meeting area of the second robot and the first robot according to the map of the first robot, the position coordinate of the first robot, the traveling direction of the first robot, the size of the second robot, the position coordinate of the second robot and the traveling direction of the second robot, selecting an avoidance position from the outside of the meeting area, and generating an avoidance instruction according to the avoidance position to enable the second robot to move to the avoidance position. The method for generating the avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot sent by the avoidance device deployed on the second robot may further include: determining that the second robot and the first robot meet risks according to the map of the first robot, the position coordinate of the first robot, the traveling direction of the first robot, the size of the second robot, the position coordinate of the second robot and the traveling direction of the second robot, and drawing an obstacle with the size consistent with that of the second robot on the map of the first robot; determining an encountering region of the barrier and the first robot according to the operating parameters of the barrier and the operating parameters of the first robot, selecting an avoidance position from the outside of the encountering region, generating an avoidance instruction according to the avoidance position to enable the second robot to move to the avoidance position, if the avoidance position is the current position of the second robot, only needing the second robot to pause to execute the task for a preset time, and carrying a pause execution task identifier by the generated avoidance instruction. It should be noted that, when the avoidance position is selected, the avoidance position outside the meeting area and having a distance from the current position of the second robot to be less than the set threshold is selected, or the avoidance position outside the meeting area and having a distance from the position point on the task execution route of the second robot to be less than the set threshold is selected, which is not limited in the embodiment of the present invention.

S130, sending the avoidance instruction to an avoidance device deployed on the second robot so that the avoidance device deployed on the second robot sends the avoidance instruction to the second robot.

And the avoidance instruction carries a suspended execution task identifier and/or an avoidance position.

For example, the avoidance instruction is sent to the avoidance device deployed on the second robot, so that the avoidance device deployed on the second robot sends the avoidance instruction to the second robot, for example, the avoidance instruction is sent to the avoidance device deployed on the second robot, the avoidance device deployed on the second robot sends the avoidance instruction to the second robot, after receiving the avoidance instruction, the second robot suspends the execution of the task for the preset time according to the avoidance instruction, or after receiving the avoidance instruction, the second robot suspends the execution of the task according to the avoidance instruction, moves to the avoidance position before the first set time and stops for the preset time at the avoidance position, it is required to be noted that the guarantee that the movement to the avoidance position before the first set time is to prevent the task of the first robot from being affected (causing congestion or occupying the first set time) in the process that the second robot moves to the avoidance position Robot lane).

Optionally, generating an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot sent by the avoidance device deployed on the second robot includes:

acquiring operation parameters of a first robot;

determining an encountering region according to the operation parameters of the first robot and the second robot;

and after the meeting area is determined, generating an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot.

The method for acquiring the operation parameters of the first robot may be as follows: the method comprises the steps that an avoidance device deployed on a first robot obtains operation parameters of the first robot in real time through a processor of the first robot; the method for acquiring the operation parameters of the first robot may further include: the first robot sends the operation parameters of the first robot to the avoidance device deployed on the first robot in real time, which is not limited in the embodiment of the present invention.

For example, the manner of determining the meeting region according to the operation parameters of the first robot and the operation parameters of the second robot may be: calculating according to the position coordinate of the first robot, the advancing direction of the first robot, the position coordinate of the second robot and the advancing direction of the second robot to obtain meeting time, determining meeting positions according to the meeting time, and obtaining meeting areas according to the meeting positions, the size of the first robot and the size of the second robot. The method for determining the meeting area according to the operation parameters of the first robot and the second robot may further include: calculating according to the position coordinate of the first robot, the traveling direction of the first robot, the position coordinate of the second robot and the traveling direction of the second robot to obtain at least two times of encounters, wherein the time of each encounter is the time of each encounter; and determining an encountering area according to the encountering time of each encounter.

For example, the manner of generating the avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot after the meeting area is determined may be: and after the meeting area is determined, selecting an avoidance position which is out of the meeting area and has a distance with the current position of the second robot smaller than a set threshold value. After the meeting area is determined, the mode of generating the avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot can also be as follows: after the meeting area is determined, an avoidance position outside the meeting area and having a distance with a position point on a task execution route of the second robot smaller than a set threshold is selected, which is not limited in the embodiment of the present invention.

Optionally, determining an encounter region according to the operation parameters of the first robot and the operation parameters of the second robot includes:

calculating the meeting time according to the position coordinate of the first robot, the advancing direction of the first robot, the position coordinate of the second robot and the advancing direction of the second robot;

and calculating the meeting area according to the meeting time, the size of the first robot and the size of the second robot.

For example, the way of calculating the meeting time according to the position coordinate of the first robot, the traveling direction of the first robot, the position coordinate of the second robot, and the traveling direction of the second robot may be: calculating according to the position coordinates of the first robot and the second robot to obtain the distance between the first robot and the second robot, determining the speed of the first robot according to the position coordinates of the first robot at adjacent moments, determining the speed of the second robot according to the position coordinates of the second robot at adjacent moments, and determining the meeting time according to the speed of the first robot, the speed of the second robot and the distance between the first robot and the second robot.

For example, the way of calculating the meeting area according to the meeting time, the size of the first robot and the size of the second robot may be: and determining the meeting position according to the meeting time, and calculating the meeting area according to the meeting position, the size of the first robot and the size of the second robot. The way of calculating the meeting area according to the meeting time, the size of the first robot and the size of the second robot can be as follows: the meeting area is calculated according to the meeting time corresponding to at least two times of meeting, the size of the first robot and the size of the second robot, which is not limited in the embodiment of the present invention.

Optionally, after sending the avoidance instruction to the avoidance device deployed on the second robot, the method further includes:

and when the current position of the first robot is detected to be outside the meeting area, sending a passing instruction to an avoidance device deployed on the second robot so as to enable the second robot to continue to execute tasks.

Illustratively, when it is detected that the current position of the first robot is outside the meeting area, that is, after it is detected that the first robot passes through the meeting area, a passing instruction is sent to an avoidance device deployed on the second robot, so that the second robot continues to execute the task, it should be noted that, if the avoidance instruction only carries a suspended task execution identifier, the second robot may directly continue to execute the task after receiving the passing instruction, and if the avoidance instruction carries an avoidance position, after receiving the passing instruction, the second robot needs to re-plan the route according to the avoidance position, and continues to execute the task according to the planned route.

Optionally, the operation parameters of the first robot include: a map of the first robot, position coordinates of the first robot, a direction of travel of the first robot, and a size of the first robot; the operating parameters of the second robot include: a size of the second robot, a position coordinate of the second robot, and a traveling direction of the second robot;

generating an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot sent by an avoidance device deployed on the second robot, wherein the avoidance instruction comprises the following steps:

generating a drawing instruction according to the size of the second robot, the position coordinate of the second robot and the traveling direction of the second robot, and sending the drawing instruction to the first robot so that the first robot draws a target obstacle on the map according to the size of the second robot, the position coordinate of the second robot and the traveling direction of the second robot to obtain a target map;

and generating an avoidance instruction according to the target map.

Wherein the target obstacle and the second robot are the same in size, and the position of the target obstacle changes with the change of the position of the second robot.

For example, after obtaining the target map, the first robot may determine that the avoidance instruction carries the task suspension execution identifier according to the target obstacle on the target map and the position of the first robot, or that the avoidance instruction carries the task suspension execution identifier and the avoidance position.

Optionally, generating an avoidance instruction according to the target map includes:

acquiring the position coordinates of a target obstacle and the traveling direction of the target obstacle in the target map;

generating an avoidance instruction according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot and the traveling direction of the first robot in the target map, wherein the avoidance instruction carries a task pause execution identifier and/or an avoidance position.

For example, generating an avoidance instruction according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot, and the traveling direction of the first robot in the target map, where the avoidance instruction carries a task execution suspension identifier and/or an avoidance position, may be: determining an encountering area according to the position coordinates of the target barrier, the traveling direction of the target barrier, the position coordinates of the first robot and the traveling direction of the first robot in the target map, and selecting an avoidance position outside the encountering area and having a distance with the current position of the second robot smaller than a set threshold value. Generating an avoidance instruction according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot and the traveling direction of the first robot in the target map, wherein the manner that the avoidance instruction carries the task execution suspension identifier and/or the avoidance position may also be: determining an encounter region according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot and the traveling direction of the first robot in the target map, and after the encounter region is determined, selecting an avoidance position, which is out of the encounter region and has a distance to a position point on a task execution route of the second robot smaller than a set threshold, for example, generating an avoidance instruction according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot and the traveling direction of the first robot in the target map, wherein the avoidance instruction may also include a mode of suspending task execution identification and/or avoidance position: determining an encounter area according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot and the traveling direction of the first robot in the target map, and if the second robot is stationary at the current position and meets the condition that the distance between the second robot and the current position outside the encounter area is smaller than a set threshold value, or meets the condition that the distance between the second robot and a position point on a task execution route of the second robot is smaller than a set threshold value, generating an avoidance instruction, wherein the avoidance instruction carries a task execution suspension identifier.

Optionally, when the first robot is in the task execution state, if a communication tag of the avoidance device deployed on the second robot is detected, establishing a communication connection with the avoidance device deployed on the second robot according to the communication tag, including:

when a first robot is in a task execution state, if a communication tag of an avoidance device deployed on a second robot is detected, determining a wireless communication check code according to the communication tag, wherein the communication tag comprises: at least one of an RFID tag, a Bluetooth tag and a ZigBee tag;

generating a handshake instruction according to the wireless communication check code, and sending the handshake instruction to an avoidance device deployed on the second robot;

and establishing communication connection with the avoidance device deployed on the second robot according to feedback information sent by the avoidance device deployed on the second robot.

As shown in fig. 1a, fig. 1a is a real object diagram of a conveying robot, and the conveying robot has various types, and can perform distribution tasks in indoor scenes to replace manual work and reduce transportation cost. After a plurality of robots are deployed in the same indoor scene, an avoidance mechanism needs to be established to prevent blockage when two robots meet each other.

As shown in fig. 1b, fig. 1b is an architecture diagram of an avoidance device deployed on a delivery robot, the existing system of the robot mainly includes a robot processor, a data storage system, a power system, a navigation system and an interaction system, the power system enables the robot to move freely, the navigation system provides positioning and mapping services for the robot, and the interaction system is used for interacting with a user. The avoidance device mainly comprises: dodge device treater, Lora communication module, RFID and read ware, data storage device, RFID label, wherein RFID label ID is unique, and Lora communication module can realize with other dodge device communications, and RFID reads the RFID label that the ware can read in certain extent. The avoidance device processor may be in communication with the robot processor.

As shown in fig. 1c, fig. 1c is a data storage diagram of an avoidance device deployed on a transportation robot, and when the avoidance device is deployed on the robot, a mapping relationship between an RFID tag and information such as a robot SN code, a robot size, and a robot wireless communication check code is established and stored in a storage unit of the avoidance device. When the RFID reader reads the RFID label, the relevant information of the robot corresponding to the RFID label can be inquired according to the mapping relation.

As shown in fig. 1d, fig. 1d is a schematic diagram of a detection range of an avoidance device deployed on a transport robot, and power of an RFID reader is adjusted so that a reading radius of the reader is R, where R is generally 6-8 meters, and is related to an operation speed of the robot. When the robot enters the detection range, the RFID reader can read the RFID label on the avoiding device.

As shown in fig. 1e, fig. 1e is a schematic diagram illustrating that communication is established between avoidance devices deployed on a transport robot, when a robot a and a robot B meet each other in an operation process and enter a detection region, an RFID tag of the avoidance device deployed on the robot B is detected by the avoidance device deployed on the robot a, mapping information of the avoidance device deployed on the robot B is searched by the avoidance device deployed on the robot a according to the RFID tag, and the avoidance device deployed on the robot a actively communicates with the avoidance device deployed on the robot B.

As shown in fig. 1f, fig. 1f is a schematic view of a traffic of an avoidance device deployed on a transport robot, where the avoidance device deployed on a robot a sends a communication establishment request to carry a communication check code of the avoidance device deployed on a robot B, the avoidance device deployed on the robot B checks that the avoidance device deployed on the robot a returns the coordinates and the traveling direction of the robot B to the avoidance device deployed on the robot a, the avoidance device deployed on the robot a determines whether the robot a meets the robot B at risk, and if no robot B leaves a detection area of the robot a, the communication is closed; if meeting risks exist, an avoidance device deployed on the robot A sends an avoidance instruction to a communication device deployed on the robot B, meanwhile, an obstacle with the size consistent with that of the robot B is drawn on a map of the robot A, collision caused by interference of two robot laser radars is prevented, the robot B executes the avoidance instruction, the robot A sends a passing instruction to the avoidance device deployed on the robot B through the avoidance device deployed on the robot A at the rear part, the avoidance device deployed on the robot B sends the passing instruction to the robot B, and communication is closed after the robot B leaves a detection area of the robot A.

As shown in fig. 1g, fig. 1g is a schematic diagram of a transport robot after passing through an avoidance process, a robot B performs an avoidance process, and after passing through a meeting point, a passable command is sent to the robot B, and the two robots each perform a delivery task.

As shown in fig. 1h, fig. 1h is a work flow diagram of an avoidance device deployed on a delivery robot, the robots A, B each performing a delivery task according to a planned path; the avoidance device deployed on the robot B enters a detection range of the avoidance device deployed on the robot A, and the avoidance device deployed on the robot A preferentially detects the RFID label of the avoidance device deployed on the robot B; the method comprises the steps that an avoidance device deployed on a robot A inquires and detects RFID label mapping information, the avoidance device deployed on the robot A initiates handshake communication to an avoidance device deployed on a robot B, the avoidance device deployed on the robot B checks and returns the coordinate position and the advancing direction of the robot B to the avoidance device deployed on the robot A through communication establishment. An avoidance device deployed on the robot A judges whether an encounter risk exists or not, and if not, the communication is closed after the robot B leaves a detection area A; if so, drawing an obstacle with the size consistent with that of the robot B on a map of the robot A, preventing the two robots from being interfered by the laser radar to collide, sending an avoidance instruction to an avoidance device arranged on the robot B by the avoidance device arranged on the robot A, sending the avoidance instruction to the robot B by the avoidance device arranged on the robot B, and avoiding by the robot B; the robot A sends a passing command to an avoidance device deployed on the robot B through the meeting area; and the avoidance device deployed on the robot B sends a passing instruction to the robot B, and the robot B passes and continues to execute the distribution task.

As shown in fig. 1i, fig. 1i is a schematic diagram of a scheduling system in the prior art, in an indoor scene where multiple robots are deployed, a situation that the robots meet each other may occur, and when the robots meet each other, an avoidance mechanism needs to be established so that the robots can smoothly pass through without blocking respective routes. At present, a plurality of robots are deployed in the same operation area, a background scheduling system is usually established, each robot is connected to a background scheduling center through a wireless network, when a scene that the robots meet occurs, the scheduling system issues an instruction, a preferential passing party and an avoiding party are selected, and the defects of the scheduling system shown in fig. 1i are as follows: the multi-machine avoidance depends on the network coverage of a dispatching system and a single-machine operation area, and if no dispatching system or an area with poor network signals exists, the active avoidance mechanism is invalid when the robot meets, so that the passing is influenced. The robots of different brands and manufacturers can not share the same set of dispatching system, and when the robots of a plurality of manufacturers and brands operate in the same area, an avoidance mechanism can fail to work to cause blockage.

The embodiment of the invention establishes a master-slave avoidance mechanism by actively detecting the robots near the running area, the discovering party is a master avoidance device, the discovering party is a slave avoidance device, after the master-slave handshake communication is successful, the discovering party and the slave avoidance device respectively send the positions of the two parties, the master and the slave virtualize the robots of the two parties in the form of moving obstacles on respective running maps, and the master guides the slave to carry out avoidance passing. The problem of encounter avoidance among different robots can be solved without depending on a background scheduling system and network coverage.

According to the technical scheme of the embodiment, when a first robot is in a task executing state, if a communication label of an avoidance device deployed on a second robot is detected, communication connection with the avoidance device deployed on the second robot is established according to the communication label, an avoidance instruction is generated according to operation parameters of the first robot and operation parameters of the second robot sent by the avoidance device deployed on the second robot, the avoidance instruction is sent to the avoidance device deployed on the second robot, so that the avoidance device deployed on the second robot sends the avoidance instruction to the second robot, the problem that a plurality of robots are deployed in the same operation area is solved, if a plurality of robots do not have a dispatching system, the area network signal difference of the robots, and the robots are robots of different manufacturers, when a scene that the robots meet each other occurs, the avoidance mechanism is invalid, the multiple robots are imaged to pass, the problem of robot blockage easily occurs, the multiple robots in a unified operation area can be dispatched under the condition that a dispatching system and network signal coverage are not available, and the robot dispatching aiming at different brands and manufacturers can be realized, so that the robot blockage is prevented.

Example two

Fig. 2 is a flowchart of a control method according to a second embodiment of the present invention, where this embodiment is applicable to a situation where multiple robots are deployed in the same operation area, and the method may be executed by a control device according to the second embodiment of the present invention, where the control device may be implemented in a software and/or hardware manner, and the control device is deployed in an avoidance device on a second robot, as shown in fig. 2, the method specifically includes the following steps:

s210, after a communication connection is established between a communication tag based on an avoidance device deployed on a second robot and the avoidance device deployed on a first robot, sending operation parameters of the second robot to the avoidance device deployed on the first robot, so that the avoidance device deployed on the first robot generates an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot.

The task executed by the second robot may be a conveying task or a cleaning task, which is not limited in this embodiment of the present invention.

The avoidance device deployed on the second robot can detect the communication tag of the avoidance device in the area with the second robot as the center and R as the radius.

The communication tag may include at least one of an RFID tag, a bluetooth tag, and a ZigBee tag, where the RFID tag is composed of a coupling element and a chip, each RFID tag has a unique electronic code, and is attached to an object to identify a target object, which is commonly referred to as an electronic tag or an intelligent tag. After the Tag enters a magnetic field, receiving a radio frequency signal sent by the reader, and sending out product information (Passive Tag, Passive Tag or Passive Tag) stored in the chip by virtue of energy obtained by induced current, or actively sending a signal of a certain frequency (Active Tag, Active Tag or Active Tag); the information is read and decoded by the interpreter, and then relevant data processing is carried out.

The avoidance device deployed on the second robot is the avoidance device of the detected communication tag.

The mode of establishing communication connection between the communication tag based on the avoidance device deployed on the second robot and the avoidance device deployed on the first robot may be as follows: after detecting a communication tag of the avoidance device deployed on a second robot, the avoidance device deployed on the first robot searches a wireless communication check code corresponding to the communication tag ID locally according to the communication tag ID, and sends the wireless communication check code to the avoidance device deployed on the second robot, so that the avoidance device deployed on the first robot and the avoidance device deployed on the second robot establish communication connection. The manner of establishing a communication connection with the avoidance device deployed on the first robot based on the communication tag of the avoidance device deployed on the second robot may be: after the avoidance device deployed on the first robot detects a communication tag of the avoidance device deployed on the second robot, the robot SN code corresponding to the communication tag ID, the robot size and the wireless communication check code are searched locally according to the communication tag ID, the robot SN code, the robot size and the wireless communication check code are stored in a memory of the avoidance device, and the wireless communication check code is sent to the avoidance device deployed on the second robot, so that the avoidance device deployed on the first robot is in communication connection with the avoidance device deployed on the second robot.

Illustratively, a communication connection is established with the avoidance device deployed on the first robot based on a communication tag of the avoidance device deployed on the second robot. For example, a robot a, a robot B and a robot C are deployed in the same operation area, an avoidance device is deployed on the robot a, an avoidance device is deployed on the robot B, an avoidance device is deployed on the robot C, the robot a and the avoidance device deployed on the robot a can perform information interaction, the robot B and the avoidance device deployed on the robot B can perform information interaction, the robot C and the avoidance device deployed on the robot C can perform information interaction, after communication connection is established between any two avoidance devices, data interaction can be performed, each avoidance device can detect RFID tags of other avoidance devices within a certain range, the robot a, the robot B and the robot C are all in a task execution state, if the avoidance device deployed on the robot a detects a communication tag of the avoidance device deployed on the robot B, the avoidance device deployed on the robot A is determined as a master avoidance device, the avoidance device deployed on the robot B is determined as a slave avoidance device, and the avoidance device deployed on the robot A establishes communication connection with the avoidance device deployed on the robot B according to the RFID tag.

S220, receiving an avoidance instruction sent by an avoidance device deployed on the first robot, and sending the avoidance instruction to the second robot so that the second robot carries out avoidance according to the avoidance instruction.

For example, the avoidance instruction sent by the avoidance device deployed on the first robot is received, and the avoidance instruction is sent to the second robot, so that the second robot performs avoidance according to the avoidance instruction, for example, the avoidance device deployed on the second robot receives the avoidance instruction sent by the avoidance device deployed on the first robot, the avoidance device deployed on the second robot sends the avoidance instruction to the second robot, after receiving the avoidance instruction, the second robot suspends the execution of the task for the preset time according to the avoidance instruction, or after receiving the avoidance instruction, the second robot suspends the execution of the task according to the avoidance instruction, and moves to the avoidance position before the first set time, and stays at the avoidance position for the preset time, it is required to be mentioned that the fact that the movement to the avoidance position before the first set time is ensured to prevent the first robot from moving to the avoidance position in the process of moving the second robot to the avoidance position Human tasks cause an impact (cause congestion or occupy the first robot lane).

The generating mode of the avoidance instruction may be: the method comprises the steps that an avoidance device deployed on a first robot determines an encountering region according to the operation parameters of the first robot and the operation parameters of a second robot; after the meeting area is determined, an avoidance instruction is generated according to the operation parameters of the first robot and the operation parameters of the second robot, for example, the meeting time is obtained through calculation according to the position coordinates of the first robot, the traveling direction of the first robot, the position coordinates of the second robot and the traveling direction of the second robot, the meeting position is determined according to the meeting time, after the meeting area is determined according to the meeting position, the size of the first robot and the size of the second robot, an avoidance position outside the meeting area and having a distance from the current position of the second robot smaller than a set threshold is selected, or after the meeting area is determined, an avoidance position outside the meeting area and having a distance from a position point on a task execution route of the second robot smaller than a set threshold is selected, which is not limited in the embodiment of the present invention. Wherein, the avoidance device deployed on the first robot determines the meeting area according to the operation parameters of the first robot and the operation parameters of the second robot, and comprises:

For example, the way of calculating the meeting time by the avoidance device disposed on the first robot according to the position coordinate of the first robot, the traveling direction of the first robot, the position coordinate of the second robot and the traveling direction of the second robot may be: calculating according to the position coordinates of the first robot and the second robot to obtain the distance between the first robot and the second robot, determining the speed of the first robot according to the position coordinates of the first robot at adjacent moments, determining the speed of the second robot according to the position coordinates of the second robot at adjacent moments, and determining the meeting time according to the speed of the first robot, the speed of the second robot and the distance between the first robot and the second robot.

For example, the way of calculating the meeting area according to the meeting time, the size of the first robot and the size of the second robot by the avoidance device deployed on the first robot may be: and determining the meeting position according to the meeting time, and calculating the meeting area according to the meeting position, the size of the first robot and the size of the second robot. The way of calculating the meeting area by the avoidance device deployed on the first robot according to the meeting time, the size of the first robot and the size of the second robot can be as follows: the meeting area is calculated according to the meeting time corresponding to at least two times of meeting, the size of the first robot and the size of the second robot, which is not limited in the embodiment of the present invention.

The generating mode of the avoidance instruction may further be: an avoidance device deployed on a first robot generates a drawing instruction according to the size of the second robot, the position coordinate of the second robot and the traveling direction of the second robot, and sends the drawing instruction to the first robot, so that the first robot draws a target obstacle on the map according to the size of the second robot, the position coordinate of the second robot and the traveling direction of the second robot to obtain a target map;

and the avoidance device deployed on the first robot generates an avoidance instruction according to the target map.

The generating mode of the avoidance instruction may further be: an avoidance device deployed on the first robot acquires the position coordinates of the target obstacle and the traveling direction of the target obstacle in the target map; and the avoidance device deployed on the first robot generates an avoidance instruction according to the position coordinate of the target obstacle, the advancing direction of the target obstacle, the position coordinate of the first robot and the advancing direction of the first robot in the target map, wherein the avoidance instruction carries a task pause execution identifier and/or an avoidance position.

For example, the mode that the avoidance device deployed on the first robot generates the avoidance instruction according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot, and the traveling direction of the first robot in the target map, and the avoidance instruction carries the suspended execution task identifier and/or the avoidance position may be: determining an encountering area according to the position coordinates of the target barrier, the traveling direction of the target barrier, the position coordinates of the first robot and the traveling direction of the first robot in the target map, and selecting an avoidance position outside the encountering area and having a distance with the current position of the second robot smaller than a set threshold value. The method for generating the avoidance instruction by the avoidance device deployed on the first robot according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot and the traveling direction of the first robot in the target map includes: determining an encounter region according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot and the traveling direction of the first robot in the target map, and after the encounter region is determined, selecting an avoidance position, which is out of the encounter region and has a distance to a position point on a task execution route of the second robot smaller than a set threshold, for example, generating an avoidance instruction according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot and the traveling direction of the first robot in the target map, wherein the avoidance instruction may also include a mode of suspending task execution identification and/or avoidance position: determining an encounter area according to the position coordinate of the target obstacle, the traveling direction of the target obstacle, the position coordinate of the first robot and the traveling direction of the first robot in the target map, and if the second robot is stationary at the current position and meets the condition that the distance between the second robot and the current position outside the encounter area is smaller than a set threshold value, or meets the condition that the distance between the second robot and a position point on a task execution route of the second robot is smaller than a set threshold value, generating an avoidance instruction, wherein the avoidance instruction carries a task execution suspension identifier.

Optionally, before sending the operation parameters of the second robot to the avoidance device disposed on the first robot, the method further includes:

and sending a parameter request to the second robot so that the second robot sends the operation parameters of the second robot to the avoidance device deployed on the second robot.

Optionally, after sending the avoidance instruction to the second robot to enable the second robot to avoid according to the avoidance instruction, the method further includes:

and receiving a passing instruction sent by an avoidance device deployed on the first robot, and sending the passing instruction to the second robot so as to enable the second robot to continue to execute tasks.

Illustratively, when it is detected that the current position of the first robot is outside the meeting area, that is, after it is detected that the first robot passes through the meeting area, a pass instruction sent by an avoidance device deployed on the first robot is received, and the pass instruction is sent to the second robot, so that the second robot continues to execute the task.

Optionally, the operation parameters of the first robot include: a map of the first robot, position coordinates of the first robot, a direction of travel of the first robot, and a size of the first robot; the operating parameters of the second robot include: a size of the second robot, position coordinates of the second robot, and a direction of travel of the second robot.

Optionally, the avoidance instruction carries an avoidance position and a task execution suspension identifier;

receiving an avoidance instruction sent by an avoidance device deployed on the first robot, and sending the avoidance instruction to the second robot so that the second robot can avoid according to the avoidance instruction, the method comprises the following steps:

and receiving an avoidance instruction sent by an avoidance device deployed on the first robot, and sending the avoidance instruction to the second robot so that the second robot suspends the execution of the task according to the suspended execution task identifier and drives to the avoidance position.

Optionally, the avoidance instruction carries a suspended execution task identifier;

and receiving an avoidance instruction sent by an avoidance device deployed on the first robot, and sending the avoidance instruction to the second robot so that the second robot suspends the execution of tasks according to the suspended execution task identifier.

The first robot and the second robot in the embodiment of the present invention may be transfer robots, and the robots mainly include: the robot comprises a robot processor, a data storage system, a power system, a navigation system and an interaction system, wherein the power system can enable the robot to move freely, the navigation system provides positioning and map services for the robot, and the interaction system is used for interacting with a user. The avoidance device mainly comprises: dodge device treater, Lora communication module, RFID and read ware, data storage device, RFID label, wherein RFID label ID is unique, and Lora communication module can realize with other dodge device communications, and RFID reads the RFID label that the ware can read in certain extent. The avoidance device processor may be in communication with the robot processor. When the avoidance device is deployed to the robot, a mapping relation between the RFID tag and information such as a robot SN code, a robot size, a robot wireless communication check code and the like is established, and the mapping relation is stored in a storage unit of the avoidance device. When the RFID reader reads the RFID label, the relevant information of the robot corresponding to the RFID label can be inquired according to the mapping relation. And adjusting the power of the RFID reader to enable the reading radius of the RFID reader to be R, wherein the R is usually 6-8 m and is related to the running speed of the robot. When the robot enters the detection range, the RFID reader can read the RFID label on the avoiding device. When the robot A and the robot B meet in the running process and enter a detection area, the avoidance device deployed on the robot A detects the RFID label of the avoidance device deployed on the robot B, the avoidance device deployed on the robot A searches mapping information of the avoidance device deployed on the robot B according to the RFID label, and the avoidance device deployed on the robot A actively communicates with the avoidance device deployed on the robot B in a handshake mode.

In a specific example, an avoidance device deployed on a robot a sends a communication establishment request to carry a communication check code of the avoidance device deployed on the robot B, the avoidance device deployed on the robot B checks that the avoidance device deployed on the robot a returns the coordinates and the traveling direction of the robot B to the avoidance device deployed on the robot a, the avoidance device deployed on the robot a judges whether the robot a and the robot B have a risk of meeting, and if no robot B leaves a detection area of the robot a, the communication is closed; if meeting risks exist, an avoidance device deployed on the robot A sends an avoidance instruction to a communication device deployed on the robot B, meanwhile, an obstacle with the size consistent with that of the robot B is drawn on a map of the robot A, collision caused by interference of two robot laser radars is prevented, the robot B executes the avoidance instruction, the robot A sends a passing instruction to the avoidance device deployed on the robot B through the avoidance device deployed on the robot A at the rear part, the avoidance device deployed on the robot B sends the passing instruction to the robot B, and communication is closed after the robot B leaves a detection area of the robot A.

In another specific example, robots A, B each perform a delivery task according to a planned path; the avoidance device deployed on the robot B enters a detection range of the avoidance device deployed on the robot A, and the avoidance device deployed on the robot A preferentially detects the RFID label of the avoidance device deployed on the robot B; the method comprises the steps that an avoidance device deployed on a robot A inquires and detects RFID label mapping information, the avoidance device deployed on the robot A initiates handshake communication to an avoidance device deployed on a robot B, the avoidance device deployed on the robot B checks and returns the coordinate position and the advancing direction of the robot B to the avoidance device deployed on the robot A through communication establishment. An avoidance device deployed on the robot A judges whether an encounter risk exists or not, and if not, the communication is closed after the robot B leaves a detection area A; if so, drawing an obstacle with the size consistent with that of the robot B on a map of the robot A, preventing the two robots from being interfered by the laser radar to collide, sending an avoidance instruction to an avoidance device arranged on the robot B by the avoidance device arranged on the robot A, sending the avoidance instruction to the robot B by the avoidance device arranged on the robot B, and avoiding by the robot B; the robot A sends a passing command to an avoidance device deployed on the robot B through the meeting area; and the avoidance device deployed on the robot B sends a passing instruction to the robot B, and the robot B passes and continues to execute the distribution task.

According to the technical scheme of the embodiment, after a communication connection is established between a communication tag based on an avoidance device deployed on a second robot and the avoidance device deployed on a first robot, operation parameters of the second robot are sent to the avoidance device deployed on the first robot, so that the avoidance device deployed on the first robot generates an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot; the method comprises the steps of receiving an avoidance instruction sent by an avoidance device arranged on a first robot, sending the avoidance instruction to a second robot, and enabling the second robot to carry out avoidance according to the avoidance instruction, so that the problems that multiple robots are arranged in the same operation area, if the multiple robots are not provided with a dispatching system, the area network signals of the robots are poor, and the multiple robots are robots of different manufacturers, when the robots meet each other, an avoidance mechanism fails, the multiple robots pass through images, and robot blockage is easy to occur are solved.

EXAMPLE III

Fig. 3 is a schematic structural diagram of a control device according to a third embodiment of the present invention. The present embodiment is applicable to a case where multiple robots are deployed in the same operation area, the apparatus may be implemented in a software and/or hardware manner, and the apparatus may be integrated into any device that provides a control function, for example, the apparatus may be deployed in an avoidance apparatus on a first robot, as shown in fig. 3, where the control apparatus specifically includes: a connection establishing module 310, a first transmitting module 320 and a second transmitting module 330.

The connection establishing module 310 is configured to, when a first robot is in a task execution state, if a communication tag of an avoidance device deployed on a second robot is detected, establish a communication connection with the avoidance device deployed on the second robot according to the communication tag, where the second robot is in the task execution state;

a first sending module 320, configured to generate an avoidance instruction according to the operation parameter of the first robot and the operation parameter of the second robot sent by the avoidance device deployed on the second robot;

a second sending module 330, configured to send the avoidance instruction to an avoidance device deployed on the second robot, so that the avoidance device deployed on the second robot sends the avoidance instruction to the second robot.

The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example four

Fig. 4 is a schematic structural diagram of a control device according to a fourth embodiment of the present invention. The present embodiment is applicable to a case where multiple robots are deployed in the same operation area, the apparatus may be implemented in a software and/or hardware manner, and the apparatus may be integrated into any device that provides a control function, for example, the apparatus may be deployed in an avoidance apparatus on a second robot, as shown in fig. 4, where the control apparatus specifically includes: a third transmitting module 410 and a receiving module 420.

The third sending module is used for sending the operation parameters of the second robot to the avoidance device deployed on the first robot after the communication connection is established between the communication tag based on the avoidance device deployed on the second robot and the avoidance device deployed on the first robot, so that the avoidance device deployed on the first robot generates an avoidance instruction according to the operation parameters of the first robot and the operation parameters of the second robot;

EXAMPLE five

Fig. 5 is a schematic structural diagram of an avoidance apparatus according to a fourth embodiment of the present invention. Fig. 5 illustrates a block diagram of an exemplary avoidance device 12 suitable for use in implementing embodiments of the present invention. The avoidance device 12 shown in FIG. 5 is merely an example and should not impose any limitations on the functionality or scope of use of embodiments of the present invention.

As shown in fig. 5, the avoidance device 12 is in the form of a general purpose computing device. The components of the avoidance device 12 can include, but are not limited to: a communication tag 1, a wireless reader 2, one or more processors or processing units 16, a system memory 28, and a bus 18 connecting the various system components (including the system memory 28 and the processing unit 16).

The communication tag 1 can be at least one of an RFID tag, a Bluetooth tag and a ZigBee tag, the wireless reader 2 can be at least one of a wireless radio frequency RFID reader, a wireless Bluetooth reader and a ZigBee reader, if the communication tag 1 is an RFID tag, the wireless reader 2 is a wireless radio frequency RFID reader, if the communication tag 1 is a Bluetooth tag, the wireless reader 2 is a wireless Bluetooth reader, and if the communication tag 1 is a ZigBee tag, the wireless reader 2 is a ZigBee reader.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

The avoidance device 12 typically includes a variety of computer system readable media. The media may be any available media that can be accessed by the avoidance device 12 including volatile and non-volatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The avoidance device 12 can further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

The avoidance device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the avoidance device 12, and/or with any device (e.g., network card, modem, etc.) that enables the avoidance device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. In the avoidance device 12 of the present embodiment, the display 24 is not provided as a separate body but is embedded in the mirror surface, and when the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated. Also, the avoidance device 12 can communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the avoidance device 12 via the bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with the avoidance device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement the control method provided by the embodiment of the present invention:

sending the avoidance instruction to an avoidance device deployed on the second robot, so that the avoidance device deployed on the second robot sends the avoidance instruction to the second robot;

or, implementing the control method provided by the embodiment of the present invention:

EXAMPLE six

A sixth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the control method provided in all the embodiments of the present invention:

or, the program is executed by a processor to implement the control method provided by all the inventive embodiments of the present application:

Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

EXAMPLE seven

Fig. 6 is a schematic structural diagram of an avoidance system according to a seventh embodiment of the present invention. The present embodiment is applicable to a case where a plurality of robots are deployed in the same operating area, and the system includes: a first robot 610 and a second robot 620, at least one avoidance device 630 being deployed on both the first robot 610 and the second robot 620;

the avoidance device deployed on the first robot is configured to perform:

the avoidance device disposed on the second robot is used for executing:

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method, performed by an avoidance apparatus disposed on a first robot, the method comprising:

2. The method of claim 1, wherein generating an avoidance instruction based on the operating parameters of the first robot and the operating parameters of the second robot transmitted by an avoidance device disposed on the second robot comprises:

acquiring operation parameters of a first robot;

3. The method of claim 2, wherein determining an encounter region based on the operational parameters of the first robot and the operational parameters of the second robot comprises:

4. The method of claim 2, wherein after sending the avoidance instruction to an avoidance device deployed on the second robot, the method further comprises:

5. The method of claim 1, wherein the operating parameters of the first robot comprise: a map of the first robot, position coordinates of the first robot, a direction of travel of the first robot, and a size of the first robot; the operating parameters of the second robot include: a size of the second robot, a position coordinate of the second robot, and a traveling direction of the second robot;

and generating an avoidance instruction according to the target map.

6. The method of claim 5, wherein generating an avoidance instruction from the target map comprises:

7. The method according to claim 1, wherein establishing a communication connection with the avoidance device deployed on the second robot according to a communication tag if the communication tag of the avoidance device deployed on the second robot is detected while the first robot is in a task execution state comprises:

8. A control method, performed by an avoidance apparatus disposed on a second robot, the method comprising:

9. The method of claim 8, further comprising, prior to transmitting the operating parameters of the second robot to an avoidance device deployed on the first robot:

10. The method of claim 9, after sending the avoidance instruction to the second robot to cause the second robot to avoid in accordance with the avoidance instruction, further comprising:

11. The method of claim 8, wherein the operating parameters of the first robot comprise: a map of the first robot, position coordinates of the first robot, a direction of travel of the first robot, and a size of the first robot; the operating parameters of the second robot include: a size of the second robot, position coordinates of the second robot, and a direction of travel of the second robot.

12. The method according to claim 8, wherein the avoidance instruction carries an avoidance position and a suspended execution task identifier;

13. The method according to claim 8, wherein the avoidance instruction carries an identification of a task to be suspended from execution;

14. A control device, disposed in an avoidance apparatus on a first robot, the control device comprising:

15. A control device, characterized in that in an avoidance device disposed on a second robot, the device comprises:

16. An avoidance apparatus comprising: communication tag, wireless reader, memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-13 when executing the program.

17. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-13.

18. An avoidance system, comprising: the robot comprises a first robot and a second robot, wherein at least one avoidance device is arranged on the first robot and the second robot; the avoidance device deployed on the first robot is configured to perform:

the avoidance device disposed on the second robot is used for executing: