CN113485351A - Control method and device for mobile robot, mobile robot and storage medium - Google Patents
Control method and device for mobile robot, mobile robot and storage medium Download PDFInfo
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Abstract
The application provides a control method and device for a mobile robot, the mobile robot and a storage medium, and relates to the technical field of artificial intelligence. The method comprises the following steps: under the condition that the mobile robot is at an entrance of an intersection provided with an indicator light, acquiring state information of the indicator light, wherein the state information comprises the color of the indicator light and time length indicating information, and the time length indicating information is used for indicating the remaining duration of the indicator light in the current state; determining a first target position according to the state information, wherein the first target position is a position with a collision probability with an intersection passerby smaller than a probability threshold, and the intersection passerby is a passerby entering the entrance; and taking the first target position as a starting position of the mobile robot at the intersection. By the control method of the mobile robot, the mobile robot can be well controlled in an intersection scene, and the road right conflict between the mobile robot and an intersection passerby needing to pass through the intersection is avoided.
Description
Technical Field
The application belongs to the technical field of artificial intelligence, and particularly relates to a control method and device for a mobile robot, the mobile robot and a storage medium.
Background
With the rapid development of artificial intelligence technology, mobile robots are receiving more and more attention as an important application product, and are applied in more and more scenes to perform different tasks. For example, when article distribution is performed, the article distribution is performed by a mobile robot instead of human power.
However, when a mobile robot performs a task, it is often in a scene that the mobile robot passes through an intersection provided with an indicator light, and in this case, how to control the mobile robot becomes a hot point of research.
Disclosure of Invention
The embodiment of the application provides a control method and device of a mobile robot, the mobile robot and a storage medium, and can solve the problem of how to control the mobile robot in a crossing scene.
In a first aspect, an embodiment of the present application provides a method for controlling a mobile robot, where the method includes:
under the condition that the mobile robot is at an entrance of an intersection provided with an indicator light, acquiring state information of the indicator light, wherein the state information comprises the color of the indicator light and time length indicating information, and the time length indicating information is used for indicating the remaining duration of the indicator light in the current state;
determining a first target position according to the state information, wherein the first target position is a position with a collision probability with an intersection passerby smaller than a probability threshold, and the intersection passerby is a passerby entering the entrance;
and taking the first target position as a starting position of the mobile robot at the intersection.
According to the control method of the mobile robot, under the condition that the mobile robot is located at the entrance of the intersection provided with the indicator lamps, the state information of the indicator lamps is obtained, so that the colors of the indicator lamps and the remaining duration of the indicator lamps in the current state are known through the state information of the indicator lamps, the first target position where the collision probability with the intersection passerby is smaller than the probability threshold is further determined according to the state information of the indicator lamps, the first target position serves as the starting position of the mobile robot at the intersection, the mobile robot is conveniently controlled in the intersection scene, and the situation that the mobile robot and the intersection passerby needing to pass through the intersection conflict of right of way is avoided.
In a second aspect, an embodiment of the present application provides a control apparatus for a mobile robot, the apparatus including:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the state information of an indicator light under the condition that the mobile robot is positioned at the entrance of an intersection provided with the indicator light, the state information comprises the color of the indicator light and time length indication information, and the time length indication information is used for indicating the remaining duration of the indicator light in the current state;
the determining module is used for determining a first target position according to the state information, wherein the first target position is a position with a collision probability with an intersection passerby smaller than a probability threshold, and the intersection passerby is a passerby entering the entrance;
and the control module is used for taking the first target position as a starting position of the mobile robot at the intersection.
In a third aspect, an embodiment of the present application provides a mobile robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method 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.
In a fifth aspect, the present application provides a computer program product, which when run on a mobile robot, causes the mobile robot to perform the method of any one of the above first aspects.
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 control method of a mobile robot according to an embodiment of the present disclosure.
Fig. 2 is a schematic flowchart of a control method for a mobile robot according to another embodiment of the present disclosure.
Fig. 3 is a schematic application scenario diagram of a control method of a mobile robot according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a control device of a mobile robot according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a mobile robot 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 control method for a mobile robot according to an embodiment of the present disclosure. In this embodiment, the control method of the mobile robot is used for controlling the mobile robot in an intersection scene, and an execution subject of the control method is an electronic device. The electronic device may be the mobile robot itself, or may be a device other than the mobile robot. When the electronic device is other than the mobile robot, data communication can be performed between the electronic device and the mobile robot to realize data interaction between the electronic device and the mobile robot and control and other operations of the mobile robot.
The following description will be made by taking an example in which the electronic device is a mobile robot:
as shown in fig. 1, a method for controlling a mobile robot according to an embodiment of the present application includes the following steps:
s11: and under the condition that the mobile robot is at the entrance of the intersection provided with the indicator light, acquiring the state information of the indicator light, wherein the state information comprises the color of the indicator light and the duration indication information, and the duration indication information is used for indicating the remaining duration of the indicator light in the current state.
In step S11, the intersection is a place corresponding to the public road for passers-by or other movable equipment to pass through the public road. For example, the crossing provided with the indicator light in fig. 3 can be used for the mobile robot to travel from the entrance of the crossing to the exit of the crossing in a proper time period.
The remaining duration refers to the time that will elapse while switching the indicator light from the current state to the next state. For example, when the indicator light is switched from the green light to the red light, the time to be elapsed is 10 seconds, which means that the remaining duration corresponding to the current state of the indicator light is maintained is 10 seconds.
The indicator light color is used to describe the status of the indicator light. It will be appreciated that different indicator light colors correspond to different states of the indicator light. For example, when the color of the indicator light is green, it indicates that the intersection is allowed to pass, and when the color of the indicator light is red, it indicates that the intersection needs to be waited for to pass.
In this embodiment, in order to understand the situation of the intersection, when the mobile robot is located at the intersection provided with the indicator light, the status information of the indicator light is acquired, so that the traffic indication information corresponding to the indicator light is understood based on the color and duration indication information of the indicator light, thereby providing a basis for determining whether the intersection passerby may pass through the road in a hurry, may not pass through the road in a hurry, or waits for passing through the road, and further providing a reference for adjusting the position of the mobile robot at the entrance of the intersection.
It can be understood that, in an application, an image including the indicator light can be acquired by the camera device arranged on the mobile robot, and the image is processed to obtain the state information of the indicator light; or the state information of the indicator lamp is acquired from the traffic guidance server through connection with the traffic guidance server; or, the state information of the indicator light is determined through the flickering condition of the indicator light and/or the preset state of the indicator light.
S12: and determining a first target position according to the state information, wherein the first target position is a position with a collision probability with the intersection passerby smaller than a probability threshold, and the intersection passerby is a passerby entering the entrance.
In step S12, the collision probability is used to describe the probability of a road-right collision with a passerby at an intersection when the mobile robot is at the entrance. For example, a passerby is used to pass through an intersection from a middle position of an entrance, and when the mobile robot is located at the middle position of the entrance, the probability of collision with the passerby is the greatest.
The probability threshold may be set according to actual requirements.
It is to be understood that the intersection passerby may be one or more of a walking passerby, a cycling passerby, or a pull on an item passerby.
In this embodiment, in order to avoid a road right collision between the mobile robot and a passerby, after the state information of the indicator lamp is acquired, a position with a smaller probability of collision with the passerby is determined as a first target position from various positions of the entrance based on the traffic indication information described by the state information, and the mobile robot is positioned at the first target position according to the actual situation so as to pass through the intersection from the first target position, thereby avoiding the road right collision with the passerby as much as possible.
It will be appreciated that the first target position may be the current position of the mobile robot when entering the portal, or may be a portal position other than the current position of the mobile robot.
In some embodiments, collision probabilities of the positions at the entrance are determined in advance, and the position corresponding to the target collision probability is determined as the first target position according to the state information and the collision probabilities of the positions. And the position corresponding to the target collision probability is a position smaller than the probability threshold.
In some embodiments, collision probabilities of positions at an entrance are predetermined, and a current passerby distribution scene when the mobile robot is at the entrance of an intersection provided with an indicator light is obtained; determining each vacant position at an entrance according to the current passerby distribution scene; and determining a position corresponding to the target collision probability as a first target position according to the state information, each vacant position and the collision probability of each position. Wherein an empty position refers to an entrance position not occupied by a passerby.
S13: and taking the first target position as a starting position of the mobile robot at the intersection.
In step S13, the departure position is a position corresponding to when the intersection passage condition is satisfied, the mobile robot departs from the entrance of the intersection and goes to the exit of the intersection. For example, when the light is green, the mobile robot starts from the entrance and goes to the corresponding starting position when going to the exit of the intersection.
In this embodiment, in order to avoid a passerby, after determining the first target position according to the state information of the indicator light, the first target position is taken as the departure position of the mobile robot at the intersection, so that in the current state of the indicator light, the mobile robot is at the first target position at the entrance, so that when the intersection passing condition is met, the mobile robot can depart from the first target position at the entrance to the exit of the intersection, or move to the first target position at the entrance, so that when the intersection passing condition is met, the mobile robot can depart from the first target position at the entrance to the exit of the intersection, so as to avoid the problem that the robot does not stop at the intersection well, so that the right of way conflicts with pedestrians needing to pass through the intersection are generated, and the efficiency of the mobile robot when passing through the intersection is improved.
It can be understood that, in the application, the first target position as the departure position of the mobile robot at the intersection may be a current position corresponding to when the mobile robot is controlled to be at the entrance, or may be another position for controlling the mobile robot to adjust from the current position to the entrance, so as to make a sufficient entrance space for the pedestrian who needs to pass through the intersection.
According to the control method of the mobile robot, under the condition that the mobile robot is located at the entrance of the intersection provided with the indicator lamps, the state information of the indicator lamps is obtained, so that the colors of the indicator lamps and the remaining duration of the indicator lamps in the current state are known through the state information of the indicator lamps, the first target position where the collision probability with the intersection passerby is smaller than the probability threshold is further determined according to the state information of the indicator lamps, the mobile robot is located at the starting position of the intersection, the mobile robot is controlled well under the intersection scene, and the road right conflict between the mobile robot and the intersection passerby needing to pass through the intersection is avoided.
In one embodiment of the present application, the indicator light color indicates that the intersection is allowed to pass. In this case, it can be understood that when the color of the indicator light indicates that the passage through the intersection is allowed, it indicates that the mobile robot and/or passerby can pass through the intersection in the current state of the indicator light. However, since the mobile robot needs a certain time to pass through the intersection, and the mobile robot may or may not reach the exit of the intersection through the intersection within the remaining duration corresponding to the indicator light. Therefore, in order to better control the mobile robot under different conditions so as to avoid collision with the passerby, when the crossing is allowed to pass through according to the color of the indicator light, the comparison condition between the remaining duration of the indicator light and the passing duration of the mobile robot through the crossing needs to be determined, so that the station of the mobile robot at the entrance is determined according to different comparison conditions, and the mobile robot is controlled to be at the station with the collision probability with the crossing passerby being smaller than the probability threshold, so that the risk of collision between the mobile robot and the passerby is reduced.
As an example of the present application, determining the specific implementation of the first target location according to the state information may include the following cases:
in the first case: and if the remaining duration of the indicator light is determined to be greater than or equal to the passing duration according to the duration indication information, determining the current position of the mobile robot as a first target position, wherein the passing duration is the duration required by the mobile robot to pass through the intersection.
In this embodiment, if it is determined that the remaining duration of the indicator light is greater than or equal to the passage duration according to the duration indication information, that is, the remaining duration of the indicator light in the current state is sufficient for the mobile robot to pass through the intersection, meanwhile, because the remaining duration of the indicator light in the current state is sufficient, the passerby does not enter the entrance in a hurry and may collide with the mobile robot, and therefore the current position of the mobile robot is determined as the first target position.
In the second case: and if the remaining duration of the indicator light is determined to be less than the passing duration according to the duration indication information, and the difference between the remaining duration of the indicator light and the passing duration is less than the preset difference, determining any position in the non-middle area of the entrance as a first target position.
In this embodiment, if it is determined that the remaining duration of the indicator light is less than the passage duration according to the duration indication information, and the difference between the remaining duration of the indicator light and the passage duration is less than the preset difference, it indicates that the mobile robot can still pass through the intersection in the current state of the indicator light, but since the remaining duration of the indicator light is relatively short, in order to pass through the intersection, a passerby may enter the entrance and pass through the intersection in a hurry, which has a relatively high risk of collision with the mobile robot, so that in order to avoid collision with a passerby entering the entrance in a hurry, any position in a non-middle area of the entrance is determined as the first target position, so that the position of the mobile robot can be subsequently adjusted to the first target position.
In the third case: and if the remaining duration of the indicator light is determined to be less than the passing duration according to the duration indication information, and the difference between the remaining duration of the indicator light and the passing duration is greater than or equal to the preset difference, determining the current position of the mobile robot as a first target position.
In this embodiment, the preset difference value may be set according to actual requirements.
If the remaining duration of the indicator light is determined to be less than the passing duration according to the duration indication information, and the difference between the remaining duration of the indicator light and the passing duration is greater than or equal to the preset difference, it indicates that the mobile robot is not enough to pass through the intersection in the remaining duration corresponding to the indicator light in the current state of the indicator light, and at the same time, a passerby may not enter the intersection in a hurry any more, or directly waits at an entrance, and the risk of collision with the mobile robot is relatively low, so that the current position of the mobile robot is determined as the first target position.
In one embodiment of the present application, the indicator light color indicates waiting to pass through the intersection. It will be appreciated that the indicator light color indicates waiting to pass through the intersection, indicating that the mobile robot or/and passerby need to wait at the entrance of the intersection for a period of time in this current state of the indicator light.
In this case, it can be understood that, since the color of the indicator light indicates waiting for passage through the intersection, both the mobile robot and the passerby at the entrance need to wait for a lapse of time for the remaining duration of the indicator light, i.e., wait for the indicator light to indicate a state of passage through the intersection after being switched from the current state indicating waiting for passage through the intersection, and then decide whether to pass through the intersection. Therefore, in the remaining duration of the indicator light, in order to better avoid the collision of the mobile robot with the passerby and the vehicle, the station of the mobile robot at the entrance is determined according to the relationship between the remaining duration of the indicator light and the position adjustment duration, so that the mobile robot is controlled to be in the station with the collision probability with the crossroad passerby being smaller than the probability threshold, and the risk of collision of the mobile robot with the passerby and the vehicle is reduced.
As an example of the present application, determining the specific implementation of the first target location according to the state information may include the following cases:
in the first case: and if the remaining duration of the indicator light is determined to be greater than the position adjustment duration according to the duration indication information, determining any entrance position deviating from the target vehicle position and close to the entrance as a first target position, wherein the position adjustment duration is the time required for the mobile robot to move from the current position to any entrance position, and the target vehicle position is the position of a vehicle close to the entrance in the vehicles waiting to pass through the intersection.
In the present embodiment, the position adjustment time period is used to describe the time taken for the mobile robot to adjust to one target position at the entrance. For example, the time it takes for the mobile robot to adjust from a position to the left of the portal to a position to the right of the portal.
Specifically, if it is determined that the remaining duration of the indicator light is longer than the position adjustment duration according to the duration indication information, it indicates that the mobile robot has sufficient time to adjust the position, and therefore, in this case, any entry position deviating from the position of the target vehicle and close to the entrance side is determined as the first target position, so that the position of the mobile robot can be adjusted to the first position in the following process, and thus disputes caused by collision between the mobile robot and a passerby or a vehicle when the mobile robot passes through the intersection can be effectively avoided. For example, referring to fig. 3, the position B is a position close to the target vehicle 1, and the position a is a position deviated from the target vehicle position and close to the entrance side.
In the second case: and if the remaining duration of the indicator light is determined to be less than or equal to the position adjustment duration according to the duration indication information, determining the current position of the mobile robot as a first target position.
In this embodiment, if it is determined that the remaining duration of the indicator light is less than or equal to the position adjustment duration according to the duration indication information, it indicates that the remaining duration of the indicator light is not enough for the mobile robot to adjust the position well, that is, the mobile robot may not adjust the position to the proper position within the remaining duration of the indicator light, the state of the indicator light is switched to the next state, and in the next state, the passerby can pass through the intersection, and the mobile robot is still adjusting the position, so that the mobile robot in the adjusting position may collide with the passerby, therefore, the remaining duration of the indicator light is determined to be less than or equal to the position adjustment duration according to the duration indication information, and determining the current position of the mobile robot as a first target position so as to control the mobile robot to be in the position and continue to wait for passing through the intersection.
With reference to fig. 2, in an embodiment of the present application, after taking the first target position as a departure position of the mobile robot at the intersection, the method further includes:
s21: and under the condition that the intersection passing condition is determined to be met, acquiring road traffic rules and/or environment information corresponding to the intersection, wherein the road traffic rules are used for describing a travelling path which is selected when the mobile robot passes through the intersection.
In the embodiment, the intersection passing condition is used for describing the corresponding indicator light condition and/or road condition when the mobile robot can pass through the intersection.
The environment information is used for describing the passerby condition at the entrance and/or the physical environment condition corresponding to the intersection. For example, the number of passersby at the entrance and whether there is a zebra crossing at the intersection.
The travel path is used for describing a travel route which is passed by the mobile robot in the process of starting from an entrance and reaching an exit of an intersection. It will be appreciated that the path of travel may be a straight path or a curved path.
In application, the mobile robot can acquire the environmental information through the existing visual recognition technology, and the mobile robot can acquire the road traffic rule from a preset server through the corresponding attribute information of the intersection. Wherein the attribute information is used to identify the intersection so that the intersection is distinguished from other intersections.
S22: and determining the travel path according to the road traffic rule and/or the environmental information.
In the present embodiment, since the road traffic rule is used to describe the travel route that the mobile robot should select when passing through the intersection, and the environment information can also be used to describe the environment around the mobile robot, the travel route may be determined based on the road traffic rule or the environment information alone, or the travel route may be determined by combining the road traffic rule and the environment information.
S23: and controlling the mobile robot to move to an exit corresponding to the intersection along the traveling path before starting from the first target position.
In this embodiment, in order to enable the mobile robot to smoothly travel to the exit of the intersection, under the condition that it is determined that the intersection traffic condition is met, the road traffic rule and/or the environmental information corresponding to the intersection are obtained, so as to determine the travel path according to the road traffic rule and/or the environmental information, and further control the mobile robot to travel to the exit corresponding to the intersection along the travel path before departing from the first target position, so as to avoid collision between the mobile robot and a passerby or a vehicle during the process of traveling to the exit of the intersection.
In an embodiment of the present application, determining a specific implementation of the travel path according to the road traffic rule and/or the environmental information may include the following possible implementation manners:
the first implementation mode comprises the following steps: and if the road traffic rule indicates that the vehicle is allowed to travel on the zebra crossing and the current environment is determined to be in the non-congestion state according to the environment information, determining the path along the zebra crossing direction as the travel path.
In this embodiment, the zebra crossing is an indication line for guiding a passerby or a mobile robot to safely pass through an intersection. For example, as shown in fig. 3, a zebra crossing consists of a plurality of mutually parallel solid lines between an intersection entrance and an intersection exit.
It can be understood that, if the road traffic regulation indicates that the vehicle is allowed to travel on the zebra crossing and the current environment is determined to be in the non-congestion state according to the environment information, that is, the number of pedestrians passing through the crossing is relatively small, the mobile robot will not cause congestion and possibly collide with the pedestrians when traveling on the zebra crossing to pass through the crossing, so that the path along the zebra crossing can be determined as the travel path.
The second implementation mode comprises the following steps: if the road traffic rule indicates that the vehicle is allowed to travel on the zebra crossing and the current environment is determined to be in a congestion state according to the environment information, a path which deviates from the zebra crossing and is along the direction from the entrance to the corresponding exit of the intersection is determined as a travel path.
It can be understood that, if the road traffic rule indicates that the vehicle is allowed to travel on the zebra crossing and the current environment is determined to be in a congestion state according to the environment information, that is, the number of passersby passing through the intersection is large at this time, congestion may be caused if the mobile robot continues to travel on the zebra crossing and pass through the intersection, and further the mobile robot may collide with the passersby passing through the intersection, so that a path that deviates from the zebra crossing and follows a direction from the entrance to the exit corresponding to the intersection is determined as a travel path.
The third implementation mode comprises the following steps: if the road traffic regulation indicates that the mobile robot is allowed to travel on the zebra crossing, a path deviating from the zebra crossing and along a direction from the entrance to the exit corresponding to the intersection is determined as a travel path.
It is understood that the road traffic regulation indicates that the mobile robot is allowed to travel not on the zebra crossing, i.e., indicates that the mobile robot cannot travel on the zebra crossing to pass through the intersection in order to avoid collision of the mobile robot with the passerby on the zebra crossing, and therefore, a path that deviates from the zebra crossing and follows a direction from the entrance to the exit corresponding to the intersection is determined as a travel path.
The fourth implementation mode comprises the following steps: if the road traffic regulations indicate that the mobile robot is not allowed to travel on the zebra crossing, a path deviating from the zebra crossing and along a direction from the entrance to the exit corresponding to the intersection is determined as a travel path.
It is understood that if the road traffic regulation indicates that the mobile robot is not allowed to travel on the zebra crossing, that is, the mobile robot is regularly restricted from traveling on the zebra crossing, so that the planar mobile robot collides with a passerby on the zebra crossing, a path deviating from the zebra crossing and along a direction from an entrance to an exit corresponding to the intersection is determined as a travel path in this case.
The fifth implementation manner: and if the crossroad is determined to have no zebra crossing according to the environmental information, determining a path along the direction from the entrance of the crossroad to the corresponding exit of the crossroad as a traveling path.
It can be understood that if it is determined that the intersection has no zebra crossing based on the environment information, it means that a path along a direction from an entrance of the intersection to an exit corresponding to the intersection is determined as a travel path.
In application, because traffic rules corresponding to the road and the mobile robot passing through the intersection may be different in different places, whether the mobile robot can run on the zebra crossing is known based on the road traffic rules, so that reference is provided for planning a traveling path of the mobile robot passing through the intersection.
In an embodiment of the present application, in a possible scenario, when the mobile robot reaches the exit of the intersection, the number of people at the exit is too large, or a passerby passing through the intersection leaves the exit in a hurry, and the passerby at the exit is likely to collide with the mobile robot, so this embodiment provides a control method for the mobile robot, which is used for controlling the mobile robot to travel at the exit of the intersection, and avoiding the mobile robot from colliding with the passerby at the exit of the intersection. The control method specifically comprises the following steps:
and under the condition that the intersection passing condition is met, determining the remaining duration of the indicator light according to the duration indication information, and determining a second target position, wherein the second target position is a position to be reached when the mobile robot leaves the exit.
In this embodiment, the preset time threshold may be set according to actual requirements, and is used to describe a reference time for the mobile robot to travel from the entrance to the exit of the intersection. It is understood that the preset time period threshold may be the same as or different from the aforementioned transit time period.
In an embodiment of the present application, in a possible scenario, when the mobile robot reaches the exit of the intersection, the number of people at the exit is too large, or a passerby passing through the intersection leaves the exit in a hurry, and the passerby at the exit is likely to collide with the mobile robot, so this embodiment provides a control method for the mobile robot, which is used for controlling the mobile robot to travel at the exit of the intersection, and avoiding the mobile robot from colliding with the passerby at the exit of the intersection.
In the control method, the remaining duration of the indicator light is determined according to the duration indication information, and the specific implementation of determining the second target position may include the following several cases:
in the first case: and under the condition that the intersection passing condition is met, if the remaining duration of the indicator light is determined to be less than the preset duration threshold according to the duration indication information, determining a non-middle area deviating from an exit corresponding to the intersection as a second target position.
In this embodiment, when the mobile robot starts from the entrance to the exit of the intersection, it may also be that the mobile robot collides with the passerby at the exit due to more people at the exit, so to better control the traveling of the mobile robot and avoid the collision between the mobile robot and the passerby at the exit, therefore, it is determined that the remaining duration of the indicator is less than the preset duration threshold according to the duration indication information, and the non-middle area deviating from the exit corresponding to the intersection is determined as the second target position, so that when the mobile robot reaches the exit of the intersection, the mobile robot can leave the exit from the second target position to avoid the passerby at the exit.
Illustratively, in conjunction with FIG. 3, the exit of the intersection has a location C offset from the central region of the exit and a location D at the central region of the exit. Generally, a passerby passing through an intersection is used to get out of an exit from a position D located in a middle area of the exit, so that the passerby easily collides with the mobile robot at the position D, therefore, when it is determined that the remaining duration of the indicator light is less than the preset duration threshold according to the duration indication information, it indicates that the passerby passing through the intersection may be in a hurry at the moment or is used to get out of the exit from a specific position, and in order to avoid the collision between the passerby and the mobile robot at the exit, a non-middle area deviating from the exit corresponding to the intersection is determined as a second target position, so as to control the mobile robot to get out of the exit from the second target position when the mobile robot reaches the exit.
In the second case: and under the condition that the crossing passing condition is met, if the remaining duration of the indicator light is determined to be greater than or equal to the preset duration threshold according to the duration indication information, determining a middle area of an exit corresponding to the crossing as a second target position.
In this embodiment, when the mobile robot starts from the entrance to the exit of the intersection, there may be a lot of people at the exit, and the mobile robot may collide with the passerby at the exit, so to better control the traveling of the mobile robot and avoid the collision between the mobile robot and the passerby at the exit, therefore, it is determined that the remaining duration of the indicator is greater than or equal to the preset duration threshold according to the duration indication information, which indicates that the time passing through the intersection is relatively abundant, the passerby may not be so hurried, and the probability of the collision between the mobile robot and the passerby is relatively low, and the middle area deviating from the exit corresponding to the intersection is determined as the second target position, so that when the mobile robot reaches the exit of the intersection, the mobile robot may leave the exit from the second target position to avoid the passerby at the exit.
In one embodiment, under the condition that the crossing passing condition is determined to be met, in the process that the mobile robot is controlled to move from an entrance of the crossing to an exit of the crossing, passerby distribution information at the exit of the crossing is obtained; and according to the passerby distribution information at the exit of the intersection, if the passerby is determined to exist at the second target position, determining a third target position, wherein the third target position is a position to be reached when the mobile robot leaves the exit.
In some embodiments, in the case that it is determined that the intersection passing condition is satisfied, acquiring a navigation path after the robot leaves the exit; and determining the remaining duration and the navigation path of the indicator light according to the duration indication information, and determining a second target position.
In this embodiment, since the robot continues to travel in one direction along the navigation path after leaving the exit to continue to perform the task, the remaining duration of the indicator light is determined according to the direction and duration indication information indicated by the navigation path, and the second target position can be determined.
Illustratively, in conjunction with FIG. 3, the exit of the intersection has a location C offset from the central region of the exit and a location D at the central region of the exit. The navigation path after the robot leaves the exit indicates that the robot continues to travel in the left direction of the exit after leaving the exit, i.e. it is appropriate for the robot to leave the exit from a position C deviating from the middle area of the exit.
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. 4 shows a block diagram of a control device of a mobile robot according to an embodiment of the present application, which corresponds to the control method of a mobile robot according to the above embodiment, and only the parts related to the embodiment of the present application are shown for convenience of explanation.
Referring to fig. 4, the control device 100 includes:
the obtaining module 101 is configured to obtain state information of the indicator light when the mobile robot is at an entrance of a crossing where the indicator light is disposed, where the state information includes a color of the indicator light and time duration indication information, and the time duration indication information is used to indicate remaining duration of the indicator light in a current state.
The determining module 102 is configured to determine a first target position according to the state information, where the first target position is a position where a collision probability with an intersection passerby is smaller than a probability threshold, and the intersection passerby is a passerby entering an entrance.
And the control module 103 is used for taking the first target position as a starting position of the mobile robot at the intersection.
In one embodiment, the determining module 102 at least includes: a first determination unit, a second determination unit, and a third determination unit.
And the first determining unit is used for determining the current position of the mobile robot as a first target position if the remaining duration of the indicator lamp is determined to be greater than or equal to the passing duration according to the duration indication information, wherein the passing duration is the duration required by the mobile robot to pass through the intersection.
And the second determining unit is used for determining any position in the non-middle area of the entrance as the first target position if the remaining duration of the indicator light is determined to be less than the passing duration according to the duration indication information and the difference between the remaining duration of the indicator light and the passing duration is determined to be less than the preset difference.
And the third determining unit is used for determining the current position of the mobile robot as the first target position if the remaining duration of the indicator light is determined to be less than the passing duration according to the duration indication information and the difference between the remaining duration of the indicator light and the passing duration is greater than or equal to the preset difference.
In an embodiment, the determining module 102 further includes: a fourth determination unit and a fifth determination unit; the color of the indicator light indicates waiting for the intersection to pass.
And the fourth determining unit is used for determining any entrance position deviating from the target vehicle position and close to the entrance as the first target position if the remaining duration of the indicator lamp is determined to be greater than the position adjusting duration according to the duration indication information, the position adjusting duration is the time required for the mobile robot to move from the current position to any entrance position, and the target vehicle position is the position of a vehicle close to the entrance in the vehicles waiting to pass through the intersection.
And the fifth determining unit is used for determining the current position of the mobile robot as the first target position if the remaining duration of the indicator light is determined to be less than or equal to the position adjusting duration according to the duration indicating information.
In one embodiment, the control device 100 further comprises a travel control module.
The system comprises a traveling control module, a first target position and a second target position, wherein the traveling control module is used for taking the first target position as a starting position of the mobile robot at the intersection, acquiring road traffic rules and/or environment information corresponding to the intersection under the condition that the intersection passing condition is met, and the road traffic rules are used for describing a traveling path which is selected when the mobile robot passes through the intersection; determining a traveling path according to road traffic rules and/or environmental information; and controlling the mobile robot to move to an exit corresponding to the intersection along the traveling path before starting from the first target position.
In an embodiment, the traveling control module is further configured to determine a path along the zebra crossing direction as the traveling path if the road traffic rule indicates that traveling on the zebra crossing is allowed and the current environment is determined to be in a non-congestion state according to the environment information; or if the road traffic rule indicates that the vehicle is allowed to travel on the zebra crossing and the current environment is determined to be in a congestion state according to the environment information, determining a path which deviates from the zebra crossing and is along the direction from the entrance to the corresponding exit of the intersection as a travel path; or, if the road traffic regulation indicates that the vehicle is not allowed to travel on the zebra crossing, determining a path which deviates from the zebra crossing and is along the direction from the entrance to the corresponding exit of the intersection as a travel path; or, if it is determined that the intersection has no zebra crossing according to the environmental information, determining a path in a direction from an entrance of the intersection to an exit corresponding to the intersection as a travel path.
In an embodiment, the determining module 102 is further configured to, when it is determined that the intersection passing condition is met, determine, if it is determined according to the duration indication information that the remaining duration of the indicator light is less than the preset duration threshold, determine a position deviating from an exit corresponding to the intersection as a second target position, where the second target position is a position to be reached when the mobile robot leaves the exit.
The control device of the mobile robot provided in this embodiment may specifically be a mobile robot, or a background server connected to the mobile robot, and is configured to implement the control method of the mobile robot in the method embodiment, where functions of each module may refer to corresponding descriptions in the method embodiment, and implementation principles and technical effects thereof are similar, and are not described herein again.
Fig. 5 is a schematic structural diagram of a mobile robot according to an embodiment of the present application. As shown in fig. 5, the mobile robot 5 of this embodiment includes: at least one processor 50 (only one processor is shown in fig. 5), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, the steps in any of the above-described embodiments of the control method of the mobile robot being implemented when the computer program 52 is executed by the processor 50.
The mobile robot 5 may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of the mobile robot 5, and does not constitute a limitation of the mobile robot 5, and may include more or less components than those shown, or combine some of the components, or different components, such as input and output devices, network access devices, etc.
The Processor 50 may be a Central Processing Unit (CPU), and the Processor 50 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), off-the-shelf 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 storage 51 may in some embodiments be an internal storage unit of the mobile robot 5, such as a hard disk or a memory of the mobile robot 5. The memory 51 may be an external storage device of the mobile robot 5 in other embodiments, such as a plug-in hard disk provided on the mobile robot 5, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 51 may also include both an internal storage unit and an external storage device of the mobile robot 5. The memory 51 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of a computer program. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is 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, so as to perform all or part of the functions described above. 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.
An embodiment of the present application further provides a mobile robot, including: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.
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 mobile robot, enables the mobile robot to implement the steps in the above method embodiments when executed.
Wherein 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 used by a processor to implement the steps of the embodiments of the methods described above. 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/electronic 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 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/mobile robot and method may be implemented in other ways. For example, the above-described device/mobile robot embodiments are merely illustrative, and for example, a module or cell may be divided into only one logical function, and other divisions may be realized in practice, for example, multiple cells 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.
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 embodiments are only used to illustrate the technical solutions of the present application, and not to limit 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 of controlling a mobile robot, the method comprising:
under the condition that the mobile robot is at an entrance of an intersection provided with an indicator light, acquiring state information of the indicator light, wherein the state information comprises the color of the indicator light and time length indicating information, and the time length indicating information is used for indicating the remaining duration of the indicator light in the current state;
determining a first target position according to the state information, wherein the first target position is a position with a collision probability with an intersection passerby smaller than a probability threshold, and the intersection passerby is a passerby entering the entrance;
and taking the first target position as a starting position of the mobile robot at the intersection.
2. The method of claim 1, wherein the indicator light color indicates allowing passage through the intersection;
the determining a first target location according to the state information includes:
if the remaining duration of the indicator light is determined to be greater than or equal to the passing duration according to the duration indication information, determining the current position of the mobile robot as the first target position, wherein the passing duration is the duration required by the mobile robot to pass through the intersection;
if the remaining duration of the indicator light is determined to be less than the passing duration according to the duration indication information, and the difference between the remaining duration of the indicator light and the passing duration is less than a preset difference, determining any position in a non-middle area of the entrance as the first target position;
and if the remaining duration of the indicator light is determined to be less than the passing duration according to the duration indication information and the difference between the remaining duration of the indicator light and the passing duration is greater than or equal to the preset difference, determining the current position of the mobile robot as the first target position.
3. The method of claim 1, wherein the indicator light color indicates waiting to pass through the intersection;
the determining a first target location according to the state information includes:
if the remaining duration of the indicator light is determined to be greater than the position adjusting duration according to the duration indicating information, determining any entrance position deviating from the position of the target vehicle and close to the entrance as the first target position, wherein the position adjusting duration is the time required for the mobile robot to move from the current position to the any entrance position, and the position of the target vehicle is the position of a vehicle close to the entrance in the vehicles waiting to pass through the intersection;
and if the remaining duration of the indicator light is determined to be less than or equal to the position adjustment duration according to the duration indication information, determining the current position of the mobile robot as the first target position.
4. The method of claim 1, wherein said assuming the first target position as the departure position of the mobile robot at the intersection further comprises:
under the condition that intersection passing conditions are met, acquiring road traffic rules and/or environment information corresponding to the intersection, wherein the road traffic rules are used for describing a travelling path which is selected when the mobile robot passes through the intersection;
determining a traveling path according to the road traffic rule and/or the environmental information;
and controlling the mobile robot to move to an exit corresponding to the intersection along the traveling path before the mobile robot is sent from the first target position.
5. The method of claim 4, wherein determining a travel path based on the road traffic rules and/or environmental information comprises:
if the road traffic rule indicates that the vehicle is allowed to travel on the zebra crossing and the current environment is determined to be in the non-congestion state according to the environment information, determining a path along the zebra crossing direction as the travel path;
or if the road traffic rule indicates that the vehicle is allowed to travel on the zebra crossing and the current environment is determined to be in a congestion state according to the environment information, determining a path which deviates from the zebra crossing and is along the direction from the entrance to the exit corresponding to the intersection as the travel path;
or, if the road traffic rule indicates that the mobile robot is allowed to travel on the zebra crossing, determining a path deviating from the zebra crossing and along a direction from the entrance to an exit corresponding to the intersection as the travel path;
or, if the road traffic rule indicates that the mobile robot is not allowed to travel on the zebra crossing, determining a path deviating from the zebra crossing and along a direction from the entrance to an exit corresponding to the intersection as the travel path;
or if the crossroad is determined not to have the zebra crossing according to the environment information, determining a path from the entrance of the crossroad to the exit corresponding to the crossroad as the traveling path.
6. The method of any one of claims 1-5, further comprising:
and under the condition that the intersection passing condition is met, determining the remaining duration of the indicator lamp according to the duration indication information, and determining a second target position, wherein the second target position is a position to be reached when the mobile robot leaves the exit.
7. The method of claim 6, wherein determining the remaining duration of the indicator light based on the duration indication information, determining a second target location, comprises:
if the remaining duration of the indicator light is determined to be less than a preset duration threshold according to the duration indication information, determining a non-middle area deviating from an outlet corresponding to the intersection as the second target position;
or if the remaining duration of the indicator light is determined to be greater than or equal to the preset duration threshold according to the duration indication information, determining a middle area of an outlet corresponding to the intersection as the second target position.
8. A control apparatus of a mobile robot, characterized in that the apparatus comprises:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the state information of an indicator light under the condition that the mobile robot is positioned at the entrance of an intersection provided with the indicator light, the state information comprises the color of the indicator light and time length indication information, and the time length indication information is used for indicating the remaining duration of the indicator light in the current state;
the determining module is used for determining a first target position according to the state information, wherein the first target position is a position with a collision probability with an intersection passerby smaller than a probability threshold, and the intersection passerby is a passerby entering the entrance;
and the control module is used for taking the first target position as a starting position of the mobile robot at the intersection.
9. A mobile robot 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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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114454162A (en) * | 2022-01-10 | 2022-05-10 | 广东技术师范大学 | Anti-collision method and system for complex intersection of mobile robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454162A (en) * | 2022-01-10 | 2022-05-10 | 广东技术师范大学 | Anti-collision method and system for complex intersection of mobile robot |
| CN114454162B (en) * | 2022-01-10 | 2023-05-26 | 广东技术师范大学 | Mobile robot complex intersection anti-collision method and system |
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