CN113534785A - Method, device and storage medium for solving robot congestion - Google Patents
Method, device and storage medium for solving robot congestion Download PDFInfo
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Abstract
The invention discloses a method, equipment and a storage medium for solving robot congestion, wherein the current state of a target logic lock corresponding to a target position and/or a service channel where the target position is located is obtained according to the target position required to be moved by a robot; if the current state of the target logic lock is a locking state, searching a navigation map, and selecting a corresponding target obstacle avoidance point on the navigation map according to the target position; according to the selected target obstacle avoidance point, on the basis of the navigation map, the user goes to the target obstacle avoidance point; continuously competing for the target position in the process of selecting the target obstacle avoidance point, and/or moving to the target obstacle avoidance point, and/or waiting for the corresponding target obstacle avoidance point, and once the target logic lock corresponding to the target position is in an idle state, locking the target logic lock, and controlling the robot to move to the target position; the problem of local jam of passway mouth is solved, the operating efficiency of robot has been improved.
Description
Technical Field
The present invention relates to the field of robot technology, and in particular, to a method, an apparatus, and a storage medium for solving robot congestion.
Background
With the rapid development of the logistics industry, the warehousing robot also plays an increasingly important role under the trends of improving the warehouse operation efficiency and improving the overall competitiveness of the logistics industry. When the warehousing robot works, the problem of robot congestion is inevitably encountered. For example, in order to utilize the space as much as possible, the width of the passage between shelves is required to be designed to be reduced to less than 2 times of the transverse width of the robot, even to 1 time of the transverse width of the robot, which causes the problem of the blockage of multiple robots in a single passage. For example, when the lane width is 1.5 robot widths across, 2 robots A, B enter the lane one after the other. Assuming that the robot a needs to stay in the passage for the time t and the robot B does not need to stay in the passage, since B enters the passage after a and B does not enough bypass the robot a in the passage, the robot B must wait for the robot a to complete the stay action and wait until the robot a continues to advance out of the passage before the robot B can finally leave the passage. This makes the robot B stay in the tunnel for a longer time t than if a single robot passed through the tunnel, actually causing congestion in the tunnel and reducing the work efficiency.
For such situations as described above, the current common solutions are: at any time, only one robot is allowed to appear in the channel; when one robot exists in the channel, the occupation of the channel by the robot is expressed in a logic locking mode, so that other robots can not enter the channel again. At this time, other robots that cannot enter the passage because of the failure to obtain the logical lock often tie up at the passage opening, thereby causing the passage opening to be partially blocked. This situation of local blockage of the passage opening also does not contribute to the overall operating efficiency.
Disclosure of Invention
The invention provides a method, equipment and a storage medium for solving robot congestion, and aims to solve the problem of local blockage of a passage opening by a method of setting obstacle avoidance points in a field where a robot works.
In a first aspect, the present invention provides a method for solving robot congestion, including:
the robot acquires the target position and/or the current state of a target logic lock corresponding to a service channel where the target position is located according to the target position required to go to;
if the current state of the target logic lock is a locked state, the robot searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position;
according to the selected target obstacle avoidance point, the robot goes to the target obstacle avoidance point based on the navigation map;
continuously competing for the target position in the process that the robot selects the target obstacle avoidance point, and/or goes to the target obstacle avoidance point, and/or waits for the corresponding target obstacle avoidance point, and once the target logic lock corresponding to the target position is in an idle state, the robot locks the target logic lock and goes to the target position.
In a second aspect, the present invention provides an apparatus for resolving robot congestion, including:
a task execution module to: acquiring a target position and/or a current state of a target logic lock corresponding to a service channel where the target position is located according to the target position required to go to;
if the current state of the target logic lock is an idle state, locking the target position and/or a service channel where the target position is located, setting the state of the target logic lock to be a locking state, and synchronizing the state information of the target logic lock; meanwhile, controlling the robot to go to the target position based on the navigation map;
keep away barrier module for: when the task execution module acquires that the current state of the target logic lock is a locked state, searching a navigation map, and selecting a corresponding target obstacle avoidance point on the navigation map according to the target position; according to the selected target obstacle avoidance point, the robot goes to the target obstacle avoidance point based on the navigation map;
the task execution module is used for: continuously competing for the target position in the process that the robot selects the target obstacle avoidance point, and/or moves to the target obstacle avoidance point, and/or waits for the corresponding target obstacle avoidance point, and locking the target logic lock once the target logic lock corresponding to the target position is in an idle state, and controlling the robot to move to the target position.
In a third aspect, the present invention provides an electronic device, which includes a memory and a processor, where the memory stores an anti-congestion program executable on the processor, and the anti-congestion program is executed by the processor to perform the method for solving the robot congestion.
In a fourth aspect, the present invention provides a computer storage medium having an anti-congestion program stored thereon, the anti-congestion program being executable by one or more processors to implement the steps of the method for resolving congestion of a robot.
The invention relates to a method, equipment and a storage medium for solving the congestion of a robot.A current state of a target logic lock corresponding to a target position and/or a service channel where the target position is located is obtained by the robot according to the target position required to go to; if the current state of the target logic lock is a locked state, the robot searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position; according to the selected target obstacle avoidance point, the robot goes to the target obstacle avoidance point based on the navigation map; continuously competing for the target position in the process that the robot selects the target obstacle avoidance point, and/or goes to the target obstacle avoidance point, and/or waits for the corresponding target obstacle avoidance point, and once the target logic lock corresponding to the target position is in an idle state, locking the target logic lock by the robot and going to the target position; the problem of local jam of passway mouth is solved, the operating efficiency of robot has been improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of an embodiment of a method for solving robot congestion.
Fig. 2 is a schematic diagram of an obstacle avoidance process of the method for solving robot congestion in a specific application scenario.
Fig. 3 is a functional module schematic diagram of an embodiment of the device for solving the robot congestion.
Fig. 4 is a schematic internal structure diagram of an embodiment of the electronic device of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention provides a method, equipment and a storage medium for solving robot congestion, wherein obstacle avoidance points are arranged in a working field of a robot, so that when the robot needs to use a service channel with limited width concurrently, the robot is guided to go to the obstacle avoidance points without influencing a service navigation route and/or stop at the obstacle avoidance points for a short time, and the following possible problems are avoided: the robot stands on a service navigation route for waiting because the robot cannot obtain a target logic lock corresponding to a target position, and service navigation is influenced; thus, the problem of local blockage of the passage opening is solved.
As shown in fig. 1, fig. 1 is a schematic flow chart of an embodiment of a method for solving robot congestion in the present invention. The method of the present invention for resolving robot congestion in one embodiment includes steps S10-S40:
step S10, the robot obtains the target position and/or the current state of the target logic lock corresponding to the service channel where the target position is located according to the target position to which the robot needs to go.
In the embodiment of the invention, when the robot executes the task, the target position required by the execution of the task is obtained according to the navigation map. Because the width of the service channel corresponding to the target position may not allow a plurality of robots to pass through at the same time, when the robot needs to go to the corresponding target position, the robot acquires the target position and/or the current state of the target logic lock corresponding to the service channel where the target position is located according to the current target position that needs to go to.
In the embodiment of the present invention, a corresponding service logic lock function is configured for the target location and/or the service channel in which the target location is located, that is, the occupation condition of the target location and/or the service channel in which the target location is located is represented by the state of the logic lock. In addition, in the embodiment of the present invention, for the target logical lock in the target location, it is not distinguished whether the target logical lock is in the target location itself or in the service channel where the target location is located. Any particular configuration of the target logical lock associated with the target location may work. In one embodiment, it is assumed that a target position and a service channel where the target position is located are configured with a target logic lock, and only one robot is allowed to occupy the target position and the service channel where the target position is located at the same time. The target position and/or the state of the target logical lock corresponding to the service channel where the target position is located indicate whether the target position and the corresponding service channel are occupied, that is: if the state of the target logical lock is a locked state, it indicates that the target location and/or the service channel where the target location is located are occupied, and if the state of the target logical lock is an idle state, it indicates that the target location and/or the service channel where the target location is located are in an idle state and can be used. Therefore, the target position and the service channel using condition can be obtained by obtaining the state information of the corresponding target logic lock.
If the current state of the target logic lock is an idle state, the target position and a service channel where the target position is located are indicated to be in the idle state and can be used; at this time, if the target position and/or the service channel where the target position is located need to be used, the robot may lock the target position and/or the service channel where the target position is located by setting the state of the target logical lock to a locked state, and synchronize the state information of the target logical lock; and going to the target position based on the navigation map.
And step S20, if the current state of the target logic lock is a locked state, the robot searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position.
And step S30, according to the selected target obstacle avoidance point, the robot goes to the target obstacle avoidance point based on the navigation map.
In the embodiment of the invention, corresponding obstacle avoidance points are configured in advance in an autonomous moving area of the robot under the condition of not influencing the normal operation of the robot, and the configured obstacle avoidance points are identified on a navigation map used by the robot; when the robot needs to go to the obstacle avoidance point, the robot can automatically navigate to the corresponding obstacle avoidance point according to the navigation map. For example, when the target position to which the robot needs to go and/or the target logic lock of the service channel where the target position is located are in a locked state, indicating that the target position and/or the service channel where the target position is located are temporarily unavailable, the robot may select a corresponding convenient target obstacle avoidance point according to the target position to be reached by searching the navigation map, so as to go to the corresponding target obstacle avoidance point previously. For example, when a target position to which the robot needs to go to or a traffic channel corresponding to the target position is occupied and cannot go to the target position, the robots can go to corresponding obstacle avoidance points without stopping at a channel opening or stopping at the original place.
In one embodiment, if one obstacle avoidance point can only be used by one robot at the same time, in order to avoid the situation that the obstacle avoidance point is already occupied when the robot reaches one obstacle avoidance point, a corresponding logic lock function can be configured for each obstacle avoidance point; namely, the locking state and the idle state of the obstacle avoidance logic lock are detected, so that whether the obstacle avoidance point is in the occupied state or the idle state can be known, and an important basis is provided for the robot to select the obstacle avoidance point.
Step S40, continuously competing for the target position in the process that the robot selects the target obstacle avoidance point, and/or goes to the target obstacle avoidance point, and/or waits for the corresponding target obstacle avoidance point, once the target logic lock corresponding to the target position is in an idle state, the robot locks the target logic lock and goes to the target position.
In the embodiment of the invention, as the primary task of the robot is to execute the operation task, when the target position required to be moved to by the robot and/or the service channel where the target position is located is occupied, the robot needs to execute corresponding obstacle avoidance operation; however, no matter what obstacle avoidance operation is performed by the robot or what stage the obstacle avoidance operation is performed to, the robot monitors and acquires the target position required to go to and/or the occupation condition of the service channel where the target position is located in real time. Therefore, in the process that the robot selects the target obstacle avoidance point, and/or goes to the target obstacle avoidance point, and/or waits for the corresponding target obstacle avoidance point, the robot continuously competes for the target position, and once the target logic lock corresponding to the target position is in an idle state, the robot locks the target logic lock and goes to the target position.
For example, when the robot executes the obstacle avoidance operation, the current state of the target position and/or the target logic lock corresponding to the service channel where the target position is located is obtained in real time; when the state of the target logic lock is monitored to be converted into an idle state, the robot locks the target position and/or a service channel where the target position is located, converts the idle state of the target logic lock into a locking state when the target logic lock needs to be used, and synchronizes the state information of the target logic lock. At this time, no matter where the robot is located at, the robot can go to the target position immediately based on the navigation map when performing any obstacle avoidance operation; for example, when the robot is moving to a target obstacle avoidance point, if it is monitored that the corresponding target logic lock is in an idle state, the target logic lock is immediately locked, the idle state of the target logic lock is set to be a locked state, and meanwhile, the state of the target logic lock is synchronized; when the state synchronization of the target logic lock is successful, the robot goes to the target position immediately based on the navigation map. In a specific application scenario, when the robot monitors that the state of the target logic lock is idle and sets the target logic lock from the idle state to a locked state, a situation that the state of the target logic lock is not synchronized may occur, and this situation may be that communication is not smooth for a while, or the target logic lock is locked by other robots in advance; at the moment, the robot can continuously execute corresponding obstacle avoidance operation, meanwhile, the state of the target logic lock is continuously monitored, if the state of the target logic lock is still in an idle state, the target logic lock is continuously locked and information is synchronized, and when the state synchronization of the target logic lock is successful, the robot can then execute operation of going to a target position; if the state of the target logic lock is changed into a locking state at the moment, the target logic lock is possibly locked by other robots in a preemptive mode, obstacle avoidance operation is continuously executed, and meanwhile competition for the target position is continuously carried out.
When the robot leaves the service channel where the target position is located, the target logic lock is released in time, the target logic lock is converted from a locking state to an idle state, and meanwhile, the state information of the target logic lock is synchronized, so that other robots competing for the target logic lock can use the target position in time.
In one embodiment, the corresponding obstacle avoidance point may be configured by the following technical means: and configuring corresponding obstacle avoidance points in the autonomous moving areas of all the robots according to the navigation map and all the target positions, and identifying all the configured obstacle avoidance points on the navigation map so that the robots can navigate to the corresponding obstacle avoidance points when needed. For example, a plurality of obstacle avoidance points may be set in the non-picking area, and the specific number of the configured obstacle avoidance points may be selected according to specific requirements; for example, the obstacle avoidance points are configured according to a history record of the use of the obstacle avoidance points in the history test data and/or regional information (such as regional area size, deployment condition of service channels in a region, and the like) of an autonomous mobile region corresponding to the robot operation; meanwhile, the configuration of the obstacle avoidance point should follow the following basic principle: the obstacle avoidance point occupation does not cause the blocking of the service channel. In terms of the number of obstacle avoidance points, in a specific application scenario, the maximum value of the number of configured obstacle avoidance points is not greater than N, where N is a difference between the sum of all robots working simultaneously and 1. Certainly, the number of the configured obstacle avoidance points is not necessarily less than (N-1), and if the area of the area where the robot can autonomously move is large, for example, the area of a warehouse is large, actually, more obstacle avoidance points can be completely set, so that the purpose of shortening the distance between the obstacle avoidance points where the robot moves forward to improve the operation efficiency is achieved. Therefore, in the present application, the specific number of obstacle avoidance point configurations is not limited. In addition, in practical application, the design of the obstacle avoidance points should ensure that when all the obstacle avoidance points are occupied, it can still be ensured that more than or equal to one robot can still complete the corresponding movement task.
For example, the number of obstacle avoidance points is set to be the difference between the total number of the robots and 1, that is, when all the robots desire to go to the same target position, only one robot can obtain the target logic lock corresponding to the target position, and other robots can always find one obstacle avoidance point belonging to the robot. Or based on the autonomous moving areas of all the robots, configuring a preset number of obstacle avoidance points outside the service channels of the robots according to historical test data. Of course, the obstacle avoidance point is set as long as the requirement is met, and the obstacle avoidance point is not in the range of a service channel or a service route of the robot operation and does not need to be set outside a goods picking area; for example, in a specific application scenario, the obstacle avoidance points may also be directly disposed at the left and right sides of the service access opening. In addition, the difference between the total number of the robots and 1 is not required to be achieved for the number of the obstacle avoidance points; for example, the number of obstacle avoidance points may be adjusted according to actual test data or according to the specific situation that the robot is blocked at the passage opening. This is also a waste of space if a large number of obstacle avoidance points are always free in practical applications.
In the embodiment of the invention, the robot can randomly select one obstacle avoidance point from the obstacle avoidance points in the idle state as required, as long as the robot can find the corresponding obstacle avoidance point.
In addition, the selection of the robot for the obstacle avoidance point is actually performed based on the state information of the obstacle avoidance logical lock corresponding to the obstacle avoidance point. In one embodiment, when the robot needs to select a corresponding obstacle avoidance point, the method can also be implemented according to the following technical means:
the robot searches a navigation map, and acquires all obstacle avoidance points in an idle state in the navigation map based on the state information of the obstacle avoidance logic lock corresponding to each obstacle avoidance point; aiming at all obstacle avoidance points in an idle state, the robot selects an obstacle avoidance point closest to the target position as a target obstacle avoidance point; converting the state of the obstacle avoidance logic lock of the target obstacle avoidance point from an idle state to a locking state; and meanwhile, synchronizing the state information of the target obstacle avoidance points.
Or the robot searches a navigation map, and acquires all obstacle avoidance points in an idle state in the navigation map based on the state information of the obstacle avoidance logic lock corresponding to each obstacle avoidance point; aiming at all obstacle avoidance points in an idle state, the robot scores each obstacle avoidance point to obtain obstacle avoidance scores corresponding to the obstacle avoidance points respectively; selecting the obstacle avoidance point with the maximum obstacle avoidance value as a corresponding target obstacle avoidance point according to the calculated obstacle avoidance value; converting the state of the obstacle avoidance logic lock of the target obstacle avoidance point from an idle state to a locking state; and meanwhile, synchronizing the state information of the target obstacle avoidance points. In a specific application scenario, for example, the robot may score by calculating a robot walking path length between each obstacle avoidance point and the target position, where between the obstacle avoidance point and the target position, the score is lower as the robot walking path length is longer, and the score is higher as the robot walking path length is shorter. When the obstacle avoidance point with the largest obstacle avoidance value is selected as the target obstacle avoidance point, correspondingly, the length of a walking path from the obstacle avoidance point to the target position of the robot is the shortest.
Or the robot searches a navigation map, and acquires all obstacle avoidance points in an idle state in the navigation map based on the state information of the obstacle avoidance logic lock corresponding to each obstacle avoidance point; for all obstacle avoidance points in an idle state, the robot calculates the length of a robot walking path from each obstacle avoidance point to the target position; and selecting the obstacle avoidance point with the shortest robot walking path length according to the calculated robot walking path length, and taking the selected obstacle avoidance point with the shortest walking path as the target obstacle avoidance point.
Or, under the condition that the network communication quality is poor, the robot can pre-estimate the state information of the obstacle avoidance logical lock corresponding to each obstacle avoidance point based on the navigation map and also according to a preset lock guessing mode; and according to the estimated state information of the obstacle avoidance logic lock, referring to the target position to be reached by the robot, and selecting a corresponding obstacle avoidance point by the robot. In the embodiment of the invention, the guessing lock body mode adopted when the robot selects the obstacle avoidance point under the condition of poor network is not limited; those skilled in the art can understand that in different application scenarios, specific lock guessing manners that can be adopted by the robot may be different for different autonomous moving areas of the robot and different obstacle avoidance points configured in the areas, as long as the purpose of selecting corresponding obstacle avoidance points in the present invention can be achieved.
In the embodiment of the invention, when the robot synchronizes the state information of the target logic lock and the state information of the obstacle avoidance logic lock corresponding to each obstacle avoidance point, two modes are available, wherein one mode is to record, update and synchronize the state information of the logic lock based on a robot information base; another way is to record, update and synchronize the logical lock state based on the server.
For example, based on a robot information base, the robot records and synchronizes the state information of the target logical lock and the state information of the obstacle avoidance logical lock corresponding to each obstacle avoidance point; for example, when the robot needs to select an obstacle avoidance point, the robot obtains the state information of the obstacle avoidance logical locks corresponding to all the obstacle avoidance points through the robot information base; meanwhile, when the robot updates the obstacle avoidance logic lock information of the obstacle avoidance point, the robot information base is used for carrying out synchronization. Of course, the update of the target logical lock information of the target location may also be implemented based on the robot information base.
Or, the robot records and synchronizes the state information of the target logical lock and the state information of the obstacle avoidance logical lock corresponding to each obstacle avoidance point through the server. For example, all robots record, update and synchronize state information of all corresponding target positions and/or target logical locks corresponding to a service channel where the target positions are located, and state information of obstacle avoidance logical locks corresponding to all obstacle avoidance points on a server. For example, when the robot a needs a target logical lock or an obstacle avoidance logical lock, a locking request is sent to the server; if the current state of the target logic lock or the obstacle avoidance logic lock is an idle state, the server records that the robot A holds the corresponding target logic lock or the obstacle avoidance logic lock; and if the current target logic lock or obstacle avoidance logic lock is in a locking state, the server sends return information to the robot A to inform the robot A that the current target logic lock or obstacle avoidance logic lock is locked by other robots. When the robot needs to release a corresponding target logic lock or obstacle avoidance logic lock, directly sending a logic lock release request to a server; and when the robot does not communicate with the server for more than the preset time, the server defaults that the robot automatically gives up the corresponding target logic lock and/or obstacle avoidance logic lock.
In a specific application scenario, as shown in fig. 2, fig. 2 is a schematic diagram of an obstacle avoidance process of the method for solving robot congestion in a specific application scenario. In the application scenario shown in fig. 2, there are three robots: robot 1, robot 2, robot 3; there are 3 obstacle avoidance points: obstacle avoidance point a, obstacle avoidance point b and obstacle avoidance point c. Robot 1 currently holds the target logical lock of the channel in which it is located, the target position of robot 2 is within the service channel in which robot a is located, and robot 2 has not yet entered the service channel. The robot 3 occupies the obstacle avoidance point c. The robot 2 cannot enter the channel because the robot 2 is unlocked, that is, there is no target logic lock in the channel, and at this time, the robot 2 is in a blocked state without the target logic lock, that is, a "2. a. lock-free blocked" state shown in fig. 2. Because the robot 2 does not have the target logic lock, the robot 2 searches for an idle obstacle avoidance point; in the process that the robot 2 searches for the idle obstacle avoidance point, the obstacle avoidance point a is the obstacle avoidance point closest to the stop point 2, so that the robot 2 selects the obstacle avoidance point a. Then, the robot 2 logically locks the obstacle avoidance point a, that is, the obstacle avoidance logical lock of the obstacle avoidance point a is set from an idle state to a locked state, so that other robots consider that the obstacle avoidance point a is locked, that is, as shown in fig. 2, a "2. b. The robot 2 continuously competes for the target logical lock of the service channel where the stop point 2 is located on the way to the obstacle avoidance point a or waits at the obstacle avoidance point a until the robot 2 obtains the target logical lock of the channel where the stop point 2 is located. When the robot 2 already holds the target logical lock of the channel where the stop point 2 is located, the robot 2 can go to the stop point 2, and simultaneously the robot 2 releases the obstacle avoidance logical lock of the obstacle avoidance point a, so that the obstacle avoidance point a is in an idle state, and other robots consider the obstacle avoidance point a as an available obstacle avoidance point, that is, the "2. c. locked recovery execution" state shown in fig. 2 is provided.
The invention solves the method that the robot congests, through the robot according to the goal position that needs go to, obtain the present state of the goal logic lock that the said goal position and/or business channel where the said goal position locates correspond to; if the current state of the target logic lock is a locked state, the robot searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position; according to the selected target obstacle avoidance point, the robot goes to the target obstacle avoidance point based on the navigation map; continuously competing for the target position in the process that the robot selects the target obstacle avoidance point, and/or goes to the target obstacle avoidance point, and/or waits for the corresponding target obstacle avoidance point, and once the target logic lock corresponding to the target position is in an idle state, locking the target logic lock by the robot and going to the target position; the problem of local jam of passway mouth is solved, the operating efficiency of robot has been improved.
Based on the description of the above embodiment, the present invention further provides a device for resolving robot congestion, where the device for resolving robot congestion may implement the method for resolving robot congestion described in the embodiments of fig. 1 and fig. 2, and fig. 3 is a functional module schematic diagram of an embodiment of the device for resolving robot congestion of the present invention; fig. 3 describes the device for solving the robot congestion only functionally. As shown in fig. 3, the apparatus for resolving congestion of a robot includes: the system comprises a task execution module 100 and an obstacle avoidance module 200, wherein the task execution module 100 and the obstacle avoidance module 200 are in communication connection and perform data interaction.
The task execution module 100 obtains the target position and/or the current state of the target logic lock corresponding to the service channel where the target position is located according to the target position to be moved to; if the current state of the target logic lock is an idle state, locking the target position and/or a service channel where the target position is located, setting the state of the target logic lock to be a locking state, and synchronizing the state information of the target logic lock; and meanwhile, controlling the robot to go to the target position based on the navigation map.
When the task execution module 100 obtains that the current state of the target logic lock is a locked state, the obstacle avoidance module 200 searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position; and according to the selected target obstacle avoidance point, the robot goes to the target obstacle avoidance point based on the navigation map.
The task execution module 100 continuously competes for the target position in the process that the robot selects the target obstacle avoidance point, and/or moves to the target obstacle avoidance point, and/or waits for a corresponding target obstacle avoidance point, and once the target logic lock corresponding to the target position is in an idle state, the target logic lock is locked, and the robot is controlled to move to the target position.
The specific implementation of the device for solving the robot congestion according to the present invention is substantially the same as the implementation principle of each embodiment corresponding to the above method for solving the robot congestion, and will not be described herein in a repeated manner.
The device for solving the robot congestion acquires the target position and/or the current state of the target logic lock corresponding to the service channel where the target position is located according to the target position to which the robot needs to go; if the current state of the target logic lock is a locking state, searching a navigation map, and selecting a corresponding target obstacle avoidance point on the navigation map according to the target position; according to the selected target obstacle avoidance point, on the basis of the navigation map, the user goes to the target obstacle avoidance point; continuously competing for the target position in the process of selecting the target obstacle avoidance point, and/or moving to the target obstacle avoidance point, and/or waiting for the corresponding target obstacle avoidance point, and once the target logic lock corresponding to the target position is in an idle state, locking the target logic lock, and controlling the robot to move to the target position; the problem of local jam of passway mouth is solved, the operating efficiency of robot has been improved.
The invention also provides an electronic device which can solve the problem of local blockage of a channel port according to the method for solving the robot congestion described in the figure 1. Fig. 4 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention, as shown in fig. 4.
In the present embodiment, the electronic device 1 may be a PC (Personal Computer), or may be a terminal device such as a smartphone, a tablet Computer, or a mobile Computer. The electronic device 1 comprises at least a memory 11, a processor 12, a communication bus 13, and a network interface 14.
The memory 11 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, for example a hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in hard disk provided on the electronic device 1, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used not only to store application software installed in the electronic device 1 and various types of data, such as a code of the congestion prevention program 01, but also to temporarily store data that has been output or is to be output.
The processor 12 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor or other data Processing chip in some embodiments, and is used for executing program codes stored in the memory 11 or Processing data, such as executing the anti-congestion program 01.
The communication bus 13 is used to realize connection communication between these components.
The network interface 14 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and is typically used to establish a communication link between the electronic device 1 and other electronic devices.
Optionally, the electronic device 1 may further comprise a user interface, the user interface may comprise a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface may further comprise a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the electronic device 1 and for displaying a visualized user interface, among other things.
Fig. 4 only shows the electronic device 1 with the components 11-14 and the anti-congestion program 01, and it will be understood by those skilled in the art that the structure shown in fig. 4 does not constitute a limitation of the electronic device 1, and may comprise fewer or more components than shown, or may combine certain components, or a different arrangement of components.
Based on the description of the embodiments of fig. 1, 2 and 3, in the embodiment of the electronic device 1 shown in fig. 4, the memory 11 stores therein an anti-congestion program 01; the anti-congestion program 01 stored in the memory 11 can run on the processor 12, and when the anti-congestion program 01 is run by the processor 12, the following steps are implemented:
the robot acquires the target position and/or the current state of a target logic lock corresponding to a service channel where the target position is located according to the target position required to go to; if the current state of the target logic lock is a locked state, the robot searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position; according to the selected target obstacle avoidance point, the robot goes to the target obstacle avoidance point based on the navigation map; continuously competing for the target position in the process that the robot selects the target obstacle avoidance point, and/or goes to the target obstacle avoidance point, and/or waits for the corresponding target obstacle avoidance point, and once the target logic lock corresponding to the target position is in an idle state, the robot locks the target logic lock and goes to the target position.
The implementation principle of the embodiment of the electronic device of the present invention is substantially the same as that of the above-mentioned method for solving the robot congestion, and will not be described herein again.
The electronic equipment acquires the target position and/or the current state of a target logic lock corresponding to a service channel where the target position is located according to the target position to which the robot needs to go; if the current state of the target logic lock is a locking state, searching a navigation map, and selecting a corresponding target obstacle avoidance point on the navigation map according to the target position; according to the selected target obstacle avoidance point, on the basis of the navigation map, the user goes to the target obstacle avoidance point; continuously competing for the target position in the process of selecting the target obstacle avoidance point, and/or moving to the target obstacle avoidance point, and/or waiting for the corresponding target obstacle avoidance point, and once the target logic lock corresponding to the target position is in an idle state, locking the target logic lock, and controlling the robot to move to the target position; the problem of local jam of passway mouth is solved, the operating efficiency of robot has been improved.
In addition, an embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores an anti-congestion program, and the anti-congestion program may be executed by one or more processors to implement the following operations:
the robot acquires the target position and/or the current state of a target logic lock corresponding to a service channel where the target position is located according to the target position required to go to; if the current state of the target logic lock is a locked state, the robot searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position; according to the selected target obstacle avoidance point, the robot goes to the target obstacle avoidance point based on the navigation map; continuously competing for the target position in the process that the robot selects the target obstacle avoidance point, and/or goes to the target obstacle avoidance point, and/or waits for the corresponding target obstacle avoidance point, and once the target logic lock corresponding to the target position is in an idle state, the robot locks the target logic lock and goes to the target position.
The detailed implementation of the computer-readable storage medium of the present invention is substantially the same as the implementation principle of the embodiments corresponding to the above-mentioned method for solving the robot congestion, and will not be described herein in a repeated manner.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (12)
1. A method for solving robot congestion, the method for solving robot congestion comprising:
the robot acquires the target position and/or the current state of a target logic lock corresponding to a service channel where the target position is located according to the target position required to go to;
if the current state of the target logic lock is a locked state, the robot searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position;
according to the selected target obstacle avoidance point, the robot goes to the target obstacle avoidance point based on the navigation map;
continuously competing for the target position in the process that the robot selects the target obstacle avoidance point, and/or goes to the target obstacle avoidance point, and/or waits for the corresponding target obstacle avoidance point, and once the target logic lock corresponding to the target position is in an idle state, the robot locks the target logic lock and goes to the target position.
2. The method of resolving robot congestion of claim 1, wherein the method of resolving robot congestion further comprises:
and configuring corresponding obstacle avoidance points in the autonomous moving areas of all the robots according to the navigation map and all the target positions, and identifying all the configured obstacle avoidance points on the navigation map so that the robots can navigate to the corresponding obstacle avoidance points when needed.
3. The method for solving the robot congestion as claimed in claim 2, wherein the configuring the corresponding obstacle avoidance points in the autonomous movable areas of all the robots includes:
based on the autonomous moving areas of all the robots, outside the service channels of the robots, according to historical test data and/or area information of the autonomous moving areas, and on the principle that the occupied obstacle avoidance points do not cause the blockage of the service channels, a preset number of obstacle avoidance points are configured.
4. The method for solving the congestion problem of the robot as claimed in claim 1, 2 or 3, wherein the robot searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position, comprising:
the robot searches a navigation map, and acquires all obstacle avoidance points in an idle state in the navigation map based on the state information of the obstacle avoidance logic lock corresponding to each obstacle avoidance point;
aiming at all obstacle avoidance points in an idle state, the robot selects an obstacle avoidance point closest to the target position as a target obstacle avoidance point;
converting the state of the obstacle avoidance logic lock of the target obstacle avoidance point from an idle state to a locking state; and meanwhile, synchronizing the state information of the target obstacle avoidance points.
5. The method for solving the congestion problem of the robot as claimed in claim 1, 2 or 3, wherein the robot searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position, comprising:
the robot searches a navigation map, and acquires all obstacle avoidance points in an idle state in the navigation map based on the state information of the obstacle avoidance logic lock corresponding to each obstacle avoidance point;
aiming at all obstacle avoidance points in an idle state, the robot scores each obstacle avoidance point to obtain obstacle avoidance scores corresponding to the obstacle avoidance points respectively;
selecting the obstacle avoidance point with the maximum obstacle avoidance value as a corresponding target obstacle avoidance point according to the calculated obstacle avoidance value;
converting the state of the obstacle avoidance logic lock of the target obstacle avoidance point from an idle state to a locking state; and meanwhile, synchronizing the state information of the target obstacle avoidance points.
6. The method for solving the congestion problem of the robot according to claim 1 or 2 or 3, wherein the robot searches a navigation map, and selects a corresponding target obstacle avoidance point on the navigation map according to the target position, including:
under the condition of poor network communication quality, the robot pre-estimates the state information of the obstacle avoidance logical lock corresponding to each obstacle avoidance point according to a preset lock guessing mode based on the navigation map;
and according to the estimated state information of the obstacle avoidance logic lock, referring to the target position, and selecting a corresponding obstacle avoidance point by the robot.
7. A method for resolving robot congestion as claimed in claim 1 or 2 or 3, wherein the method for resolving robot congestion further comprises:
the robot records and synchronizes the state information of the target logic lock and the state information of the obstacle avoidance logic lock corresponding to each obstacle avoidance point based on a robot information base;
or:
and the robot records and synchronizes the state information of the target logic lock and the state information of the obstacle avoidance logic lock corresponding to each obstacle avoidance point on the basis of the server.
8. The method for solving the robot congestion as claimed in claim 1 or 2 or 3, wherein the continuously competing for the target location, once the target logical lock corresponding to the target location is in an idle state, the robot locking the target logical lock and going to the target location comprises:
the robot acquires the target position and/or the current state of a target logic lock corresponding to a service channel where the target position is located in real time;
when the state of the target logic lock is monitored to be converted into an idle state, the robot locks the target position and/or a service channel where the target position is located, converts the idle state of the target logic lock into a locking state when the target logic lock needs to be used, and synchronizes the state information of the target logic lock;
the robot goes to the target position immediately based on the navigation map no matter where the robot is currently located;
and when the robot leaves the service channel where the target position is located, releasing the target logic lock, converting the target logic lock from a locking state into an idle state, and synchronizing the state information of the target logic lock.
9. The method for solving the robot congestion as claimed in claim 1, 2 or 3, wherein the method for solving the robot congestion further comprises, after the step "the robot obtains the current state of the target logical lock corresponding to the target location and/or the traffic channel where the target location is located according to the target location to which the robot needs to go", the following steps:
if the current state of the target logic lock is an idle state, the robot locks the target position and/or a service channel where the target position is located, sets the state of the target logic lock to be a locked state, and synchronizes the state information of the target logic lock; and simultaneously, going to the target position based on the navigation map.
10. An apparatus for resolving congestion of a robot, the apparatus comprising:
a task execution module to:
acquiring a target position and/or a current state of a target logic lock corresponding to a service channel where the target position is located according to the target position required to go to;
if the current state of the target logic lock is an idle state, locking the target position and/or a service channel where the target position is located, setting the state of the target logic lock to be a locking state, and synchronizing the state information of the target logic lock; meanwhile, controlling the robot to go to the target position based on the navigation map;
keep away barrier module for: when the task execution module acquires that the current state of the target logic lock is a locked state, searching a navigation map, and selecting a corresponding target obstacle avoidance point on the navigation map according to the target position; according to the selected target obstacle avoidance point, the robot goes to the target obstacle avoidance point based on the navigation map;
the task execution module is used for: continuously competing for the target position in the process that the robot selects the target obstacle avoidance point, and/or moves to the target obstacle avoidance point, and/or waits for the corresponding target obstacle avoidance point, and locking the target logic lock once the target logic lock corresponding to the target position is in an idle state, and controlling the robot to move to the target position.
11. An electronic device, comprising a memory and a processor, wherein the memory stores an anti-congestion program operable on the processor, and the anti-congestion program, when executed by the processor, performs the method of resolving robot congestion as claimed in any one of claims 1 to 9.
12. A computer storage medium having stored thereon an anti-congestion program executable by one or more processors to perform the steps of the method of resolving robot congestion as claimed in any one of claims 1 to 9.
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