CN113568400A

CN113568400A - Robot control method and device, electronic equipment and storage medium

Info

Publication number: CN113568400A
Application number: CN202010352079.XA
Authority: CN
Inventors: 李冠毅
Original assignee: Beijing Orion Star Technology Co Ltd
Current assignee: Beijing Orion Star Technology Co Ltd
Priority date: 2020-04-28
Filing date: 2020-04-28
Publication date: 2021-10-29
Also published as: WO2021218959A1

Abstract

The embodiment of the invention provides a robot control method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a target path from a movement starting point of the robot to a movement end point of the robot; determining a calibration line corresponding to a first area based on the width of the first area of the target path; the distance from each calibration point contained in the calibration line to the target side of the first area is a set distance; the robot is controlled to move within a second area formed by the calibration line and the target side of the first area. Compared with the prior art, by applying the scheme provided by the embodiment of the invention, when the robot is controlled to move in a road, the robot can be prevented from blocking the movement of other moving objects in the moving process.

Description

Robot control method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of artificial intelligence technology, and in particular, to a robot control method, apparatus, electronic device, and storage medium.

Background

Currently, with the continuous development of robot technology, various types of robots play more and more important roles in daily work and life of people. The robot is: the machine device for automatically executing work includes all machines simulating human behavior or thought and simulating other creatures. For example, a logistics sorting robot, a service robot, a home robot, a hotel robot, etc.

In many cases, the robot is required to move from a current location to another location in order to complete a task. For example, a logistics sorting robot needs to transfer sorted packages to a specified location, a tour guide robot needs to guide visitors to move within a scenic spot for visiting, and so on.

In the related art, the robot selects the shortest path away from the obstacle during the movement, and thus moves in the area where the path is located. However, in the related art, when the robot moves in an area that the path passes, the robot may pass through the area along an inclined moving route or may move in the middle of the area, thereby blocking the movement of other moving objects.

For example, as shown in fig. 1, when the robot 101 moves from the current position to the target position, the area on which the selected shortest route passes is a road area 104, the robot 101 can move along the existing route 103 in the area 104, and the robot 101 blocks the movement of the robot 102 moving in the opposite direction. Wherein, the current position is a moving starting point, and the target position is a moving end point.

Therefore, how to control the movement of the robot in the road so as to avoid the robot obstructing the movement of other moving objects in the moving process becomes an urgent problem to be solved.

Disclosure of Invention

An object of embodiments of the present invention is to provide a robot control method, an apparatus, an electronic device, and a storage medium, so as to prevent a robot from blocking movement of other moving objects during a moving process when the robot is controlled to move in a road. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a robot control method, where the method includes:

determining a target path from a movement starting point of a robot to a movement end point of the robot;

determining a calibration line corresponding to a first area of the target path; the distance from each calibration point contained in the calibration line to the target side of the first area is a set distance;

and controlling the robot to move in a second area formed by the calibration line and the target side of the first area.

Optionally, in a specific implementation manner, the target side of the first area is determined based on a moving direction of the robot and a preset moving rule.

Optionally, in a specific implementation manner, the step of determining a target path from a movement start point of the robot to a movement end point of the robot includes:

acquiring a moving starting point of a robot and a moving end point of the robot;

and determining the shortest path from the movement starting point to the movement end point as a target path according to the map information stored by the robot.

Optionally, in a specific implementation manner, the step of determining the calibration line corresponding to the first region of the target path includes:

determining a first side and a second side of a first area of the target path according to the map information stored by the robot;

determining a plurality of target points on the first side;

for each target point, determining a projected point of the target point on the second side;

determining a point with a distance from the target side to the set distance in a line segment obtained by connecting each target point with the projection point of the target point, wherein the distance from the target side to the set distance is used as a calibration point, and the target side is the first side or the second side;

and sequentially connecting each determined calibration point to obtain the calibration line.

Optionally, in a specific implementation manner, the step of controlling the robot to move in a second area formed by the calibration line and the target side of the first area includes:

determining a moving path of the robot in a second area formed by the calibration line and the target side of the first area;

and controlling the robot to move from the movement starting point to the movement ending point along the movement path.

Optionally, in a specific implementation manner, the step of determining a moving path of the robot in a second area formed by the calibration line and the target side of the first area includes:

according to a preset cost rule, determining a minimum cost track of the robot in a second area formed by the calibration line and the target side of the first area, and taking the minimum cost track as a moving path of the robot;

the cost rule represents the corresponding relation between the moving path of the robot and the resources consumed by the movement of the robot.

In a second aspect, an embodiment of the present invention provides a robot control apparatus, including:

the system comprises a path determining module, a path determining module and a path determining module, wherein the path determining module is used for determining a target path from a moving starting point of a robot to a moving end point of the robot;

the calibration line determining module is used for determining a calibration line corresponding to a first area of the target path; the distance from each calibration point contained in the calibration line to the target side of the first area is a set distance;

and the movement control module is used for controlling the robot to move in a second area formed by the calibration line and the target side of the first area.

Optionally, in a specific implementation manner, the path determining module is specifically configured to:

Optionally, in a specific implementation manner, the calibration line determining module is specifically configured to:

determining a plurality of target points on the first side;

Optionally, in a specific implementation manner, the mobile control module includes:

a path determination submodule for determining a movement path of the robot in a second area formed by the calibration line and a target side of the first area;

and the movement control submodule is used for controlling the robot to move from the movement starting point to the movement ending point along the movement path.

Optionally, in a specific implementation manner, the path determining sub-module is specifically configured to:

In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;

a memory for storing a computer program;

a processor for implementing the steps of any of the robot control methods provided by the first aspect described above when executing the program stored in the memory.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements the steps of any one of the robot control methods provided in the first aspect.

In a fifth aspect, embodiments of the present invention further provide a computer program product containing instructions, which when run on a computer, causes the computer to perform the steps of any of the robot control methods provided in the first aspect.

The embodiment of the invention has the following beneficial effects:

by applying the scheme provided by the embodiment of the invention, when the robot is controlled to move, the target path from the moving starting point of the robot to the moving end point of the robot can be determined firstly, so that the width of the first area of the target path can be further determined. Further, a calibration line in the first region may be determined based on the width of the first region. Thus, the robot can be controlled to move in a second area formed by the calibration line and the target side of the first area.

Based on this, when the robot moves in the first area of the target path, the robot is always located in the second area in the first area, that is, the robot always moves in the second area, that is, the robot always moves along the movement route near the target side of the first area. Thus, the robot does not move through the first area along an inclined movement path and does not move to the middle of the first area during the movement. Therefore, the robot can be prevented from blocking the movement of other moving objects in the moving process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a moving track of a robot in the prior art;

fig. 2 is a schematic flowchart of a robot control method according to an embodiment of the present invention;

fig. 3 is a schematic flowchart of a specific implementation manner of S201 in fig. 2;

fig. 4 is a schematic flowchart of an embodiment of S203 in fig. 2;

FIG. 5 is a flowchart illustrating an embodiment of S202 in FIG. 2;

FIGS. 6(a) -6 (d) are schematic diagrams of one embodiment of the present invention;

fig. 7 is a schematic structural diagram of a robot control device according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to solve the above technical problem, an embodiment of the present invention provides a robot control method. The method comprises the following steps:

As can be seen from the above, by applying the solution provided by the embodiment of the present invention, when controlling the movement of the robot, the target path from the movement start point of the robot to the movement end point of the robot may be determined first, so that the width of the first area of the target path may be further determined. Further, a calibration line in the first region may be determined based on the width of the first region. Thus, the robot can be controlled to move in a second area formed by the calibration line and the target side of the first area.

Based on this, when the robot moves in the first area of the target path, the robot is always located in the second area in the first area, that is, the robot always moves in the second area, that is, the robot always moves along the movement route near the target side of the first area. Thus, during the movement, the robot does not move along an inclined movement path through the first area, nor to the middle of the first area. Therefore, the robot can be prevented from blocking the movement of other moving objects in the moving process.

Before specifically describing a robot control method provided by an embodiment of the present invention, first, related contents involved in robot movement are described.

In an actual scene, the robot moves from a movement start point to a movement end point of the robot along a road connecting the movement start point and the movement end point. That is, the road may connect the movement start point and the movement end point of the robot, and thus, the road is a path from the movement start point to the movement end point of the robot. Further, the area covered by the road is an area where a path from the movement start point of the robot to the movement end point of the robot passes, and the width of the road is an area where a path from the movement start point of the robot to the movement end point of the robot passes.

It should be noted that, when the robot moves, the actual scene may be an outdoor scene, for example, a playground, a scenic spot, etc.; but also indoor scenes such as office areas, supermarkets, shopping malls, banks, airports, museums, libraries, etc. When the actual scene is an outdoor scene, the road connecting the movement starting point of the robot and the movement ending point of the robot may be a road for pedestrians, vehicles, and the like existing in the outdoor scene, for example, a non-motor lane on a road, a slate road in a scenic spot, and the like. When the actual scene is an indoor area, the road connecting the movement starting point of the robot and the movement ending point of the robot may be an area where the indoor area is used for a user to pass through, such as a corridor, an area where workers between two adjacent rows of desks pass through, an area between shelves, and the like.

In an actual scene, the movement starting point of the robot and the movement ending point of the robot may be located on the same road, and a path from the movement starting point of the robot to the movement ending point of the robot is as follows: and a link of the road, which takes the movement starting point as a starting point and the movement ending point as an ending point.

In addition, it can be understood that, in an actual scene, there may be an intersecting road region between different roads, and there may also be an intersecting road region between a plurality of different roads and the same road. Therefore, when the movement start point of the robot and the movement end point of the robot are located in different roads, the movement start point and the movement end point located in different roads may be connected by a plurality of mutually connected roads, and a path from the movement start point of the robot to the movement end point of the robot is: and a link connecting the partial links of the plurality of interconnected roads with the movement starting point as a starting point and the movement ending point as an ending point.

For example, as shown in fig. 1, if the robot 101 is a robot, the current position of the robot 101 is a moving start point of the robot, and the target position is a moving end point of the robot, it may be determined that a path from the moving start point to the moving end point is a road connection line formed by connecting a part of a road segment of a horizontal direction road and a part of a road segment of a vertical direction road, and the two road connection lines have intersecting road regions. The area of the route is a road area 104, and the road area 104 is composed of an area covered by a part of the road segments of the horizontal direction road and an area covered by a part of the road segments of the vertical direction road.

Further, since the road may have a certain width, that is, an area of a path from the movement start point of the robot to the movement end point of the robot may have a certain width, a plurality of routes connecting the movement start point and the movement end point may exist in the area of the path, and the robot may select one route from the plurality of routes and move from the movement start point to the movement end point along the one route.

For example, as shown in fig. 1, in a road area 104, a route 105 may exist in addition to the existing route 103 in a route connecting the current position and the target position of the robot 101.

Based on this, that is, the process of the robot moving from the movement starting point of the robot to the movement ending point of the robot can be understood as follows: the robot moves from a movement start point to a movement end point of the robot along a route existing in an area where a path from the movement start point to the movement end point passes.

A robot control method according to an embodiment of the present invention will be specifically described below.

The robot control method provided by the embodiment of the invention can be suitable for any scene needing to control the movement of the robot. Since a robot in the prior art refers to a machine device that automatically executes work, an execution main body of the robot control method provided in the embodiment of the present invention may be a machine device that can automatically move and automatically execute work, for example, a logistics sorting robot, a service robot, a home robot, a hotel robot, and the like, and thus, the embodiment of the present invention is not limited specifically. For convenience of description, the following is simply referred to as a robot.

In addition, the robot control method provided by the embodiment of the invention can also be applied to any other electronic device for controlling the movement of the robot, such as a cloud server, so that the other electronic device can send a movement control instruction to the robot by applying the robot control method provided by the embodiment of the invention to control the movement of the robot. The embodiment of the present invention is not particularly limited.

For clarity, in the following, a robot control method provided by the embodiment of the present invention is described from the perspective of a robot as an execution subject. Accordingly, for other electronic devices that execute the robot control method according to the embodiment of the present invention, contents such as map information stored in the controlled robot may be recorded, and the current position of the controlled robot may be known.

Optionally, the robot control method provided by the embodiment of the present invention may be implemented based on a map pre-stored in the robot. Specifically, the robot may establish a position correspondence between a map and each location in an actual scene, and further, the robot may determine a target path based on a preset stored map, and further, map the target path into the actual scene according to the position correspondence, so that, in the actual scene, the robot moves according to a movement route corresponding to a movement route selected from the target path in the map.

Fig. 2 is a schematic flowchart of a robot control method according to an embodiment of the present invention. As shown in fig. 2, the method may include the steps of:

s201: determining a target path from a movement starting point of the robot to a movement end point of the robot;

when controlling the movement of the robot, it is necessary to determine a movement start point of the robot and a movement end point of the robot, and further, there may be a plurality of paths from the movement start point of the robot to the movement end point of the robot. The robot may determine a target path from the movement start point of the robot to the movement end point of the robot from the plurality of paths.

The embodiment of the present invention does not limit the execution manner of step S201.

For example, the path with the smallest number of turns among the plurality of paths may be determined as the target path; it is also possible to determine, as the target route, a route having the largest width of the route region among the plurality of routes.

Optionally, in a specific implementation manner, as shown in fig. 3, the step S201 may include the following steps:

s301: acquiring a moving starting point of the robot and a moving end point of the robot;

s302: and determining the shortest path from the movement starting point to the movement end point as a target path according to the map information stored by the robot.

In this specific implementation manner, when the robot is located at a certain position, the robot may receive a movement instruction, for example, a voice instruction, a touch instruction, or the like of a user, or may automatically generate a movement instruction according to a current work scene, and then the robot may obtain a movement starting point of the robot and a movement ending point of the robot according to the movement instruction. In this way, after the movement starting point and the movement end point are acquired, the robot can determine the shortest path from the acquired movement starting point to the movement end point as the target path according to the stored map information.

The manner of determining the movement starting point and the movement ending point by the robot according to the movement instruction can be different according to the difference of the movement instruction received by the robot.

For example, when the movement command includes the movement starting point and the movement ending point, the robot may directly acquire the movement starting point and the movement ending point of the robot from the movement command.

Illustratively, the movement instruction is a touch instruction, and the touch instruction is generated by a clicking operation of a user on each position in a map displayed on the robot display screen. Furthermore, the touch instruction comprises a movement starting point A and a movement end point B which are selected by the user through clicking operation, so that the robot can directly acquire the movement starting point A and the movement end point B of the robot from the touch instruction.

For another example, when only the movement end point is included in the movement command, the robot may determine the current position as the movement start point of the robot, and acquire the movement end point of the robot from the movement command.

For example, the movement instruction is a voice instruction, and the instruction content is "move to meeting room No. 1", the robot may determine the current position as the movement starting point of the robot, and determine the position of meeting room No. 1 "as the movement ending point of the robot.

It should be noted that the above examples are merely illustrative of the movement command and the manner in which the robot acquires the movement start point of the robot and the movement end point of the robot, and the present application does not limit the movement command and the manner in which the robot acquires the movement start point of the robot and the movement end point of the robot. In the embodiment of the present invention, the movement instruction may be any type of instruction that can be used to obtain the movement starting point and the movement ending point, and the robot may obtain the movement starting point and the movement ending point in any manner that can obtain the movement starting point and the movement ending point of the robot.

In this case, the robot may be configured to determine, based on the map information and the position correspondence relationship between the actual scene and the actual scene, the position points corresponding to the movement start point and the movement end point in the map information. Further, the shortest route connecting the two position points is specified in the road information recorded in the map information, and the shortest route is set as a target route.

It should be noted that the robot may first establish map information locally, and then, after the map information is established, establish a corresponding relationship between the map information and the position of the actual scene, that is, the robot may first establish a map, and then set a position point corresponding to the position in the actual scene in the map; the robot may also establish a position corresponding relationship between the partial map information and the actual scene at any time according to the partial map information that is currently established in the process of locally establishing the map information, so that the position corresponding relationship between the complete map information and the actual scene is obtained when the complete map information is established, that is, the robot may establish a map while setting a position point corresponding to a position in the actual scene in the currently established map. This is all reasonable.

Optionally, after the position points corresponding to the movement starting point and the movement ending point are determined in the map information, according to a path planning strategy and a path planning algorithm preset by the robot, the robot may determine multiple paths connecting the two position points in the road information recorded in the map information, so that, in order to save resources such as time and energy consumed in the movement process, the robot may select the shortest road from the multiple paths as the target road.

Alternatively, the movement starting point of the robot may be a current position of the robot, and the movement ending point of the robot may be a target position to which the robot is to move in response to the movement command.

It is reasonable that the robot can determine its own current position by using a Positioning System such as a Global Positioning System (GPS), and can also receive current position information input by a user to determine its own current position. Of course, the current position may also be obtained in other manners, for example, an image of the current environment is captured by a camera, and the image is matched with an environment image acquired when map information is established, so as to determine the current position of the user. Of course, it is reasonable that the robot can determine its current position in other ways.

In addition, the robot can read the target position information included in the movement command and determine the target position; it is reasonable to receive the target location information inputted by the user and determine the target location. Of course, the target position may be obtained in other manners, for example, a keyword in the movement instruction is analyzed, an object in the environment where the robot is located is determined, and the position of the object is obtained from the position stored in advance, so that the target position can be determined based on the position of the object. For example, if the robot moves in an office area, the object may be an article, for example, a printer, etc. in the office area, and thus, the position of the object may be determined as the target position; for another example, if the robot moves in an outdoor area, the object may be a building in the outdoor area, for example, a rest place in a scenic spot, and the like, and thus, the position of the object may be determined as a target position or the like. Of course, it is reasonable that the robot can determine the target position in other ways.

S202: determining a calibration line corresponding to a first area of a target path;

and the distance from each calibration point contained in the calibration line to the target side of the first area is a set distance.

In order to avoid a situation that the robot may hinder the movement to other moving objects when moving, for example, the robot moves along an inclined moving route through a first area of the target path or moves in the middle of the first area, in the embodiment of the present invention, the robot may be always located in a left area or a right area of the first area during the movement.

The left region of the first region is a region formed by the calibration line corresponding to the first region and the left side of the first region, and the right region of the first region is a region formed by the calibration line corresponding to the first region and the right side of the first region. It should be noted that the left side and the right side may be determined according to the moving direction of the robot during the moving process.

In this way, after the target path is determined, the calibration line corresponding to the first area of the target path may be further determined, so that in the subsequent step, the robot may be controlled to move in the calibration line and the second area formed on the target side of the first area. The distance from each calibration point contained in the calibration line to the target side of the first area is a set distance.

Optionally, the set distance may be a distance set according to a width of the first region. For example, the set distance may be proportional to the width of the first area, and for example, the set distance may be one half of the width of the first area, or one fifth, and so on; for another example, the set distance may be a specific value determined according to the width of the first region, and for example, if the width of the first region is 10 meters, the set distance may be 5 meters, or 4.5 meters, etc.

Alternatively, the set distance may be determined according to the width of the robot. The width of the robot is: in the moving process, the distance of the robot in the direction perpendicular to the moving direction is understood as the minimum width of a road through which the robot can pass when moving. For example, the set distance may be proportional to the width of the robot, and for example, the set distance may be 1.5 times, or 2 times, etc. the width of the robot; for another example, the set distance may be a specific value determined according to the width of the robot, and for example, the width of the robot is 0.5 m, and the set distance may be 1 m, or 2 m, etc.

Alternatively, the set distance may be determined by the width of the first area and the width of the robot. For example, an initial distance proportional to the width of the first area is determined according to the width of the first area, and then the initial distance is fine-tuned according to the width of the robot to determine the set distance, where the width of the first area is 10 meters, the determined initial distance is one half of the width of the first area, that is, the initial distance is 5 meters, and then the width of the robot is 0.5 meters, then the initial distance may be adjusted to determine the set distance is 2.5 meters.

Optionally, in a specific implementation manner, the target side of the first area may be determined based on a moving direction of the robot and a preset moving rule.

After the target path is determined, a target side may be determined in two sides of a first area of the target path based on the moving direction of the robot and a preset moving rule, and then a calibration line corresponding to the first area may be determined according to the target side.

Wherein, the preset movement rule may be: and a rule for specifying a movement of the robot in a certain area located in the movement direction in the first area when the robot moves. Specifically, the preset movement rule may be a movement toward the right, or may be a movement toward the left, which is reasonable.

When the preset movement rule is moving to the right, when the front face of the robot faces to the movement direction, namely the robot moves forwards, the target side corresponding to the preset movement rule is as follows: one side of the two sides of the first area, which is positioned at the right side of the robot; conversely, when the back of the robot faces the moving direction, i.e. the robot moves backward, the target side corresponding to the preset moving rule is: one side of the two sides of the first area, which is positioned at the left side of the robot;

when the preset movement rule is left movement, when the front face of the robot faces the movement direction, namely the robot moves forwards, the target side corresponding to the preset movement rule is as follows: one side of the two sides of the first area, which is positioned at the left side of the robot; conversely, when the back of the robot faces the moving direction, i.e. the robot moves backward, the target side corresponding to the preset moving rule is: of the two sides of the first region, the side located on the right side of the robot.

The embodiment of the present invention does not limit the execution manner of step S202.

For example, a middle line of the first region may be determined as a calibration line corresponding to the first region. The distance from each point included in the central line to both sides of the first region is the same, that is, the set distance is one half of the width of the first region.

For clarity, the execution manner of the step S202 will be described in the following.

S203: the robot is controlled to move within a second area formed by the calibration line and the target side of the first area.

After the calibration line corresponding to the first area of the target path is determined, the robot can be controlled to move in a second area formed by the calibration line and the target side of the first area.

Obviously, the second region is a region of the first region close to the target side. In this way, the robot is controlled to move in the second area, so that the robot can be ensured to be always positioned in the first area and move in a partial area close to one side of the first area, and the situation that the robot moves through the first area along an inclined moving route can not occur.

Further, when the calibration line is the middle line of the first area, it can be ensured that the robot does not move to the middle of the first area.

Optionally, in a specific implementation manner, as shown in fig. 4, the step S203 may include the following steps:

s401: in a second area formed by the calibration line and the target side of the first area, the moving route of the robot is determined.

After the calibration line corresponding to the first area is determined, the calibration line and a second area formed on the target side of the first area can be obtained, and further, the moving route of the robot can be determined in the second area.

It should be noted that, since the robot has a certain volume, the robot occupies a certain area in the second area, and in order to enable the robot to move in the second area, the determined moving route of the robot needs to ensure that the robot is completely located in the second area when the robot moves along the moving route.

The embodiment of the present invention does not limit the execution manner of step S401.

For example, a route on the target side closest to the first area within the second area may be determined as the movement route of the robot; the route closest to the calibration line in the second area may also be determined as the movement route of the robot; a route in the second area, which is located in the middle of the second area, may also be determined as the movement route of the robot. This is all reasonable.

Optionally, in a specific implementation manner, the step S401 may include the following steps:

according to a preset cost rule, determining a minimum cost track of the robot in a second area formed by the calibration line and the target side of the first area, and using the minimum cost track as a moving route of the robot;

the cost rule can represent the corresponding relation between the moving route of the robot and the resources consumed by the movement of the robot.

Wherein, the cost means: the robot consumes various resources such as time and energy in the process of moving from the moving starting point to the moving ending point. Based on this, in this specific implementation manner, in order to save resources, the minimum cost trajectory of the robot in the second area may be determined as the moving route of the robot according to a preset cost rule.

In the setting of the cost rule, the influence of different routes on the cost of the robot in the second area may be set under different influence factors. For example, the closer the moving route is to the calibration line, the higher the cost of the robot; the closer the moving route is to the target side of the first area, the lower the cost of the robot is; when an obstacle or other moving object exists in the second area, the farther the moving route is from the obstacle, the lower the cost of the robot, and so on. Accordingly, it is also possible to set that the cost of the robot is extremely high when the movement route is outside the second area, and the like.

Based on this, in practical application, the cost rules can be adjusted according to different requirements, so that the moving route matched with the different requirements is determined in the second area.

For example, the cost rule may be a time cost rule, that is, a route in the second area, where the time consumed for the robot to move from the movement starting point to the movement ending point is the smallest, is determined as the movement route of the robot; the cost rule may also be an energy cost rule, that is, a route in the second area, where energy consumed by the robot to move from the movement starting point to the movement ending point is the smallest, is determined as the movement route of the robot.

S402: and controlling the robot to move from the movement starting point to the movement ending point along the movement route.

After the moving route of the robot is determined, the robot can be controlled to move from the moving starting point to the moving end point along the moving route, and therefore the movement is completed.

It should be noted that, the movement and the work execution of the robot may be determined by an electronic circuit or a computer program, that is, if a control module for controlling the robot to move and execute the work exists in the robot, the step S402 may specifically be: the control module of the robot controls the robot to move from the movement starting point to the movement ending point along the movement route.

In addition, optionally, in the process of controlling the robot to move from the movement starting point to the movement ending point along the movement route, when the robot detects that an obstacle exists on the movement route, the robot may be controlled to move from the movement route to other movement routes of the second area where no obstacle exists, so as to avoid the obstacle; and, after bypassing the obstacle, the robot may be controlled to return to the previous moving route again.

In this way, the robot can be made to be always located in the determined second area during movement, that is, the robot can always move along the movement route near the target side of the first area even if the robot selects another movement route due to avoidance of an obstacle.

The other moving route without the obstacle may be a route on a target side closest to the first area in the second area; or the route in the second area, which is closest to the calibration line; other routes which are located in the second area and have no obstacles may also be used, for example, a route with the lowest determined cost among the routes having no obstacles in the second area according to a preset cost rule, and the like.

Next, an example of an execution mode of determining the calibration line corresponding to the first area of the target route in step S202 will be described.

Optionally, in a specific implementation manner, as shown in fig. 5, the step S202 of determining the calibration line corresponding to the first area of the target path may include the following steps:

s501: determining a first side and a second side of a first area of a target path according to map information stored by the robot;

s502: determining a plurality of target points on the first side;

s503: for each target point, determining a projected point of the target point on the second side;

s504: respectively determining points with the distance from the target side to be a set distance in a line segment obtained by connecting each target point with the projection point of the target point, and taking the points as calibration points;

wherein the target side is a first side or a second side;

s505: and sequentially connecting each determined calibration point to obtain a calibration line.

It is understood that, in the map information, the first region of the target route path is a map region composed of both side edge lines. In this way, after the target route is determined, the two side edge lines of the first area of the target route, i.e., the first side and the second side of the first area of the target route, may be determined based on the stored map information of the robot.

In the two side edge lines of the first region of the target path, any one side edge line may be determined as the first side, and the other side edge line except the first side may be determined as the second side.

Optionally, in the actual scene where the robot is currently located, the road corresponding to the target path is determined, and then, the two sides of the road may be detected by using the detection device on the robot. Obviously, the determined two sides are the real two sides of the road corresponding to the target path in the actual scene. Further, both sides of the detected road may be mapped into pre-stored map information so that the first and second sides of the first area of the target route path may be determined in the map information.

The detection device may be a radar, such as a laser radar, for example, so as to determine, through a radar reflection time and the like, real two sides of a road corresponding to the target path in the actual scene, or an image capture device, such as a camera, for example, so as to detect, in an image captured by the camera, real two sides of a road corresponding to the target path in the actual scene.

In this way, after determining the first and second sides of the first region of the target path, a plurality of target points may be determined in the first side.

Optionally, a plurality of target points may be determined on the first side edge line at preset distance intervals.

Alternatively, a plurality of target points may be randomly determined on the first side edge line.

Optionally, object detection may be performed on the first side edge line to determine various objects existing on the first side edge line, so that a point where the detected object is located is determined as the target point. For example, an article appearing on the first side edge line may be detected, and for example, an article such as a desk, a printer, or the like appearing on the first side edge line may be detected while the robot is moving in the office area.

Furthermore, for each target point, a projected point of the target point may be determined in the second side. The line segment obtained by connecting the target point and the projection point of the target point can be perpendicular to the first side.

Further, after determining a plurality of target points and the projected point of each target point, a point having a set distance from the set target side may be determined in a line segment obtained by connecting each target point and the projected point of the target point, and the determined point may be used as a calibration point.

Obviously, the set target side may be a first side of the first area of the target path, or a second side of the first area of the target path, for different application scenarios.

Optionally, when the set distance is one-half of the width of the first area of the area where the target path passes, the midpoint of the line segment obtained by connecting the projection point of each target point and the target point may be determined as a calibration point, and the obtained calibration line is the central line of the first area.

Therefore, after a plurality of calibration points are determined, each calibration point can be connected in sequence, and therefore the calibration line corresponding to the first area of the target path is obtained.

The calibration lines corresponding to the first region of the target path may be obtained by sequentially connecting calibration points determined in a line segment obtained by connecting each target point and a projection point of the target point in the first side in an order in which the target points are arranged in a direction from the movement start point to the movement end point.

For better understanding of the robot control method provided by the embodiment of the present invention, as shown in fig. 6(a) -6 (d), a schematic diagram of a specific embodiment of the present invention is provided.

It is assumed that, in this particular embodiment, the predetermined movement rule is right driving.

It is assumed that the robot 601 moves rightward and faces the moving direction, and that, in a first area of the target path, a side located to the left of the robot 601 is set as a first side of the first area, and a side located to the right of the robot 601 is set as a second side of the first area.

Thus, after the first and second sides of the first region of the target pathway are determined, as shown in fig. 6(a), a target point, and thus a plurality of target points, may be determined on the first side at intervals of 10 centimeters. The target points are solid black points on the first side in fig. 6 (a). Then, a projected point for each target point is determined on the second side. The determined multiple projection points are multiple solid black points on the second side in fig. 6 (a).

Next, as shown in fig. 6(b), for each target point on the first side, the target point and the projected point of the target point on the second side are connected to obtain a plurality of line segments. In addition, in this embodiment, the distance is set to be one-half of the width of the first region of the target path, so that the center point of each obtained line segment can be determined, and a plurality of calibration points can be obtained by using the determined center point as a calibration point. The plurality of index points are solid black dots located in the area between the first side and the second side in fig. 6 (b).

Further, connecting the center points in sequence can obtain the central line shown in fig. 6(b), i.e. the calibration line corresponding to the first region of the target path.

Further, since the preset movement rule is right-hand driving in this embodiment, the second side in fig. 6(a) -6 (d) is the target side, and as shown in fig. 6(c), the area between the center and the second side determined in fig. 6(b) can be determined as the second area, and the robot is finally controlled to move in the second area.

As shown in fig. 6(d), a moving route of the robot, for example, a moving

route

602 or 603, may be determined in the second area according to a preset cost rule, so as to control the robot to move from the start position to the target position, that is, from the movement start point to the movement end point, according to the moving route.

Corresponding to the robot control method provided by the embodiment of the invention, the embodiment of the invention also provides a robot control device.

Fig. 7 is a schematic structural diagram of a robot control device according to an embodiment of the present invention. As shown in fig. 7, the apparatus may include the following modules:

a path determining module 710 for determining a target path from a movement start point of a robot to a movement end point of the robot;

a calibration line determining module 720, configured to determine a calibration line corresponding to the first region of the target path; the distance from each calibration point contained in the calibration line to the target side of the first area is a set distance;

and a movement control module 730 for controlling the robot to move in a second area formed by the calibration line and the target side of the first area.

Optionally, in a specific implementation manner, the path determining module 710 is specifically configured to:

Optionally, in a specific implementation manner, the calibration line determining module 720 is specifically configured to:

determining a plurality of target points on the first side;

Optionally, in a specific implementation manner, the mobile control module 730 includes:

Corresponding to the robot control method provided by the embodiment of the invention, the embodiment of the invention also provides an electronic device, wherein the electronic device can be a robot or other electronic devices for controlling the movement of the robot.

As shown in fig. 8, the system comprises a processor 801, a communication interface 802, a memory 803 and a communication bus 804, wherein the processor 801, the communication interface 802 and the memory 803 communicate with each other via the communication bus 804,

a memory 803 for storing a computer program;

the processor 801 is configured to implement the following steps when executing the program stored in the memory 803:

It should be noted that other implementation manners of the robot control method implemented by the processor 801 executing the program stored in the memory 803 are the same as the robot control method embodiment provided in the foregoing method embodiment section, and are not described herein again.

The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the robot and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In yet another embodiment provided by the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, which, when being executed by a processor, realizes the steps of any of the robot control methods described above.

In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the robot control methods of the above embodiments.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, apparatus embodiments, electronic device embodiments, computer-readable storage medium embodiments, and computer program product embodiments are described with relative simplicity as they are substantially similar to method embodiments, where relevant only as described in portions of the method embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A robot control method, characterized in that the method comprises:

2. The method of claim 1, wherein the target side of the first area is determined based on a moving direction of the robot and a preset moving rule.

3. The method according to claim 1 or 2, wherein the step of determining a target path from a movement start point of a robot to a movement end point of the robot comprises:

4. The method according to claim 1 or 2, wherein the step of determining the calibration line corresponding to the first region of the target pathway comprises:

determining a plurality of target points on the first side;

5. The method of claim 1 or 2, wherein the step of controlling the robot to move within a second area formed by the calibration line and the target side of the first area comprises:

determining a moving route of the robot in a second area formed by the calibration line and the target side of the first area;

controlling the robot to move from the movement starting point to the movement ending point along the movement route.

6. The method of claim 5, wherein said step of determining a path of travel of said robot within a second area formed by said calibration line and a target side of said first area comprises:

according to a preset cost rule, determining a minimum cost track of the robot in a second area formed by the calibration line and the target side of the first area, and taking the minimum cost track as a moving route of the robot;

the cost rule represents the corresponding relation between the moving route of the robot and the resources consumed by the movement of the robot.

7. A robot control apparatus, characterized in that the apparatus comprises:

8. The apparatus of claim 7, wherein the calibration line determining module is specifically configured to:

determining a plurality of target points on the first side;

9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1-6 when executing a program stored in the memory.

10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 6.