CN114012732B - Robot control method, device, equipment and medium - Google Patents
Robot control method, device, equipment and medium Download PDFInfo
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- CN114012732B CN114012732B CN202111423099.2A CN202111423099A CN114012732B CN 114012732 B CN114012732 B CN 114012732B CN 202111423099 A CN202111423099 A CN 202111423099A CN 114012732 B CN114012732 B CN 114012732B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Abstract
The invention discloses a robot control method, a device, equipment and a medium, which are applied to a first robot in a plurality of robots in a target channel and comprise the following steps: acquiring a target actual distance between a first robot and a second robot in the opposite driving process of the first robot and the second robot, wherein the plurality of robots comprise the second robot; when the actual target distance is smaller than or equal to a first preset threshold value, acquiring the target position of the second robot at the current moment; and controlling the first robot to do circular motion by taking a target vertical line as an axis until the first robot moves to a target position, wherein the target vertical line is a vertical line passing through a central point between the first robot and the second robot. This application can be at first robot and the opposite direction in-process of traveling of second robot, and the circular motion is done to first robot of control, realizes exchanging with the position of second robot, and then can pass through the target path fast, improves the removal efficiency of robot.
Description
Technical Field
The present invention relates to the field of robotics, and in particular, to a robot control method, apparatus, device, and medium.
Background
A robot is an automated machine, except that it has some intelligent capabilities similar to those of a human or a living being, such as a sensing capability, a planning capability, an action capability, and a coordination capability, and is an automated machine with a high degree of flexibility.
In most robot application scenarios, multiple robots are typically required to cooperate. For example, in a hotel service scenario, multiple robots are required to perform tasks such as transportation. When two robots meet in a corridor, the robots may get jammed due to the insufficient width of the corridor in the hotel. In the related art, the robot can normally pass through the corridor mainly by dividing an exclusive area for the robot, but the robot is still jammed in this way, so that the efficiency of the robot passing through the corridor is low.
Disclosure of Invention
The embodiment of the application provides a robot control method, a robot control device, robot control equipment and a robot control medium, solves the technical problem that in the prior art, when a plurality of robots pass through channels such as corridors, the efficiency is low, and achieves the technical effect of improving the efficiency of the plurality of robots passing through the channels such as corridors.
In a first aspect, the present application provides a robot control method applied to a first robot of a plurality of robots in a target pathway, the method comprising:
acquiring a target actual distance between a first robot and a second robot in the opposite driving process of the first robot and the second robot, wherein the plurality of robots comprise the second robot;
when the actual target distance is smaller than or equal to a first preset threshold value, acquiring the target position of the second robot at the current moment;
and controlling the first robot to do circular motion by taking a target vertical line as an axis until the first robot moves to a target position, wherein the target vertical line is a vertical line passing through a central point between the first robot and the second robot.
Further, acquiring the target actual distance between the first robot and the second robot includes:
the method comprises the steps of obtaining the actual target distance between a first robot and a second robot through distance detection equipment on the first robot, wherein the distance detection equipment comprises at least one of a laser sensor and near-field communication equipment.
Further, if the distance detection device includes a laser sensor and a near field communication device, acquiring an actual target distance between the first robot and the second robot, including:
acquiring a first actual distance between the first robot and the second robot through a laser sensor;
acquiring a second actual distance between the first robot and the second robot through the near-field communication equipment;
and when the difference value between the first actual distance and the second actual distance is greater than a preset difference value, determining the target actual distance from the first actual distance and the second actual distance according to a preset rule.
Further, when the first robot enters the target passageway, the method further comprises:
acquiring a width value of a target channel in a target direction, wherein the target direction is a horizontal direction perpendicular to the long direction of the target channel;
when the width value is smaller than a preset width value, controlling the first robot to mark the target channel as an exclusive area of the first robot; wherein the preset width value is determined according to the diameter of the first robot.
Further, the first preset threshold is determined according to a width value of the target passage in the target direction, a diameter of the first robot and a diameter of the second robot.
Further, when the actual target distance is greater than a first preset threshold and less than a second preset threshold, the method further includes:
and controlling the traveling speed of the first robot to be reduced to a preset speed threshold value.
Further, controlling the first robot to perform circular motion with the target vertical line as an axis until the first robot moves to the target position includes:
determining a target speed of the wheels of the first robot according to a relative position relationship between a vertical central axis of the first robot and a target vertical line, a current position of the wheels of the first robot and a radius of the first robot;
and controlling the wheels of the first robot to move at the target speed, so that the first robot performs circular motion by taking the target vertical line as an axis until the first robot moves to the target position.
In a second aspect, the present application provides a robot control apparatus for use with a first robot of a plurality of robots in a target pathway, the apparatus comprising:
the distance acquisition module is used for acquiring the actual target distance between the first robot and the second robot in the opposite driving process of the first robot and the second robot, and the plurality of robots comprise the second robot;
the position acquisition module is used for acquiring the target position of the second robot at the current moment when the actual target distance is smaller than or equal to a first preset threshold;
and the moving module is used for controlling the first robot to do circular motion by taking the target vertical line as an axis until the first robot moves to the target position, wherein the target vertical line is a vertical line passing through a central point between the first robot and the second robot.
In a third aspect, the present application provides an electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute to implement a robot control method.
In a fourth aspect, the present application provides a non-transitory computer-readable storage medium having instructions that, when executed by a processor of an electronic device, enable the electronic device to perform a method of implementing a robot control.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
this application can be at first robot and the opposite direction in-process of traveling of second robot, and the circular motion is done to first robot of control, realizes exchanging with the position of second robot, and then can pass through the target path fast, improves the removal efficiency of robot.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a robot control method provided in the present application;
fig. 2 and fig. 3 are schematic diagrams of two scenarios that can adopt the control method shown in fig. 1 according to the present application;
fig. 4 is a schematic side view of the robot C1 and the robot C2 before position exchange;
fig. 5 is a top view of the robot C1 and the robot C2 before position exchange;
fig. 6 is a top view of the robot C1 and the robot C2 after position exchange;
fig. 7 is a schematic structural diagram of a robot control device provided in the present application;
fig. 8 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
The embodiment of the application provides a robot control method, and the technical problem that in the prior art, when a plurality of robots pass through channels such as corridors, the efficiency is low is solved.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
a robot control method applied to a first robot of a plurality of robots in a target corridor, the method comprising: acquiring a target actual distance between a first robot and a second robot in the opposite driving process of the first robot and the second robot, wherein the plurality of robots comprise the second robot; when the actual target distance is smaller than or equal to a first preset threshold value, acquiring the target position of the second robot at the current moment; and controlling the first robot to do circular motion by taking a target vertical line as an axis until the first robot moves to a target position, wherein the target vertical line is a vertical line passing through a central point between the first robot and the second robot.
The embodiment can control the first robot to do circular motion in the opposite driving process of the first robot and the second robot, so that the position exchange between the first robot and the second robot is realized, and the moving efficiency of the robot can be improved by quickly passing through a target passage.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The present embodiment provides a robot control method as shown in fig. 1, applied to a first robot among a plurality of robots in a target passage, the method including steps S11 to S13. Wherein the first robot may be any one of a plurality of robots. The robot control method provided by the embodiment is mainly used for controlling the two robots to stagger and continue to drive along respective destination directions when every two robots meet in the opposite driving process.
For example, assuming that the apparent size of each robot is the same, the diameter is a, and the width of the target passage is 4.5a. At this point 4 robots can be accommodated side by side in the same direction. When there is a scenario as shown in fig. 2, that is, when the robot A2 and the robot B2 traveling opposite to each other are present in the robot A1 and the robot B1, the robot A1 and the robot A2 need to be staggered, and the robot control method provided in the present embodiment may be adopted. The robot B1 and the robot B2 need to be shifted from each other, and the robot control method provided in this embodiment may be adopted. Therefore, 4 robots can be accommodated in the target channel to move towards the target direction respectively, and the moving efficiency of the robots is greatly improved.
As another example, assuming that the apparent size of each robot is the same, the diameter is a, and the width of the target passage is 2.5a. In this case 2 robots can be accommodated side by side in the same direction. When there is a scenario as shown in fig. 3, that is, when there is a robot C2 traveling in opposite directions to the robot C1, the robot C1 and the robot C2 need to be staggered, and the robot control method provided in the present embodiment may be adopted. Therefore, 2 robots can be accommodated in the target channel to move towards the target direction respectively, and the moving efficiency of the robots is greatly improved.
In order to better explain the scheme provided in the present application, the scenario shown in fig. 3 is taken as an example to explain the scheme involved in steps S11 to S13.
Step S11, during the opposite driving of the first robot (i.e. C1 in fig. 3) and the second robot (i.e. C2 in fig. 3), acquiring a target actual distance between the first robot and the second robot, wherein the plurality of robots include the second robot.
Distance detection equipment can be configured in each robot, and then the actual target distance between the first robot and the second robot is obtained through the distance detection equipment. The distance detection device includes at least one of a laser sensor and a near field communication device.
If the distance detection device includes a laser sensor and a near field communication device, acquiring the actual distance of the target between the first robot and the second robot may include steps S21 to S23.
Step S21, acquiring a first actual distance between the first robot and the second robot through the laser sensor.
And S22, acquiring a second actual distance between the first robot and the second robot through the near field communication equipment.
And S23, when the difference value between the first actual distance and the second actual distance is larger than a preset difference value, determining the target actual distance from the first actual distance and the second actual distance according to a preset rule.
The first actual distance can be obtained through the laser sensor, the second actual distance can be obtained through the near-field communication equipment, when the difference value between the first actual distance and the second actual distance is smaller than or equal to the preset difference value, it can be considered that no difference exists between the first actual distance and the second actual distance, and then any one of the first actual distance and the second actual distance can be used as the target actual distance.
When the difference value between the first actual distance and the second actual distance is larger than the preset difference value, the first actual distance and the second actual distance are considered to be different, and in order to better achieve that the first robot and the second robot complete staggered actions, the target actual distance can be determined from the first actual distance and the second actual distance according to a preset rule.
The preset rule may be to set a priority rule between the laser sensor and the near field communication device, for example, to prioritize data detected by the laser sensor as the target actual distance. Of course, the accuracy of each of the first actual distance and the second actual distance may also be determined by other calculation methods (e.g., image recognition algorithm, etc.), and the actual distance with higher accuracy is taken as the target actual distance. For the preset rule, there is no limitation.
When the actual target distance is greater than a first preset threshold and smaller than a second preset threshold, the traveling speed of the first robot can be controlled to be reduced to the preset speed threshold, and then the first robot can be prevented from being too fast and colliding with the second robot; of course, it is also possible to avoid that the first robot is too fast, which results in too close distance between the first robot and the second robot, and step S12 and step S13 are performed as follows.
And S12, when the actual target distance is smaller than or equal to a first preset threshold value, acquiring the target position of the second robot at the current moment.
With the gradual decrease of the actual target distance, when the actual target distance is less than or equal to the first preset threshold, the operating speed of the first robot may be controlled to further decrease. When the running speed of the first robot is slower, the accuracy and the safety of the staggered action of the first robot and the second robot are higher. When the running speed of the first robot is 0, the accuracy and the safety of the staggered action of the first robot and the second robot are the highest.
Wherein the first preset threshold is determined according to the width value of the target channel in the target direction, the diameter of the first robot and the diameter of the second robot.
And S13, controlling the first robot to do circular motion by taking a target vertical line as an axis until the first robot moves to a target position, wherein the target vertical line is a vertical line passing through a central point between the first robot and the second robot.
Step S13 will be described with reference to fig. 4, 5, and 6. As shown in fig. 4 and 5, the first robot and the second robot are opposite to each other with a certain distance (for example, a distance of a first preset threshold), and a target perpendicular line L at a center position between the vertical central axis L1 of the first robot and the vertical central axis L2 of the second robot is determined according to the vertical central axis L1 of the first robot and the vertical central axis L2 of the second robot.
Determining a target speed of the wheels of the first robot according to a relative position relation between a vertical central axis L1 of the first robot and a target vertical line L, a current position of the wheels of the first robot and the radius of the first robot; since the first robot is required to perform circular motion, it is necessary to perform differential control on a plurality of wheels of the first robot, that is, to determine the respective speed of each wheel of the first robot.
And controlling the wheels of the first robot to move at the target speed, so that the first robot performs circular motion by taking the target vertical line as an axis until the first robot moves to the target position.
As shown in fig. 5, the first robot moves circularly around the target vertical line L at the target speed, the second robot moves circularly around the target vertical line L at the target speed simultaneously with the first robot, and the moving directions of the first robot and the second robot belong to the same direction on the circumference. As the first robot and the second robot move in the circumferential direction, the first robot and the second robot exchange positions, and the state shown in fig. 6 is formed.
When the first robot and the second robot complete the position exchange, the first robot and the second robot are in a face-to-face state, so that the first robot needs to be controlled to rotate in place by 180 degrees, the first robot faces the direction of the destination of the first robot, and the transportation task is further continuously executed.
In summary, in the present embodiment, in the process of opposite traveling of the first robot and the second robot, the first robot is controlled to perform circular motion, so as to realize position exchange with the second robot, and further, the target passage can be quickly passed through, and the moving efficiency of the robot is improved.
In addition, before executing step S11, the first robot should be controlled to detect the width data of the target lane to determine whether the target lane can satisfy the requirement of staggering at least two robots, and therefore, the present embodiment further provides the following steps:
in step S31, a width value of the target channel in a target direction is obtained, where the target direction is a horizontal direction perpendicular to a long direction of the target channel.
Step S32, when the width value is smaller than a preset width value, controlling the first robot to mark the target channel as an exclusive area of the first robot; wherein the preset width value is determined according to the diameter of the first robot.
When the width of the target channel is smaller than the preset width, the channel is considered to be only capable of allowing one robot to pass through, and at the moment, the target channel can be marked as an exclusive area of the first robot. When the target lane is marked as an exclusive area of the first robot, other robots are not allowed to pass through while the first robot is in the lane.
When the width of the target passage is larger than or equal to the preset width, the passage is considered to allow the two robots to pass in a staggered manner, and the scheme from the step S11 to the step S13 can be further executed, so that the two robots running oppositely can pass in the target passage in a staggered manner.
A more complete example will now be provided to further illustrate the above-described scheme.
When the first robot enters the target channel, the laser radar is used for measuring the width of the target channel, and the fact that the width of the target channel is more than twice of the diameter of the first robot is confirmed.
The first robot searches for other robots (such as a second robot) in the vicinity by using the near field communication equipment, and controls the first robot to reduce the speed after confirming that the first robot and the second robot oppositely travel.
The first robot may be gradually slowed down as the distance between the first robot and the second robot is reduced. When the distance between the first robot and the second robot is reduced to a preset distance, the speed is reduced to 0. At this time, the first robot and the second robot do not need to be completely attached tightly, and a certain range needs to be reserved for subsequent staggered actions of the two robots according to the radius data of the robots.
And respectively calculating different movement speeds of the wheels of the robots by combining the central points of the first robot and the second robot, the positions of the wheels, the radius and other data, and performing equidirectional circular motion until the two robots exchange positions. After the positions are exchanged, 180-degree pivot rotation is carried out, and the first robot and the second robot move backwards and continue to depart to respective destinations.
If a plurality of robots enter the target channel, the robots can be exchanged one by one in the same way, but when two robots exchange positions, other robots need to keep a certain distance.
Based on the same inventive concept, the present embodiment provides a robot control apparatus as shown in fig. 7, applied to a first robot among a plurality of robots in a target passage, the apparatus including:
a distance acquiring module 71, configured to acquire a target actual distance between a first robot and a second robot during opposite driving of the first robot and the second robot, where the plurality of robots include the second robot;
the position acquiring module 72 is configured to acquire a target position of the second robot at the current moment when the actual target distance is smaller than or equal to a first preset threshold;
and a moving module 73, configured to control the first robot to perform circular motion around a target vertical line as an axis until the first robot moves to a target position, where the target vertical line is a vertical line passing through a central point between the first robot and the second robot.
The distance obtaining module 71 is specifically configured to:
and acquiring the actual target distance between the first robot and the second robot through distance detection equipment on the first robot, wherein the distance detection equipment comprises at least one of a laser sensor and near-field communication equipment.
If the distance detection device includes a laser sensor and a near field communication device, the distance obtaining module 71 is further specifically configured to:
acquiring a first actual distance between the first robot and the second robot through a laser sensor;
acquiring a second actual distance between the first robot and the second robot through the near-field communication equipment;
and when the difference value between the first actual distance and the second actual distance is greater than a preset difference value, determining the target actual distance from the first actual distance and the second actual distance according to a preset rule.
The device still includes:
the width value acquisition module is used for acquiring the width value of the target channel in the target direction when the first robot enters the target channel, and the target direction is the horizontal direction perpendicular to the long direction of the target channel;
the marking module is used for controlling the first robot to mark the target channel as an exclusive area of the first robot when the width value is smaller than a preset width value; wherein the preset width value is determined according to the diameter of the first robot.
Wherein the first preset threshold is determined according to the width value of the target channel in the target direction, the diameter of the first robot and the diameter of the second robot.
The device further comprises a speed reduction module used for controlling the travelling speed of the first robot to be reduced to a preset speed threshold value when the actual distance of the target is larger than a first preset threshold value and smaller than a second preset threshold value.
The moving module 73 specifically includes:
a speed determination submodule for determining a target speed of the wheels of the first robot based on a relative positional relationship between the vertical central axis of the first robot and the target vertical line, a current position of the wheels of the first robot, and a radius of the first robot;
and the moving sub-module is used for controlling the wheels of the first robot to move at the target speed, so that the first robot performs circular motion by taking the target vertical line as an axis until the first robot moves to the target position.
Based on the same inventive concept, the present embodiment provides an electronic device as shown in fig. 8, which is characterized by comprising:
a processor 81;
a memory 82 for storing instructions executable by the processor 81;
wherein the processor 81 is configured to execute to implement a robot control method.
Based on the same inventive concept, the present embodiment provides a non-transitory computer-readable storage medium, which when instructions in the storage medium are executed by a processor 81 of an electronic device, enables the electronic device to perform a method of implementing a robot control.
Since the electronic device described in this embodiment is an electronic device used for implementing the method for processing information in this embodiment, a person skilled in the art can understand the specific implementation manner of the electronic device of this embodiment and various variations thereof based on the method for processing information described in this embodiment, and therefore, how to implement the method in this embodiment by the electronic device is not described in detail here. Electronic devices used by those skilled in the art to implement the method for processing information in the embodiments of the present application are all within the scope of the present application.
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. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
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 (9)
1. A robot control method applied to a first robot and a second robot which travel in opposite directions among a plurality of robots in a target lane, the method comprising:
acquiring a target actual distance between the first robot and a second robot in the opposite driving process of the first robot and the second robot, wherein the plurality of robots comprise the second robot;
when the actual target distance is smaller than or equal to a first preset threshold value, the first robot acquires a first target position of the second robot at the current moment; the second robot acquires a second target position of the first robot at the current moment;
and controlling the first robot and the second robot to respectively make circular motion by taking a target perpendicular line as an axis until the first robot moves to the first target position and the second robot moves to the second target position, wherein the target perpendicular line is a perpendicular line passing through a central point between the first robot and the second robot.
2. The method of claim 1, wherein said obtaining a target actual distance between the first robot and the second robot comprises:
and acquiring the actual target distance between the first robot and the second robot through distance detection equipment on the first robot, wherein the distance detection equipment comprises at least one of a laser sensor and near-field communication equipment.
3. The method of claim 2, wherein if the distance detection device comprises a laser sensor and a near field communication device, the obtaining the target actual distance between the first robot and the second robot comprises:
acquiring a first actual distance between the first robot and the second robot through the laser sensor;
acquiring a second actual distance between the first robot and the second robot through the near field communication equipment;
and when the difference value between the first actual distance and the second actual distance is larger than a preset difference value, determining the target actual distance from the first actual distance and the second actual distance according to a preset rule.
4. The method of claim 1, wherein the first predetermined threshold is determined according to a width of the target passageway in a target direction, the target direction being a horizontal direction perpendicular to a long direction of the target passageway, a diameter of the first robot, and a diameter of the second robot.
5. The method of claim 1, wherein when the target actual distance is greater than the first preset threshold and less than a second preset threshold, the method further comprises:
controlling the traveling speed of the first robot to be reduced to a preset speed threshold.
6. The method of claim 1, wherein said controlling the first robot and the second robot to move in a circular motion about a target vertical line until the first robot moves to the first target position and the second robot moves to the second target position comprises:
determining a first target speed of the wheels of the first robot according to a relative positional relationship between the vertical central axis of the first robot and the target vertical line, a current position of the wheels of the first robot, and a radius of the first robot;
controlling the wheels of the first robot to move at the first target speed, so that the first robot makes circular motion by taking the target vertical line as an axis until the first robot moves to the first target position;
determining a second target speed of the wheels of the second robot according to the relative position relationship between the vertical central axis of the second robot and the target vertical line, the current position of the wheels of the second robot and the radius of the second robot;
and controlling the wheels of the second robot to move at the second target speed, so that the second robot performs circular motion by taking the target vertical line as an axis until the second robot moves to the second target position.
7. A robot control apparatus applied to a first robot and a second robot which travel in opposite directions among a plurality of robots in a target lane, the apparatus comprising:
the distance acquisition module is used for acquiring a target actual distance between the first robot and the second robot in the opposite driving process of the first robot and the second robot, wherein the plurality of robots comprise the second robot;
the position obtaining module is used for obtaining a first target position of the second robot at the current moment by the first robot when the actual target distance is smaller than or equal to a first preset threshold; the second robot acquires a second target position of the first robot at the current moment;
and the moving module is used for controlling the first robot and the second robot to respectively use a target perpendicular line as an axis to do circular motion until the first robot moves to the first target position, the second robot moves to the second target position, wherein the target perpendicular line is a perpendicular line passing through a central point between the first robot and the second robot.
8. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute to implement a robot control method as claimed in any one of claims 1 to 6.
9. A non-transitory computer readable storage medium having instructions therein which, when executed by a processor of an electronic device, enable the electronic device to perform a robot control method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111423099.2A CN114012732B (en) | 2021-11-26 | 2021-11-26 | Robot control method, device, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111423099.2A CN114012732B (en) | 2021-11-26 | 2021-11-26 | Robot control method, device, equipment and medium |
Publications (2)
| Publication Number | Publication Date |
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