CN114115292A - Travel control method, system, storage medium, and computer device - Google Patents
Travel control method, system, storage medium, and computer device Download PDFInfo
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Abstract
The invention discloses a driving control method, a system, a storage medium and computer equipment, wherein the method comprises the following steps: if a conflict region exists on a second channel of the one-side passage channel, comparing and predicting the passage priority levels of two robots meeting in the conflict region and obtaining a comparison result; searching out a target waiting area from a first channel of the unilateral traffic channel according to the environment map and the comparison result; and controlling the robot with the high traffic priority to run according to a preset moving strategy, and controlling the robot with the low traffic priority to go to a target waiting area to stop until the robot returns to the second channel to continue running after meeting is finished. The invention reduces the waiting time of multi-vehicle parking and obviously improves the task execution efficiency of the robot.
Description
Technical Field
The invention relates to the technical field of motion control, in particular to a driving control method, a driving control system, a storage medium and computer equipment.
Background
With the development and innovation of the technology, the robot has been applied to many scenes, such as a hospital to deliver medical articles by using the robot, a restaurant to deliver meals by using the robot, and the like. Among them, mobile robots, unmanned vehicles or AGVs are a common type of robot.
If the robot needs to pass on one side of some walkways, it is common for the other side of the walkway to prohibit the robot from passing for pedestrians or temporarily placing items, but in this case, although the walkway is spacious, there is limited space left for the robot to move. If two robots simultaneously run in opposite directions in the channel, the robots running in opposite directions may block each other at the meeting place, and the phenomenon of traffic "blocking" due to normal passing cannot occur, so that the channel cannot support the robots to simultaneously run in two directions. And when two robots are required to simultaneously drive in opposite directions, the solution is as follows: if a robot runs in the channel and the opposite running robot runs outside the channel after waiting for the opposite to pass through the channel, the scheme is simple and easy to implement, but if the channel is long or the robot in the channel still needs to unload at a delivery point in the channel and wait for a long time, the opposite robot needs to wait for a long time outside, and the transportation efficiency is greatly reduced.
Disclosure of Invention
In view of the above technical problems, the present invention aims to solve the technical problem that the robots traveling in opposite directions block each other, so that the robots stop and wait at places where channel resources compete, causing traffic jam and reducing distribution efficiency.
In order to achieve the above object, the present invention provides a travel control method including the steps of:
if a conflict region exists on a second channel of the one-side passage channel, comparing and predicting the passage priority levels of two robots meeting in the conflict region and obtaining a comparison result;
finding out a target waiting area from a first channel of the unilateral traffic channel according to an environment map and the comparison result;
controlling the robot with high traffic priority to run according to a preset moving strategy, and controlling the robot with low traffic priority to go to the target waiting area to stop until the robot returns to the second channel to continue running after meeting is finished;
the single-side passage comprises a second passage for the robot to pass through and a first passage arranged in parallel with the second passage and used for the pedestrian to pass through, and the widths of the first passage and the second passage are respectively used for the robot to pass through smoothly.
In some embodiments, if a collision region exists on the second lane of the one-sided traffic lane, the step of comparing the traffic priorities of two robots predicted to meet in the collision region before obtaining a comparison result includes:
acquiring motion state information of all robots on the second channel;
and judging whether the conflict area exists on the second channel or not according to the environment map and the motion state information.
In some embodiments, the motion state information includes a motion speed and a preset movement route; the step of judging whether the conflict area exists on the second channel according to the environment map and the motion state information comprises the following steps:
acquiring the relative distance and the relative direction type between the front robot and the rear robot on the second channel according to the movement speed and a preset moving route;
if the type of the relative direction is moving in opposite directions, determining that the conflict area exists on the second channel;
and if the type of the relative direction is equidirectional movement and the relative distance is smaller than a preset distance threshold value, determining that the conflict area exists on the second channel.
In some embodiments, said finding a target waiting area from a first lane of said one-sided traffic lanes based on an environment map and said comparison comprises the steps of:
finding out candidate waiting areas on the first channel from an environment map;
generating a danger range according to a preset safety distance and the current position of the robot with the low passing priority;
and searching a candidate waiting area closest to the current position from the outside of the danger range as the target waiting area.
According to another aspect of the present invention, the present invention further provides a running control system including:
the processing module is used for comparing and predicting the passing priority levels of two robots meeting in a collision region and obtaining a comparison result if the collision region exists on a second channel of the one-side passing channel;
the searching module is used for searching a target waiting area from a first channel of the one-side traffic channel according to an environment map and the comparison result;
the control module is used for controlling the robot with the high traffic priority to run according to a preset moving strategy and controlling the robot with the low traffic priority to move to the target waiting area to stop until the robot returns to the second channel to continue running after meeting is finished;
the single-side passage comprises a second passage for the robot to pass through and a first passage arranged in parallel with the second passage and used for the pedestrian to pass through, and the widths of the first passage and the second passage are respectively used for the robot to pass through smoothly.
In some embodiments, further comprising:
the acquisition module is used for acquiring the motion state information of all the robots on the second channel;
and the judging module is used for judging whether the conflict area exists on the second channel according to the environment map and the motion state information.
In some embodiments, the motion state information includes a motion speed and a preset movement route; the judging module comprises:
the calculating unit is used for acquiring the relative distance and the relative direction type between the front robot and the rear robot on the second channel according to the movement speed and a preset moving route;
the judging unit is used for determining that the conflict area exists on the second channel if the type of the relative direction is opposite movement;
and the processing unit is used for determining that the conflict area exists on the second channel if the type of the relative direction is the same-direction movement and the relative distance is smaller than a preset distance threshold.
In some embodiments, the lookup module comprises:
the searching unit is used for searching candidate waiting areas on the first channel from an environment map;
and the selection unit is used for generating a danger range according to a preset safety distance and the current position of the robot with the low passing priority, and searching a candidate waiting area closest to the current position from the outside of the danger range to be used as the target waiting area.
According to another aspect of the present invention, the present invention further provides a computer device, comprising a processor, a memory and a computer program stored in the memory and operable on the processor, wherein the processor is configured to execute the computer program stored in the memory to implement the operation performed by the driving control method.
According to another aspect of the present invention, the present invention further provides a storage medium having at least one instruction stored therein, the instruction being loaded and executed by a processor to implement the operation performed by the driving control method.
Compared with the prior art, the driving control method, the system, the storage medium and the computer equipment provided by the invention have the advantages that the cooperative avoidance driving mode of the target waiting area is dynamically selected based on the conflict area, so that the robots are avoided timely and reliably, the problems of opposite collision, chase collision, intersection collision, deadlock and the like among multiple robots are effectively avoided, the reliable avoidance among the robots is realized, the coupling of multiple vehicle paths is avoided while the collision and deadlock are prevented, the multiple vehicle parking waiting time is reduced, and the task execution efficiency of the robots is obviously improved.
Drawings
The above features, technical features, advantages and modes of realisation of the present invention will be further described in the following detailed description of preferred embodiments thereof, which is to be read in connection with the accompanying drawings.
FIG. 1 is a flow chart of one embodiment of a travel control method of the present invention;
FIG. 2 is a schematic view of a co-directional driving scenario of a driving control method of the present invention;
FIG. 3 is a flow chart of another embodiment of a travel control method of the present invention;
fig. 4 is a schematic view of a driving scenario of the opposite driving according to the driving control method of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
Referring to fig. 1 of the specification, a driving control method includes the steps of:
s100, if a conflict region exists on a second channel of the one-side passage channel, comparing and predicting the passing priority levels of two robots meeting in the conflict region and obtaining a comparison result;
specifically, the conflict area refers to a scene in which robots on a one-side traffic channel cannot compete or conflict with each other, for example, a certain corridor leading to a shelf of a warehouse, and an area in which the robots have a problem of stagnation and waiting due to convergence in the driving process of the corridor due to deployment tasks is a conflict area. As shown in fig. 2, the one-side passage way includes a second way L2 for the robot to pass through, and a first way L1 arranged in parallel with the second way L2 for the pedestrian to pass through, and the widths of the first and second ways are respectively for the robot to pass through smoothly, that is, the widths of the first and second ways are only slightly larger than the size of one robot, so that one robot can enter and exit normally. The manner of obtaining the comparison result in the travel control flow includes the following two ways:
the first mode is as follows: and each robot is provided with a corresponding near field communication module. The robot can communicate with the robot in a near field communication mode, wherein the near field communication mode includes but is not limited to ZIGBEE, UWB, infrared and Bluetooth. The robots on the unilateral passage channel share information through the close-range communication mode, namely the robots share respective motion state information and task information, so that the current robot can analyze the self motion state information and the task information and the motion state information and the task information of the opposite robot to obtain the passage priority levels of the self robot and the opposite robot and obtain a comparison result. The counterpart robot is a robot predicted to come together with the current robot and cause a conflict, that is, the counterpart robot is a robot that conflicts with the current robot at a future time. And after the current robot obtains the comparison result, the robot with the high passing priority is selected as the avoided robot according to the comparison result, and the robot with the low passing priority is selected as the avoided robot. It should be noted that after the current robot and the opposite robot share information, both robots respectively judge the passing priority levels of the current robot and the opposite robot, and the robot with the higher or lower passing priority level which is compared firstly transfers the comparison result to the robot with the lower or higher passing priority level which is not compared yet.
For example, as shown in fig. 2, the robot M1 and the robot M2 establish a communication connection with each other so as to share their motion state information and task information, and the robot M1 determines that the priority level of passing between itself and the robot M2 is low, and at this time, the identity of the robot M2 is the counterpart robot of the robot M1. Of course, the robot M2 also determines that the priority level of passing between itself and the robot M1 is low, and at this time, the identity of the robot M1 is the opposite robot of the robot M2.
Of course, the passing priority of the robot is determined according to the task information of each robot, that is, the passing priority of the robot is proportional to the task priority of the robot, and the higher the task priority of the robot is, the higher the passing priority of the robot is. Generally, the order of priority of tasks of the robot is set by a user (hospital, bookstore, mall, etc.) according to the business requirement and the usage requirement of the user. For example, in a hospital setting, the transport task priority of the medical instruments needed in the operating room is the highest, the transport task priority of the specimens is the middle, and the transport task priority of the medical wastes is the lowest.
The second way is: and each robot is provided with a corresponding remote communication module. The robot can communicate between the two robots through long-distance communication modes, wherein the long-distance communication modes include but are not limited to WIFI, 4G and 5G. The robot and the server on the single-side passage channel report information in the remote communication mode, namely the robot uploads respective motion state information to the server, so that the server can analyze the current robot and the opposite robot according to task information of the current robot and the opposite robot and the current robot and the opposite robot to obtain the passage priority of the current robot and the opposite robot and obtain a comparison result. The counterpart robot is a robot predicted to come together with the current robot and cause a conflict, that is, the counterpart robot is a robot that conflicts with the current robot at a future time. And after the server obtains the comparison result, the robot with the high passing priority is selected as the avoided robot according to the comparison result, and the robot with the low passing priority is selected as the avoided robot. It should be noted that, when a robot fails to communicate with the server, the robot which normally communicates with the server is detected by the near field communication module, and the connection with the server is reestablished by the agent of the robot, so that the transmission interaction of information is completed, and the normal operation of the scheduling system is ensured.
For example, as shown in fig. 2, if the robot M1 is disconnected from the server due to a fault, the robot M1 and the robot M2 establish a communication connection with each other, so that the robot M2 reports the motion state information of the robot M1 to the server instead of the robot M1. If the server compares and judges that the priority level of the traffic between the robot M1 and the robot M2 is low. When the robot M1 is the current robot, the identity of the robot M2 is the opponent robot of the robot M1, and when the robot M2 is the current robot, the identity of the robot M1 is the opponent robot of the robot M2.
S200, searching out a target waiting area from a first channel of the unilateral traffic channel according to the environment map and the comparison result;
s300, controlling the robot with the high traffic priority to run according to a preset moving strategy, and controlling the robot with the low traffic priority to go to a target waiting area to stop until the robot returns to the second channel to continue running after meeting is finished.
Specifically, after the comparison result is obtained in the first manner, the robot with the low traffic priority is selected as the avoidance robot according to the comparison result, and the robots traveling on the second channel store respective preset moving routes in advance, so that the avoidance robot finds the target waiting area from the second channel according to the current position and the environment map of the avoidance robot. Then, the avoidance robot takes the current position as an avoidance starting point, and the target waiting area moves for an avoidance route planned by an avoidance end point, so that the avoidance robot stops after moving to the target waiting area, and the avoided robot moves according to a preset moving strategy. In the waiting period when the avoidance robot stops in the target waiting area, the avoidance robot acquires a regression route which takes the target waiting area as a regression starting point and takes any one node on a preset moving route of the avoidance robot as a regression terminal point, so that the avoidance robot can move back to the second channel according to the regression route after the avoidance robot leaves the conflict area.
Similarly, after the comparison result is obtained in the second manner, the robot with the low traffic priority is selected as the avoidance robot according to the comparison result, and therefore the server searches the target waiting area from the second channel according to the current position of the avoidance robot and the environment map. Then, the server plans and generates an avoidance route for an avoidance end point according to the current position of the avoidance robot as an avoidance starting point, the target waiting area, and the avoidance route is sent to the avoidance robot, so that the avoidance robot stops after reaching the target waiting area according to the movement of the avoidance route, and the server sends a preset movement strategy which is set in advance to the avoided robot, so that the avoidance robot moves according to the preset movement strategy. When the avoidance robot stops and waits in the target waiting area, the server takes the target waiting area as a regression starting point, any node on a preset moving route of the avoidance robot is taken as a regression end point to generate a corresponding regression route, then the server sends the regression route to the avoidance robot, and the avoidance robot can move back to the second channel according to the regression route after the avoided robot leaves the conflict area. In one embodiment, the regression end point is preferably a node closest to the target waiting area on the preset moving route.
The invention dynamically selects the cooperative avoidance driving mode of the target waiting area based on the conflict area, so that the robots are timely and reliable in avoidance, the problems of opposite collision, chase collision, intersection collision, deadlock and the like among multiple robots are effectively avoided, the reliable avoidance among the robots is realized, the coupling of multiple vehicle paths is avoided while the collision and deadlock are prevented, the waiting time of multiple vehicle parking is reduced, and the task execution efficiency of the robots is obviously improved.
In one embodiment, referring to fig. 3 of the specification, the motion state information includes a motion speed and a preset moving route, and a driving control method includes the steps of:
s010 obtains the motion state information of all robots on the second channel;
s020 judging whether a conflict area exists on the second channel according to the environment map and the motion state information;
specifically, the motion state information includes an identification ID of the robot, a motion speed, a movement route, and the like. Referring to the above embodiment, the current robot may directly perform information sharing with other robots to acquire motion state information of all robots on the second channel. Then, the current robot judges whether a conflict area exists on the second channel according to the environment map stored locally and the motion state information obtained by sharing.
In addition, the server may directly communicate with all the robots on the second channel, so that the server acquires the motion state information of all the robots on the second channel. Then, the server judges whether a conflict area exists on the second channel according to the environment map stored locally and the received motion state information.
S100, if a conflict region exists on a second channel of the one-side passage channel, comparing and predicting the passing priority levels of two robots meeting in the conflict region and obtaining a comparison result;
s210, finding out a candidate waiting area on the first channel from the environment map;
s220, generating a danger range according to the preset safety distance and the current position of the robot with low passing priority;
s230, searching a candidate waiting area closest to the current position from the outside of the danger range to be used as a target waiting area;
specifically, since the environment map includes the attribute information of the obstacle, the position information of the obstacle, the road section information, and the like, the avoidance robot may find at least one candidate waiting area from the first channel according to the environment map, where the candidate waiting area is an area where the robot may temporarily stop on the first channel. Then, the avoidance robot draws a circle by taking the current position as an origin and the preset safe distance as a radius, the circle is a dangerous range in which the current robot is likely to be jammed or trapped, the avoidance robot matches all candidate waiting areas with the dangerous range, finds out candidate waiting areas outside the dangerous range, calculates distance values between the current position and the candidate waiting areas outside the dangerous range, and selects the candidate waiting area with the smallest distance value and outside the dangerous range as a target waiting area.
The preset safety distance is set in advance according to experience, generally the preset safety distance is slightly larger than the contour radius of the avoidance robot, and the contour radius is half of the length of the whole contour of the avoidance robot.
S300, controlling the robot with high traffic priority to run according to a preset moving strategy, and controlling the robot with low traffic priority to go to a target waiting area to stop until the robot returns to a second channel to continue running after meeting is finished;
the single-side passage comprises a second passage for the robot to pass through and a first passage which is arranged in parallel with the second passage and used for the pedestrian to pass through, and the widths of the first passage and the second passage are respectively used for the robot to pass through smoothly.
The invention monitors whether a robot (namely an avoided robot) needing to be avoided exists in front in real time. Therefore, the current robot serving as an evasion party can dynamically select a target waiting area for timing avoidance based on the conflict area, the problems of opposite collision, pursuit collision, intersection collision, deadlock and the like among multiple robots are effectively avoided, the reliability avoidance among the robots is realized, the multi-vehicle path coupling is avoided while the collision and the deadlock are prevented, the multi-vehicle parking waiting time is reduced, and the task execution efficiency of the robot is obviously improved.
In addition, the invention preferentially enables a plurality of robots to share respective motion state information in real time through the near field communication module, can reduce the detection dead angle of the perception sensor, greatly increases the monitoring range and reduces the blind area of the dynamic control robot. Greatly reducing the probability of the robot standing and waiting at the place where the channel resource competes. Preferably, the robots share information with each other through the local area network, and the robots in the area covered by the local area network can improve the multi-robot distribution efficiency because the local area network communication real-time performance is higher, and the paths where other robots will travel can be known more clearly.
In one embodiment, the motion state information includes a motion speed and a preset moving route, and a driving control method includes the steps of:
s010 obtains the motion state information of all robots on the second channel;
s021, acquiring the relative distance and the relative direction type between the front robot and the rear robot on the second channel according to the movement speed and the preset moving route;
s022, if the type of the relative direction is the relative movement, determining that a conflict area exists on the second channel;
s023, if the type of the relative direction is equidirectional movement and the relative distance is smaller than a preset distance threshold value, determining that a conflict area exists on the second channel;
specifically, in an embodiment, the motion state information further includes an identity of the robot, and the server or the robot may determine whether the number of the robots in the second channel at the current time is at least two according to the number of the identity. If the number of the robots on the second channel at the current time is not at least two, the number of the robots on the second channel at the current time is zero or one, and therefore, no conflict area exists on the second channel at this time. However, if the number of the robots on the second channel at the current moment is at least two, the relative direction types of the current robot and the opposite robot are further judged according to the preset moving route and the movement speed.
If the relative direction type of the current robot and the opposite robot is the opposite movement, it can be directly determined that there is a collision area between the current robot and the opposite robot, i.e., the front and rear robots, moving on the second channel.
Of course, if the relative direction types of the current robot and the opposite robot are moving in the same direction, the relative distance between the front and the back robots on the second channel is calculated and obtained speculatively according to the preset moving route and the moving speed, the relative distance between the front and the back robots at each moment in the future and the preset distance threshold are judged, if the relative distance is greater than the preset distance threshold, no conflict area exists on the second channel, and if the relative distance is less than the preset distance threshold, the conflict area exists on the second channel;
s100, if a conflict region exists on a second channel of the one-side passage channel, comparing and predicting the passing priority levels of two robots meeting in the conflict region and obtaining a comparison result;
s200, searching out a target waiting area from a first channel of the unilateral traffic channel according to the environment map and the comparison result;
s300, controlling the robot with the high traffic priority to run according to a preset moving strategy, and controlling the robot with the low traffic priority to go to a target waiting area to stop until the robot returns to the second channel to continue running after meeting is finished.
For example, in a hospital environment, a yard often requires that a logistics robot can only pass on one side (i.e., the second lane of the present invention) of some long lanes (i.e., the single-sided pass lane of the present invention), and the other side (i.e., the first lane of the present invention) of the lane prohibits the robot from passing for pedestrians or temporarily placing objects. Under the condition, although the channel is spacious, the space for the logistics robots to move is limited, if two robots simultaneously run in the channel in opposite directions, the robots may block each other at the meeting place and cannot normally pass through the meeting place, so the channel cannot support the robots to simultaneously pass in two directions. However, if the passage is long or the robots in the passage wait for unloading at the delivery point in the passage, the opposing robots need to wait for a long time from the outside, and the transportation efficiency is reduced.
In order to solve the problems, the invention allows the robots to simultaneously pass in opposite directions, when two robots meet at a close place in a passage, the robot with low task priority temporarily avoids the position which is forbidden to pass but can stop in the passage until the robot with high task priority returns to a passable area to continue to run after running through the meeting point. That is, the present invention firstly searches for an area where the robot can temporarily stop (i.e., a target waiting area of the first lane of the present invention) on the side where the robot is prohibited from passing through the lane (i.e., the first lane of the present invention), and since the robots on the second lane share own motion state information and task information through the network, all the robots can know information such as the positions and tasks of other robots. When the current robot judges that other robots on the second channel conflict with the current robot, namely a conflict area exists, if the task priority of the current robot is high, the current robot decelerates to advance, and if the task priority of the current robot is low, the current robot goes to a temporary parking area (namely a target waiting area of the first channel) to avoid until the opposite-direction running robot which conflicts with the current robot crosses the position of the current robot and then returns to the second channel to continue to pass according to the preset moving route of the opposite-direction running robot. For example, as shown in fig. 4, the front and rear robots travel relatively in the second lane L2, the dashed line frame is the first lane L1 of the present invention, which is a place where the yard prohibits the passage of the robots, and the circular area is the temporary parking area (i.e., the target waiting area Qi of the present invention) found by the robots. When the current robot M2 considers that it needs to avoid the opponent robot M1, the current robot M2 moves beyond the circular area, and the opponent robot M1 travels at a reduced speed. After the current robot M2 waits in the circular area for the opposing robot M1 to travel over the normal of the position where the current robot M3526 is located (the normal is a line segment generated by the position where the current robot M2 is located and is perpendicular to the second lane L2), the current robot M2 returns to the lane allowing the robot to pass (i.e., the second lane L2 of the present invention) and continues to advance according to the preset movement route of the current robot M2, so that the two robots are converged and smoothly advance.
The method determines the avoiding robot and the avoided robot from the front and the rear robots according to the task priority when the robots move in opposite directions or in the same direction, controls the avoiding robot to move to the searched target waiting area for avoiding, avoids deadlock and time waste on a narrow passage when the robots autonomously plan the path, ensures that the determined avoiding robot better meets the requirements of the actual moving scene, reasonably avoids the avoiding robot, effectively ensures that the multiple robots avoid opposite collision, pursuit collision, intersection collision, deadlock and the like, realizes reliable avoiding between the robots, avoids collision and multi-vehicle path coupling while preventing collision and collision, reduces multi-vehicle parking waiting time, and obviously improves the task execution efficiency of the robots.
In one embodiment, according to another aspect of the present invention, the present invention further provides a running control system including:
the processing module is used for comparing and predicting the passing priority levels of the two robots meeting in the conflict region and obtaining a comparison result if the conflict region exists on the second channel of the one-side passing channel;
the searching module is used for searching a target waiting area from a first channel of the one-side traffic channel according to the environment map and the comparison result;
the control module is used for controlling the robot with the high traffic priority to run according to a preset moving strategy and controlling the robot with the low traffic priority to go to a target waiting area to stop until the robot returns to the second channel to continue running after meeting is finished;
the single-side passage comprises a second passage for the robot to pass through and a first passage which is arranged in parallel with the second passage and used for the pedestrian to pass through, and the widths of the first passage and the second passage are respectively used for the robot to pass through smoothly.
Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.
In one embodiment, a running control system further includes:
the acquisition module is used for acquiring the motion state information of all the robots on the second channel;
and the judging module is used for judging whether a conflict area exists on the second channel according to the environment map and the motion state information.
Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.
In one embodiment, the motion state information includes a motion speed and a preset moving route; the judging module comprises:
the calculating unit is used for acquiring the relative distance and the relative direction type between the front robot and the rear robot on the second channel according to the movement speed and the preset moving route;
the judging unit is used for determining that a conflict area exists on the second channel if the type of the relative direction is the opposite movement;
and the processing unit is used for determining that a conflict area exists on the second channel if the relative direction type is equidirectional movement and the relative distance is smaller than a preset distance threshold value.
Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.
In one embodiment, the lookup module includes:
the searching unit is used for searching candidate waiting areas on the first channel from the environment map;
and the selection unit is used for generating a danger range according to the preset safety distance and the current position of the robot with low passing priority, and searching a candidate waiting area closest to the current position from the outside of the danger range to be used as a target waiting area.
Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of program modules is illustrated, and in practical applications, the above-described distribution of functions may be performed by different program modules, that is, the internal structure of the apparatus may be divided into different program units or modules to perform all or part of the above-described functions. Each program module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one processing unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software program unit. In addition, the specific names of the program modules are only used for distinguishing the program modules from one another, and are not used for limiting the protection scope of the application.
In one embodiment of the invention, a computer device comprises a processor, a memory, wherein the memory is used for storing a computer program; and the processor is used for executing the computer program stored in the memory and realizing the running control method in the corresponding method embodiment.
The computer equipment can be desktop computer, notebook computer, palm computer, tablet computer, mobile phone, man-machine interactive screen and other equipment. The computer device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the foregoing is merely exemplary of a computing device and is not intended to limit the computing device, and that it may include more or less components than those shown, or some of the components may be combined, or different components, such as: the computer device may also include input/output interfaces, display devices, network access devices, communication buses, communication interfaces, and the like. A communication interface and a communication bus, and may further comprise an input/output interface, wherein the processor, the memory, the input/output interface and the communication interface complete communication with each other through the communication bus. The memory stores a computer program, and the processor is used for executing the computer program stored in the memory to realize the running control method in the corresponding method embodiment.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be an internal storage unit of the computer device, such as: hard disks or memories of computer devices. The memory may also be an external storage device to the computer device, such as: the computer equipment is provided with a plug-in hard disk, an intelligent memory Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) and the like. Further, the memory may also include both an internal storage unit and an external storage device of the computer device. The memory is used for storing the computer program and other programs and data required by the computer device. The memory may also be used to temporarily store data that has been output or is to be output.
A communication bus is a circuit that connects the described elements and enables transmission between the elements. For example, the processor receives commands from other elements through the communication bus, decrypts the received commands, and performs calculations or data processing according to the decrypted commands. The memory may include program modules such as a kernel (kernel), middleware (middleware), an Application Programming Interface (API), and applications. The program modules may be comprised of software, firmware or hardware, or at least two of the same. The input/output interface forwards commands or data entered by a user via the input/output interface (e.g., sensor, keyboard, touch screen). The communication interface connects the computer device with other network devices, user devices, networks. For example, the communication interface may be connected to a network by wire or wirelessly to connect to external other network devices or user devices. The wireless communication may include at least one of: wireless fidelity (WiFi), Bluetooth (BT), Near Field Communication (NFC), Global Positioning Satellite (GPS) and cellular communications, among others. The wired communication may include at least one of: universal Serial Bus (USB), high-definition multimedia interface (HDMI), asynchronous transfer standard interface (RS-232), and the like. The network may be a telecommunications network and a communications network. The communication network may be a computer network, the internet of things, a telephone network. The computer device may be connected to the network via a communication interface, and a protocol by which the computer device communicates with other network devices may be supported by at least one of an application, an Application Programming Interface (API), middleware, a kernel, and a communication interface.
In an embodiment of the present invention, a storage medium stores at least one instruction, and the instruction is loaded and executed by a processor to implement the operations performed by the corresponding embodiments of the driving control method. For example, the storage medium may be a read-only memory (ROM), a Random Access Memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
They may be implemented in program code that is executable by a computing device such that it is executed by the computing device, or separately, or as individual integrated circuit modules, or as a plurality or steps of individual integrated circuit modules. Thus, the present invention is not limited to any specific combination of hardware and software.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/computer device and method may be implemented in other ways. For example, the above-described apparatus/computer device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units may be stored in a storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by sending instructions to relevant hardware through a computer program, where the computer program may be stored in a storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program may be in source code form, object code form, an executable file or some intermediate form, etc. The storage medium may include: any entity or device capable of carrying the computer program, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc. It should be noted that the content of the storage medium may be increased or decreased as appropriate according to the requirements of legislation and patent practice in the jurisdiction, for example: in certain jurisdictions, in accordance with legislation and patent practice, computer-readable storage media do not include electrical carrier signals and telecommunications signals.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A running control method characterized by comprising the steps of:
if a conflict region exists on a second channel of the one-side passage channel, comparing and predicting the passage priority levels of two robots meeting in the conflict region and obtaining a comparison result;
finding out a target waiting area from a first channel of the unilateral traffic channel according to an environment map and the comparison result;
controlling the robot with high traffic priority to run according to a preset moving strategy, and controlling the robot with low traffic priority to go to the target waiting area to stop until the robot returns to the second channel to continue running after meeting is finished;
the single-side passage comprises a second passage for the robot to pass through and a first passage arranged in parallel with the second passage and used for the pedestrian to pass through, and the widths of the first passage and the second passage are respectively used for the robot to pass through smoothly.
2. The travel control method according to claim 1, wherein if a collision region exists on the second lane of the one-side passage lane, the step of comparing the priority levels of the two robots predicted to meet at the collision region and obtaining the comparison result includes:
acquiring motion state information of all robots on the second channel;
and judging whether the conflict area exists on the second channel or not according to the environment map and the motion state information.
3. The running control method according to claim 2, wherein the motion state information includes a motion speed and a preset movement route; the step of judging whether the conflict area exists on the second channel according to the environment map and the motion state information comprises the following steps:
acquiring the relative distance and the relative direction type between the front robot and the rear robot on the second channel according to the movement speed and a preset moving route;
if the type of the relative direction is moving in opposite directions, determining that the conflict area exists on the second channel;
and if the type of the relative direction is equidirectional movement and the relative distance is smaller than a preset distance threshold value, determining that the conflict area exists on the second channel.
4. The running control method according to any one of claims 1 to 3, wherein the finding of the target waiting area from the first lane of the one-sided traffic lane based on the environment map and the comparison result comprises the steps of:
finding out candidate waiting areas on the first channel from an environment map;
generating a danger range according to a preset safety distance and the current position of the robot with the low passing priority;
and searching a candidate waiting area closest to the current position from the outside of the danger range as the target waiting area.
5. A travel control system characterized by comprising:
the processing module is used for comparing and predicting the passing priority levels of two robots meeting in a collision region and obtaining a comparison result if the collision region exists on a second channel of the one-side passing channel;
the searching module is used for searching a target waiting area from a first channel of the one-side traffic channel according to an environment map and the comparison result;
the control module is used for controlling the robot with the high traffic priority to run according to a preset moving strategy and controlling the robot with the low traffic priority to move to the target waiting area to stop until the robot returns to the second channel to continue running after meeting is finished;
the single-side passage comprises a second passage for the robot to pass through and a first passage arranged in parallel with the second passage and used for the pedestrian to pass through, and the widths of the first passage and the second passage are respectively used for the robot to pass through smoothly.
6. The running control system according to claim 5, characterized by further comprising:
the acquisition module is used for acquiring the motion state information of all the robots on the second channel;
and the judging module is used for judging whether the conflict area exists on the second channel according to the environment map and the motion state information.
7. The running control system according to claim 6, wherein the motion state information includes a motion speed and a preset moving route; the judging module comprises:
the calculating unit is used for acquiring the relative distance and the relative direction type between the front robot and the rear robot on the second channel according to the movement speed and a preset moving route;
the judging unit is used for determining that the conflict area exists on the second channel if the type of the relative direction is opposite movement;
and the processing unit is used for determining that the conflict area exists on the second channel if the type of the relative direction is the same-direction movement and the relative distance is smaller than a preset distance threshold.
8. The travel control system of any one of claims 5-7, wherein the lookup module comprises:
the searching unit is used for searching candidate waiting areas on the first channel from an environment map;
and the selection unit is used for generating a danger range according to a preset safety distance and the current position of the robot with the low passing priority, and searching a candidate waiting area closest to the current position from the outside of the danger range to be used as the target waiting area.
9. A computer device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor being configured to execute the computer program stored in the memory to perform operations performed by the travel control method according to any one of claims 1 to 4.
10. A storage medium having stored therein at least one instruction, which is loaded and executed by a processor to perform an operation performed by a travel control method according to any one of claims 1 to 4.
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