CN114194183A - Travel control method, system, terminal device, and storage medium - Google Patents
Travel control method, system, terminal device, and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention discloses a driving control method, a system, a terminal device and a storage medium, wherein the method comprises the following steps: finding out a corresponding driving road from an environment map according to the destination; segmenting the driving road to obtain at least two segmented roads; and controlling the driving state of the mobile device according to the environment data, the destination, the size information of the mobile device, the basic information of the road section corresponding to the segmented road and the obstacle information. The invention improves the running efficiency and safety of the mobile device.
Description
Technical Field
The invention relates to the technical field of driving scheduling control, in particular to a driving control method, a driving control system, terminal equipment and a storage medium.
Background
In recent years, with the development of robotics and the intensive research of artificial intelligence, mobile devices (such as automated guided vehicles (ATMs) such as warehousing robots, restaurant food delivery robots, hospital logistics robots, etc., or unmanned vehicles) play an increasingly important role in human life and are widely used in many fields. The mobile device makes the work and life of people continuously intelligent and automatic.
When a plurality of mobile devices perform tasks in the same area (e.g., a hospital, a restaurant, a warehouse, or a campus), there is a possibility that traveling routes of the plurality of mobile devices may collide with each other, thereby causing the mobile devices to fail to perform the tasks properly.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to improve traffic efficiency.
In order to achieve the above object, the present invention provides a driving control method applied to a mobile device or a server, including the steps of:
finding out a corresponding driving road from an environment map according to the destination;
segmenting the driving road to obtain at least two segmented roads;
and controlling the driving state of the mobile device according to the environment data, the destination, the size information of the mobile device, the basic information of the road section corresponding to the segmented road and the obstacle information.
In some embodiments, the controlling the driving state of the mobile device according to the environment data, the destination, the size information of the mobile device, the basic information of the section corresponding to the segmented road, and the obstacle information includes:
acquiring image data and laser point cloud data to obtain the environment data;
analyzing to obtain basic road section information and obstacle information of the segmented road according to the environment data and the environment map;
and planning to obtain a driving strategy of the mobile device on each segmented road according to the basic information of the road section, the obstacle information and the size information of the mobile device, and controlling the mobile device to drive according to the driving strategy.
In some embodiments, the planning to obtain a driving strategy of the mobile device on each segmented road according to the basic information of the road segment, the obstacle information, and the size information of the mobile device, and controlling the mobile device to drive according to the driving strategy includes:
if the segmented road belongs to a straight-line-shaped double-row road, planning and generating a target planning track for driving along the side according to the environment map, the destination, the road section basic information and the barrier information;
if the segmented road belongs to a straight-line-shaped one-way road, planning and generating a target planning track for central driving according to the environment map, the destination, the road section basic information and the barrier information;
planning and generating a target planning track close to one side of the segmented road and far away from the other side of the segmented road, and planning and generating a target planning track with the central point of the mobile device close to the central line of the segmented road
If the segmented road belongs to the shape of the curve, planning and generating a target planning track of the corner of the curve far away from the segmented road according to the width of the segmented road occupied by the mobile device, the environment map, the destination, the basic information of the road section and the barrier information;
and if the obstacles exist in the segmented road, planning and generating a target planning track far away from the obstacles according to the obstacle information, the road section basic information, the destination and the environment map.
In some embodiments, the segmenting the driving road into at least two segmented roads includes:
identifying preset feature points on the driving road;
and segmenting the driving road according to the preset feature points to obtain a corresponding segmented road.
According to another aspect of the present invention, the present invention further provides a running control system including:
the searching module is used for searching out a corresponding driving road from the environment map according to the destination;
the segmentation module is used for segmenting the driving road to obtain at least two segmented roads;
and the processing module is used for controlling the driving state of the mobile device according to the environment data, the destination, the size information of the mobile device, the basic information of the road section corresponding to the segmented road and the obstacle information.
In some embodiments, the processing module comprises:
the data acquisition unit is used for acquiring image data and laser point cloud data to obtain the environment data;
the analysis unit is used for analyzing and obtaining basic road section information and barrier information of the segmented road according to the environment data and the environment map;
and the planning unit is used for planning and obtaining the driving strategy of the mobile device on each segmented road according to the basic information of the road section, the obstacle information and the size information of the mobile device, and controlling the mobile device to drive according to the driving strategy.
In some embodiments, the planning unit comprises:
the processing subunit is used for planning and generating a target planning track for driving along the side according to the environment map, the destination, the basic road section information and the barrier information if the segmented road belongs to a straight-line-shaped two-way road;
the processing subunit is further configured to plan and generate a target planning track for centered driving according to the environment map, the destination, the basic road section information and the obstacle information if the segmented road belongs to a straight-line-shaped one-way road;
the processing subunit is further configured to plan and generate a target planning track of a corner of the curve far away from the segmented road according to the width of the segmented road occupied by the mobile device, the environment map, the destination, the basic information of the road section, and the obstacle information, if the segmented road belongs to the shape of the curve;
and the processing subunit is further configured to plan and generate a target planning track far away from the obstacle according to the obstacle information, the basic road section information, the destination and the environment map if the obstacle exists in the segmented road.
In some embodiments, the segmentation module comprises:
the identification unit is used for identifying preset characteristic points on the driving road;
and the segmentation unit is used for segmenting the driving road according to the preset characteristic points to obtain a corresponding segmented road.
According to another aspect of the present invention, the present invention further provides a terminal device, including a processor, a memory, and a computer program stored in the memory and executable 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 as described.
Compared with the prior art, the laser module, the laser scanning head and the handheld code scanner provided by the invention have the following beneficial effects:
the driving control method, the driving control system, the terminal equipment and the storage medium provided by the invention can avoid the problem of transportation task interruption caused by collision or stagnation of the mobile device, orderly realize the driving traffic planning of the mobile device, and greatly improve the article conveying efficiency and the driving safety of the mobile device for executing the transportation task.
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 flow chart of another embodiment of a travel control method of the present invention;
FIG. 3 is a schematic view of a scenario of a travel control method of the present invention;
FIG. 4 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 5 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 6 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 7 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 8 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 9 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 10 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 11 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 12 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 13 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 14 is a schematic view of another scenario of a travel control method of the present invention;
FIG. 15 is a schematic view of another scenario of a travel control method of the present invention;
fig. 16 is a schematic view of another scenario of a travel 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 applied to a mobile device or a server includes the steps of:
s100, finding out a corresponding driving road from an environment map according to a destination;
specifically, the moving device includes a robot, an unmanned vehicle, an AGV, and the like, and is a device which can automatically and safely move by means of mutual cooperation of an image sensor and a laser sensor. Each mobile device can be self-positioned to obtain the position information of the mobile device at each moment as a starting place. The mobile device can be applied to occasions where articles need to be transported in indoor places including, but not limited to, hospitals, bookstores, supermarkets, restaurants and the like. The environment map comprises obstacle marks, obstacle information and road traffic requirements (no traffic, one-side traffic and the like), and the obstacle information comprises positions of obstacles, obstacle outlines, obstacle types and the like.
In one example, the execution subject of the driving control method is a mobile device, and the mobile device is provided with a wireless communication module to establish wireless connection (such as WIFI, 5G and the like) with a server so as to download and acquire an environment map of an indoor place where the mobile device is located from the server. Of course, the user can also use a burning program or a file copying mode to enable the mobile device to obtain the environment map, and the subsequent environment map is updated through the user operation. Further, the destination may be obtained by the mobile device by the user using a language input, a manual input, or the like, or the mobile device may accept a transportation task by the server to obtain the destination therein. After the mobile device acquires the environment map and the destination in the manner, the complete driving road which the mobile device needs to pass through to move from the departure place to the destination can be roughly found out according to the destination, the environment map and the departure place acquired by positioning of the mobile device.
In another example, the execution subject of the driving control method is a server, and the server can be communicated with an API (application programming interface) of a third-party map service platform (such as a Baidu map and a Gade map) to acquire an environment map. Of course, the user can also use a burning program or a file copying mode to enable the server to obtain the environment map, and the subsequent environment map is updated through the user operation. Further, the server may be caused to acquire the destination by the user using a language input, a manual input, or the like, or the server may receive order information made by the user using the mobile device to acquire the destination therein. After the server acquires the environment map and the destination in the manner, the server can roughly find out the complete driving road which the mobile device needs to pass through when moving from the departure place to the destination according to the destination, the environment map and the departure place which is positioned and reported by the mobile device.
S200, segmenting a driving road to obtain at least two segmented roads;
specifically, the field is composed of a plurality of road sections, and the driving road section comprises part of the road sections in the field. The basic attribute information of the road section comprises a locking and unlocking state, basic road section information and obstacle information, the basic road section information comprises a coordinate point string, a road shape, a road type, a road grade, a road width and a road height limit value, and the obstacle information comprises information such as the number of obstacles and the type of obstacles.
Since the attribute of the link determines whether the mobile device allows smooth passage, the mobile device or the server needs to segment the driving road into at least two segmented roads. In addition, the driving road is segmented to obtain at least two segmented roads, so that the mobile device or the server plans according to the segmented roads to generate a corresponding driving strategy, wherein the driving strategy comprises a target planning track and a target moving state, and the target moving state comprises moving speed, moving time and the like. The locking and unlocking state refers to the locking state information of the road sections, generally, a preset conflict path is set as the locking state by default, a non-conflict path is set as the locking state by default, and of course, the locking and unlocking state of the corresponding road section can be updated in real time according to the blocking state of each road section. The preset conflict path generally comprises places where collision or congestion easily occurs, such as one-way lanes, access doors, access elevators and the like.
S300, controlling the driving state of the mobile device according to the environment data, the destination, the size information of the mobile device, the basic information of the road section corresponding to the segmented road and the obstacle information.
Specifically, continuing the above example, when the main execution body of the travel control method is a mobile device, the field includes a plurality of mobile devices, each mobile device determines a target planned trajectory and a target travel state of the mobile device moving from the departure point to the destination according to the environment data, the width information of the mobile device, the basic information of the link and the obstacle information corresponding to the segment road, and the destination of the mobile device in the environment map, and the mobile device controls the travel state of the mobile device according to the target planned trajectory and the target travel state configured for each segment road, so as to enable the mobile device to smoothly and efficiently move from the departure point to the destination.
Continuing with the above example, when the execution subject of the travel control method is a server, one server and a plurality of mobile devices are included in the field. The server acquires a departure place of the current mobile device so as to determine a target planning track and a target moving state of the current mobile device moving from the departure place to the destination according to the environment data, the size information of the current mobile device, the basic information and the obstacle information of a road section corresponding to the segmented road and the destination of the current mobile device in an environment map, and then the server transmits the target planning track and the target moving state to the current mobile device so that the current mobile device controls the driving state of the current mobile device according to the target planning track and the target moving state configured for each segmented road, and the mobile device can smoothly and efficiently move from the departure place to the destination.
The moving device running method provided by the embodiment of the invention avoids the problem that the transportation task is interrupted due to collision or stagnation of the moving device, realizes the running traffic planning of the moving device orderly, and greatly improves the article conveying efficiency of the moving device for executing the transportation task.
In one embodiment, referring to fig. 2 of the specification, a driving control method applied to a mobile device or a server includes the steps of:
s100, finding out a corresponding driving road from an environment map according to a destination;
s200, segmenting a driving road to obtain at least two segmented roads;
s310, acquiring environmental data;
specifically, this embodiment is an optimized embodiment of the foregoing embodiment, and the same portions in this embodiment as those in the foregoing embodiment are referred to the foregoing embodiment, and are not described in detail herein. In this embodiment, the mobile device is equipped with an image sensor and/or a laser sensor. The image sensor is used for shooting and acquiring image data around the mobile device, and the image sensor includes, but is not limited to, a wide-angle camera, a binocular camera, an infrared camera, a depth camera, and the like. Further, a wireless communication module is provided in the image sensor to transmit image data captured and acquired by the image sensor to a processor or a server provided in the mobile device via a network.
In addition, laser sensors are used to scan the surroundings of the mobile device to obtain laser point cloud data around the mobile device, including but not limited to laser radar, millimeter wave radar, and the like. Further, a wireless communication module is arranged in the laser sensor to transmit laser point cloud data scanned and acquired by the laser sensor to a processor or a server arranged in the mobile device through a network.
The image sensor or the laser sensor may be mounted at any position of the mobile device, for example, at a front position of the mobile device or at a rear position of the mobile device. Generally, an image sensor is used to detect image data on a road ahead, that is, the image data refers to images on the road ahead of the moving device in the traveling direction. The laser sensor is used for detecting laser point cloud data on a road in front of the mobile device, namely the laser point cloud data refers to the laser data on the road in front of the driving direction of the mobile device. The road ahead of the traveling direction of the mobile device is compared with the traveling direction of the mobile device, that is, if the mobile device is in a forward state, the road ahead of the traveling direction of the mobile device is the road ahead of the mobile device and is the road that the vehicle head is going to enter first, and if the mobile device is in a reverse state, the road ahead of the traveling direction of the mobile device is the road ahead of the traveling direction of the mobile device and is the road behind the vehicle head is going to enter first.
S320, analyzing to obtain basic road section information and barrier information of the segmented road according to the environment data and the environment map;
specifically, the basic information of the road section includes road shape (left curve, right curve, straight road), curve curvature value, road type, road grade, road width, and road height limit value. The obstacle information includes information such as the number of obstacles, the type of obstacles, the position of obstacles, and the like, wherein the road type includes a driving direction type (one-way driving or two-way driving), a road shape (left curve, right curve, straight road), and a traffic type (no traffic, one-way road, two-way road). The obstacle type includes obstacle material information, obstacle installation position information, the obstacle material information includes transparent obstacles, semitransparent obstacles, non-transparent obstacles and the like, and the obstacle installation position information includes suspended obstacles (such as wall lamps and signs hung on walls) and grounded obstacles (such as tables and chairs placed on the ground). Environment map
Continuing with the above example, when the execution subject of the driving control method is the mobile device, the mobile device analyzes the environment data (image data and/or laser point cloud data) according to the environment map to obtain the link basic information and the obstacle information of each segmented road. Of course, when the execution subject of the driving control method is the server, the server acquires the acquired environment data from the mobile device, and then the server analyzes the environment data (image data and/or laser point cloud data) acquired from the mobile device according to the environment map to obtain the basic road section information and the obstacle information of each segmented road.
For example, after image data of the mobile device on the driving path is acquired, the image data can be input into a glass article recognition model (e.g., AlexNet, ResNet, etc.) obtained through training in advance so as to classify and recognize various transparent obstacles (e.g., glass, transparent PVC plates, etc.), translucent obstacles (e.g., ceiling lamps, lamp shades, etc.) and non-transparent obstacles on the segmented road, and then, when the glass obstacles are recognized, position information and width information of the glass obstacles are obtained through conversion calculation according to world coordinates of an image sensor. The width information may be the length, width and height of the glass barrier. Glass barriers include, but are not limited to, glass doors, glass tables, and inwardly opened glass windows. According to the invention, the glass with larger error generated by laser is optimized by an image recognition technology, so that the collision phenomenon that the glass barrier cannot be recognized when the mobile device is driven by laser navigation is avoided, the walking efficiency is effectively optimized, and the intelligence of driving and obstacle avoidance of the mobile device is improved.
S330, planning to obtain a driving strategy of the mobile device on each segmented road according to the basic information of the road section, the obstacle information and the size information of the mobile device, and controlling the mobile device to drive according to the driving strategy.
Specifically, continuing with the above example, when the execution subject of the driving control method is a mobile device, the user may use a burning program or a file copy mode to enable the mobile device to locally store the size information, or the mobile device may log in and connect to a third party server (i.e., a manufacturer server of the mobile device) to query and obtain the size information of the corresponding mobile device according to its own identification code ID or serial number.
Continuing with the above example, when the main body of execution of the driving control method is a server, the server may log in a third party server (i.e., a manufacturer server of the mobile device) according to its own identification code ID or serial number to acquire size information of the corresponding mobile device. Or, the server establishes communication connection with the mobile device and acquires the corresponding size information from the mobile device.
After the basic information of the road section, the obstacle information and the size information of the mobile device are obtained in the mode, the mobile device or the server plans and obtains the driving strategy of the mobile device on each segmented road according to the basic information of the road section, the obstacle information and the size information of the mobile device and on the premise that the mobile device can smoothly pass through the corresponding segmented road, and then controls the corresponding mobile terminal to move according to the driving strategy, so that the mobile device can smoothly and efficiently move from the departure place to the destination.
The moving device running method provided by the embodiment of the invention avoids the problem that the transportation task is interrupted due to collision or stagnation of the moving device, realizes the running traffic planning of the moving device orderly, and greatly improves the article conveying efficiency of the moving device for executing the transportation task.
In one embodiment, a driving control method is applied to a mobile device or a server, and S300 plans a driving strategy of the mobile device on each segmented road according to basic information of a road segment, obstacle information and size information of the mobile device, and controls the mobile device to drive according to the driving strategy includes the steps of:
s310, acquiring environmental data;
s320, analyzing to obtain basic road section information and barrier information of the segmented road according to the environment data and the environment map;
s331, if the segmented road belongs to a straight-line-shaped double-row road, planning and generating a target planning track for driving along the side according to an environment map, a destination, basic road section information and barrier information;
specifically, the movement strategy of the mobile device of the invention follows the principle of shortest movement distance. When two end points (i.e. the departure point and the destination point of the mobile device, respectively) in the fixed path connecting channel are used, that is, if the sectional road composed of the departure point and the destination point belongs to a straight-line-shaped two-way road, the shortest principle is used as much as possible if no other requirement exists, and the mobile device generally runs by side (to the left or the right of the boundary) except for special requirements. For example, the boundary generally refers to a wall, a barricade, and the like, and the driving on the side refers to driving on the boundary and parallel to the boundary as much as possible according to the generated target planning trajectory on the premise of being at least a preset distance value (for example, 1.0 meter) away from the boundary such as the wall, the barricade, and the like.
For example, as shown in fig. 3, when the section road is enough for two robots to pass through in parallel, the robots on the section road are controlled to run in a side-by-side manner, that is, one robot runs right and the other robot runs left, so that two pairs can be allowed to pass through to the robots at the same time, and the server reduces locking in this scenario, thereby improving efficiency. Preferably, if the distance between the two opposite-running robots is less than 1.2 meters, if the two robots need to pass through simultaneously, at least one of the two robots is controlled to run at a reduced speed, the other robot passes through the sectional road at the original running speed, or one of the two robots is controlled to run at a reduced speed, and the other robot stops waiting until the opposite-running robot passes through the sectional road and then resumes the running state.
Of course, as shown in fig. 4, even if the space is sufficient, when a user (for example, a hospital or a supermarket) requests one-sided traffic, the mobile device or the server plans to generate a target planned trajectory for side-by-side driving.
S332, if the segmented road belongs to a straight-line-shaped one-way road, planning and generating a target planning track for centered running according to the environment map, the destination, the road section basic information and the barrier information;
specifically, when two end points in a fixed path connecting channel (i.e., a departure point and a destination point of the mobile device, respectively) are used, that is, if a segmented road composed of the departure point and the destination point belongs to a single-row road in a straight line shape, as shown in fig. 5, for example, in a corridor (with a width of 2m or less), a channel, and other scenes, a target planning trajectory for centered driving is planned to be generated, so that the path of the mobile device is as right as possible in the middle of the segmented road (e.g., a certain corridor).
Illustratively, as shown in FIG. 6, when passing a narrow gate or entering a narrow passageway, one tries to route the gate or passageway in the middle; meanwhile, the robot is guided to move to the central line through the path as early as possible, and the robot cannot pass through the central line when the sensor detects that the door frame triggers and the obstacle avoidance is carried out. The speed of the mobile device entering a narrow channel (<0.8m) through a door does not exceed 0.3m/s, and the risk of incapability of passing due to obstacle avoidance is reduced.
S333 planning and generating a target planning track of a curve corner far away from the segmented road according to the width, the environment map, the destination, the basic information of the road section and the barrier information of the segmented road occupied by the mobile device if the segmented road belongs to the curve shape;
specifically, the curve is not limited to a curved curve, and may be a corner curve. When two end points (namely, a starting point and a destination of the mobile device respectively) in the segmented road, that is, if the segmented road composed of the starting point and the destination belongs to a curve shape (a corner curve or a curved curve), the mobile device or the server plans and generates a target planning track far away from the corner of the segmented road shown in fig. 7 according to the width, the environment map, the destination, the road section basic information and the obstacle information of the segmented road occupied by the mobile device, so that the mobile device moves according to the target planning track, a path cut into the corner by the mobile device is far away from a boundary (such as a wall) as much as possible, and the situation that the mobile device collides when detecting an obstacle in time is not generated after turning is avoided. For example, the narrow channel passing through 90 degrees is attached to the outer corner edge as much as possible, and the target planning track is generated by curve drawing, so that the mobile device is prevented from approaching the inner corner of the curve when moving, or the corresponding target planning track can be generated by drawing in a segmented path mode, that is, if the mobile device can be split into two tasks, the mobile device can continue to move after rotating in place by using the segmented path.
Illustratively, as an example of an actual scene shown in fig. 8, when the robot travels in the a → B direction, it is safe because the obstacle is within the detection range of the robot and is not in the detection blind area, and when the robot travels in the B → a direction, danger may occur because the obstacle is in the robot blind area, and the recommended space is sufficient to plan to generate the target planned trajectory far from the corner as shown in fig. 8. Of course, if the space is not sufficient, the area speed limit and the virtual wall sign are added at the position of the obstacle at the environment map.
And S334, if the obstacles exist in the segmented road, planning and generating a target planning track far away from the obstacles according to the obstacle information, the road section basic information, the destination and the environment map.
Specifically, when planning a route, the moving device is far away from fixed suspended (invisible to laser) objects, such as glass tables, inward-opened glass windows and other obstacles, so that the moving device is far away from the obstacles to prevent collision in the driving process.
For example, as shown in fig. 9, a black rectangular solid is an obstacle, and a dashed frame thereof is a portion that cannot be seen by the laser, at this time, a target planning trajectory that should be planned and generated is shown as a curve L1 in fig. 9, so as to avoid planning and generating a straight line L2. Preferably, the risk that the mobile device collides with an obstacle is reduced by adding a virtual wall to the segmented road, reducing the driving speed and the like.
Based on the above embodiment, no matter what kind of scenario of the target planning trajectory generated by planning, the target planning trajectory generated by the mobile device or the server needs to be as smooth as possible as shown in fig. 10, so as to reduce the acute-angle path, and particularly avoid the planning manner shown in fig. 11 when the robot turns more than 90 degrees.
In addition, in any scenario of the target planning track generated by planning, if the end point of the path is the point location where the robot is to stop, the target planning track generated by the mobile device or the server needs to avoid setting a station which is just opposite to the wall surface to stop as shown in fig. 12, and the robot needs to be guided to adjust the direction to be parallel to the wall body as soon as possible, so that the situation that the robot is triggered to avoid the obstacle and cannot move due to the fact that the direction of the path is just opposite to the wall body is reduced, that is, the planning mode shown in fig. 13 is avoided, so that the robot can be prevented from being guided to run just opposite to the wall body, and the robot is prevented from being triggered to avoid the obstacle and cannot move continuously.
In addition, no matter which scenario of the target planning trajectory generated by planning, the target planning trajectory generated by the mobile device or the server reduces the situation of in-situ turning around of the wall, for example, when the mobile device is to turn around in situ at the wall (nurse station), the target planning trajectory generated by planning guides the robot to slowly move away from the wall and turn around as shown in fig. 14, and reduces the situation that the robot cannot move due to the fact that the path direction is over against the wall, that is, the planning manner shown in fig. 15 is avoided, so that the robot can be prevented from rotating in situ by the wall, and the triggering robot cannot continue to move due to the fact that the in-situ rotating space is insufficient and the obstacle is triggered.
For example, in a place where space is insufficient and the robot must rotate in place and turn around (the distance between the shell of the robot and a wall is 0.4-0.6 m), if the situation that the obstacle to be avoided cannot rotate always occurs on site, the ultrasonic waves can be shut off in a divided area when no suspended obstacle exists, the unloading place is recommended to be replaced when no suspended obstacle exists, and otherwise, the robot is in collision risk.
In addition, no matter what kind of scenario of the target planning trajectory generated by planning, if multiple robots arrive at the same station, the mobile device or the server may draw and generate the target planning trajectory similar to the roundabout shape as large as possible as shown in fig. 16, so that the multiple mobile devices have enough queuing space to prevent the phenomenon of queuing and blocking.
The mobile device or the server of the invention only needs to determine the target planning track of the mobile device moving from the departure place to the destination according to the environment map, the attribute information of the segmented roads in the map, the departure place of the mobile device in the map and the destination of the mobile device in the map, the invention has the advantages that the mobile device can run according to the target planning track, the effect of avoiding other mobile devices or obstacles which move oppositely on the segmented road in advance by the mobile device is achieved, blind early speed reduction running is not needed, the running safety and the running efficiency of the mobile device are effectively improved, the risk of collision or collision generated by a plurality of mobile devices in the running process can be greatly reduced, and the running safety is improved.
In one embodiment, a driving control method applied to a mobile device or a server includes the steps of:
s100, finding out a corresponding driving road from an environment map according to a destination;
s210, identifying preset feature points on a driving road;
s220, segmenting the driving road according to the preset feature points to obtain a corresponding segmented road;
specifically, the preset feature point is a key point on the driving road, which is used as a basis for segmenting the driving road. The types of the preset feature points may be specified in advance to identify the preset feature points of these types after acquiring the line segment data of the road. For example, the types of the preset feature points may include turning points, intersection points, and the like.
The invention can identify key points on roads by a machine or by human eyes through image identification technology according to an environment map to obtain preset characteristic points, namely, after finding out a running road on the environment map, drawing and generating a plurality of line segments corresponding to the running road, then discretizing the line segments by using a mathematical algorithm to obtain a point set forming the continuity of each line segment, then obtaining intersection point (namely intersection point) coordinates and inflection point (namely turning point) coordinates of the line segments corresponding to the running road through calculation of the mathematical algorithm, obtaining segmentation point coordinates corresponding to the running road through conversion calculation according to the intersection point coordinates and the inflection point coordinates, and obtaining a plurality of segmented roads by segmenting and marking the running road according to the segmentation point coordinates. By the mode, the automatic segmentation of the driving road can be realized according to the segmentation points, the processing efficiency is improved, and the road segmentation method is more efficient.
S300, controlling the driving state of the mobile device according to the environment data, the destination, the size information of the mobile device, the basic information of the road section corresponding to the segmented road and the obstacle information.
According to the invention, after the driving road is subjected to segmentation treatment, the corresponding driving strategy is obtained by performing route navigation planning on the basis of each segmented road, so that the mobile device can smoothly and smoothly pass through the driving road, the problem of transportation task interruption caused by collision or stagnation of the mobile device is avoided, the driving traffic planning of the mobile device is realized orderly, and the article conveying efficiency of the mobile device for executing the transportation task is greatly improved.
In one embodiment, according to another aspect of the present invention, a running control system includes:
the searching module is used for searching out a corresponding driving road from the environment map according to the destination;
the segmentation module is used for segmenting the driving road to obtain at least two segmented roads;
and the processing module is used for controlling the driving state of the mobile device according to the environment data, the destination, the size information of the mobile device, the basic information of the road section corresponding to the segmented road and the obstacle 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 processing module comprises:
a data acquisition unit for acquiring environmental data;
the analysis unit is used for analyzing and obtaining basic road section information and barrier information of the segmented road according to the environment data and the environment map;
and the planning unit is used for planning to obtain the driving strategy of the mobile device on each segmented road according to the basic information of the road section, the obstacle information and the size information of the mobile device, and controlling the mobile device to drive according to the driving strategy.
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 planning unit comprises:
the processing subunit is used for planning and generating a target planning track for driving along the side according to the environment map, the destination, the basic information of the road section and the barrier information if the segmented road belongs to a straight-line-shaped two-way road;
the processing subunit is further configured to plan and generate a target planning track for centered driving according to the environment map, the destination, the basic road section information and the obstacle information if the segmented road belongs to a straight-line-shaped one-way road;
the processing subunit is further configured to plan and generate a target planning track of a corner of the curve far away from the segmented road according to the width of the segmented road occupied by the mobile device, an environment map, a destination, basic road section information and obstacle information, if the segmented road belongs to the shape of the curve;
and the processing subunit is further configured to plan and generate a target planning track far away from the obstacle according to the obstacle information, the basic road section information, the destination and the environment map if the obstacle exists in the segmented road.
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 segmentation module comprises:
the identification unit is used for identifying preset characteristic points on a driving road;
and the segmentation unit is used for segmenting the driving road according to the preset characteristic points to obtain a corresponding segmented road.
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 terminal device comprises a processor and 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 terminal equipment can be desktop computers, notebooks, palm computers, tablet computers, mobile phones, man-machine interaction screens and other equipment. The terminal device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the foregoing is merely an example of a terminal device and is not limiting of terminal devices, and that more or fewer components than those shown, or some of the components in combination, or different components may be included, such as: the terminal 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 terminal device, such as: hard disk or memory of the terminal device. The memory may also be an external storage device of the terminal device, such as: the terminal 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 terminal device. The memory is used for storing the computer program and other programs and data required by the terminal 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 terminal equipment with other network equipment, user equipment and a network. 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 terminal device may be connected to the network via a communication interface, and a protocol used by the terminal device to communicate 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/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of 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 driving control method applied to a mobile device or a server, comprising the steps of:
finding out a corresponding driving road from an environment map according to the destination;
segmenting the driving road to obtain at least two segmented roads;
and controlling the driving state of the mobile device according to the environment data, the destination, the size information of the mobile device, the basic information of the road section corresponding to the segmented road and the obstacle information.
2. The running control method according to claim 1, wherein the controlling of the running state of the mobile device based on the environment data, the destination, the size information of the mobile device, the section basic information corresponding to the segmented road, and the obstacle information comprises the steps of:
acquiring image data and laser point cloud data to obtain the environment data;
analyzing to obtain basic road section information and obstacle information of the segmented road according to the environment data and the environment map;
and planning to obtain a driving strategy of the mobile device on each segmented road according to the basic information of the road section, the obstacle information and the size information of the mobile device, and controlling the mobile device to drive according to the driving strategy.
3. The driving control method according to claim 2, wherein the planning of the driving strategy of the mobile device on each segmented road according to the basic information of the road section, the obstacle information and the size information of the mobile device obtains, and the controlling of the driving of the mobile device according to the driving strategy comprises the steps of:
if the segmented road belongs to a straight-line-shaped double-row road, planning and generating a target planning track for driving along the side according to the environment map, the destination, the road section basic information and the barrier information;
if the segmented road belongs to a straight-line-shaped one-way road, planning and generating a target planning track for central driving according to the environment map, the destination, the road section basic information and the barrier information;
if the segmented road belongs to the shape of the curve, planning and generating a target planning track of the corner of the curve far away from the segmented road according to the width of the segmented road occupied by the mobile device, the environment map, the destination, the basic information of the road section and the barrier information;
and if the obstacles exist in the segmented road, planning and generating a target planning track far away from the obstacles according to the obstacle information, the road section basic information, the destination and the environment map.
4. The running control method according to any one of claims 1 to 3, wherein the segmenting the running road into at least two segmented roads includes the steps of:
identifying preset feature points on the driving road;
and segmenting the driving road according to the preset feature points to obtain a corresponding segmented road.
5. A travel control system characterized by comprising:
the searching module is used for searching out a corresponding driving road from the environment map according to the destination;
the segmentation module is used for segmenting the driving road to obtain at least two segmented roads;
and the processing module is used for controlling the driving state of the mobile device according to the environment data, the destination, the size information of the mobile device, the basic information of the road section corresponding to the segmented road and the obstacle information.
6. The travel control system of claim 5, wherein the processing module comprises:
the data acquisition unit is used for acquiring image data and laser point cloud data to obtain the environment data;
the analysis unit is used for analyzing and obtaining basic road section information and barrier information of the segmented road according to the environment data and the environment map;
and the planning unit is used for planning and obtaining the driving strategy of the mobile device on each segmented road according to the basic information of the road section, the obstacle information and the size information of the mobile device, and controlling the mobile device to drive according to the driving strategy.
7. The travel control system according to claim 6, wherein the planning unit includes:
the processing subunit is used for planning and generating a target planning track for driving along the side according to the environment map, the destination, the basic road section information and the barrier information if the segmented road belongs to a straight-line-shaped two-way road;
the processing subunit is further configured to plan and generate a target planning track for centered driving according to the environment map, the destination, the basic road section information and the obstacle information if the segmented road belongs to a straight-line-shaped one-way road;
the processing subunit is further configured to plan and generate a target planning track of a corner of the curve far away from the segmented road according to the width of the segmented road occupied by the mobile device, the environment map, the destination, the basic information of the road section, and the obstacle information, if the segmented road belongs to the shape of the curve;
and the processing subunit is further configured to plan and generate a target planning track far away from the obstacle according to the obstacle information, the basic road section information, the destination and the environment map if the obstacle exists in the segmented road.
8. The travel control system of any one of claims 5-7, wherein the segmentation module comprises:
the identification unit is used for identifying preset characteristic points on the driving road;
and the segmentation unit is used for segmenting the driving road according to the preset characteristic points to obtain a corresponding segmented road.
9. A terminal device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the computer program stored in the memory to perform an operation 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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