CN114248264A

CN114248264A - Robot control method and device

Info

Publication number: CN114248264A
Application number: CN202011016275.6A
Authority: CN
Inventors: 邱华旭; 郑思远; 薛伟; 吴正; 高倩; 邵长东
Original assignee: Ecovacs Commercial Robotics Co Ltd
Current assignee: Ecovacs Commercial Robotics Co Ltd
Priority date: 2020-09-24
Filing date: 2020-09-24
Publication date: 2022-03-29

Abstract

The invention provides a robot control method and a device, wherein the robot control method comprises the following steps: controlling the robot to acquire acquisition control information in the process of moving to a target area; determining the robot target operation strategy and the target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information; and controlling the robot to continue to operate through the target operation strategy, and controlling the robot to continue to acquire the identification information of the target object at the target acquisition frequency so as to reduce the number of missed scans of the identification and improve the reading rate.

Description

Robot control method and device

Technical Field

The invention relates to the technical field of computers, in particular to a robot control method. One or more embodiments of the present specification also relate to a robot control apparatus, a robot, and a computer-readable storage medium.

Background

With the rapid development of national economy, the production and the capacity of enterprises are increased continuously, and the standardization and the high efficiency of the goods shelves of the enterprises are naturally promoted. In order to ensure the accuracy of inventory material inventory of enterprises, effective management of warehouse materials and company properties is achieved, and reasonable and efficient management and inventory storehouse shelf inventory are extremely critical links. The existing warehouse shelf checking mainly adopts manual checking or a checking method based on a robot + rfid (Radio Frequency Identification, rfid for short) device, wherein the manual checking method mainly checks and checks goods one by one through manual work, thereby not only wasting time and energy, but also easily causing checking errors; the inventory method based on the robot and the rfid device mainly utilizes the rfid radio frequency identification technology to scan and inventory goods.

Therefore, it is desirable to provide a robot control method that can achieve an improvement in the goods inventory accuracy.

Disclosure of Invention

In view of this, the present specification provides a robot control method. One or more embodiments of the present disclosure are also directed to a robot control apparatus, a robot, and a computer-readable storage medium to solve the technical problems of the related art.

According to a first aspect of the present invention, there is provided a robot control method including:

controlling the robot to acquire acquisition control information in the process of moving to a target area;

determining the robot target operation strategy and the target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information;

and controlling the robot to continuously operate through the target operation strategy, and controlling the robot to continuously acquire the identification information of the target object at the target acquisition frequency.

Optionally, the controlling the robot to acquire the acquisition control information in the process of moving to the target area includes:

and controlling the robot to collect identification information of a target object in the process of moving to a target area, counting the collected identification number based on the identification information, and taking the identification number as the collection control information.

and controlling the robot to acquire semantic information of a passing area map in the process of advancing to a target area, and taking the semantic information as the acquisition control information, wherein the semantic information comprises the density degree of the target object.

Optionally, before controlling the robot to collect the identification information of the target object in the process of moving to the target area, the method further includes:

and receiving a running path of the robot running to the target area, and controlling the robot to travel to the target area based on the running path.

determining the target area, and planning a running path of the robot running to the target area based on the target area;

controlling the robot to travel to the target area based on the travel path.

acquiring the running speed of the robot based on the current mileage;

and obtaining an initial running speed based on a preset algorithm and the running speed of the current mileage.

Optionally, after obtaining the initial operating speed based on the preset algorithm and the operating speed of the current mileage, the method further includes:

calculating the candidate running speed of the robot according to the collected identification number;

obtaining a target operating speed of the robot based on the initial operating speed and the candidate operating speeds, wherein the target operating speed characterizes the target operating strategy.

Optionally, the determining, according to the acquisition control information, the robot target operation policy and the target acquisition frequency at which the robot acquires the identification information of the target object includes:

under the condition that the acquisition control information meets the ith condition, determining the ith running speed of the robot and the ith acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number, wherein i is a positive integer greater than or equal to 2;

correspondingly, the controlling the robot to continue to operate through the target operation strategy and controlling the robot to continue to acquire the identification information of the target object at the target acquisition frequency includes:

and controlling the robot to continuously operate through the ith operating speed, and controlling the robot to continuously acquire the identification information of the target object at the ith acquisition frequency.

Optionally, the target operation strategy includes a target linear velocity and a target angular velocity;

correspondingly, the determining the robot target operation strategy according to the collected identification number further includes:

controlling the robot to adjust the running direction of the robot according to the target angular speed; and

and controlling the robot to continuously run according to the target linear speed.

Optionally, before receiving the operation path that the robot travels to the target area, the method further includes:

creating an area map for the robot to run based on the data collected by the robot, and planning a running path of the robot to the target area on the area map.

Optionally, before determining the target area and planning the operation path of the robot to the target area based on the target area, the method further includes:

creating an area map for the robot to run based on the data collected by the robot, and determining the position of the robot in the area map;

and under the condition that the target area is received, planning a running path of the robot running to the target area in the area map based on the target area and the position of the robot.

According to a second aspect of the present invention, there is provided a robot control device comprising:

the device comprises a first acquisition module, a determination module and a second acquisition module;

the first acquisition module is configured to control the robot to acquire acquisition control information in the process of traveling to a target area;

the determining module is configured to determine the robot target operation strategy and a target acquisition frequency of the identification information of the robot acquisition target object according to the acquisition control information;

the second acquisition module is configured to control the robot to continue to operate through the target operation strategy, and control the robot to continue to acquire the identification information of the target object at the target acquisition frequency.

According to a third aspect of the present invention, there is provided a robot including a machine body including:

a memory and a processor;

the memory is used for storing computer-executable instructions and the processor is used for executing the computer-executable instructions, wherein the processor realizes the steps of the robot control method when executing the computer-executable instructions.

According to a fourth aspect of the invention, there is provided a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the robot control method.

One embodiment of the present specification provides the robot control method, which includes controlling the robot to collect identification information of a target object during a process of traveling to a target area, and counting the number of collected identifications; the target operation strategy of the robot and the target acquisition frequency of the robot for acquiring the identification information of the target object can be dynamically adjusted according to the identification number acquired in real time in the moving process of the robot; and the robot is controlled to continue to operate through the target operation strategy, and the robot is controlled to continue to acquire the identification information of the target object at the target acquisition frequency, so that the number of missed scans of the identification can be reduced, and the efficiency and the accuracy of acquiring the number of the identification can be improved.

Drawings

FIG. 1 is a flow chart of a robot control method provided in one embodiment of the present disclosure;

fig. 2 is a schematic view of a scenario in which a robot control method provided in an embodiment of the present specification is applied to inventory of goods;

fig. 3 is a flowchart illustrating a process of a robot control method applied to inventory of goods according to an embodiment of the present disclosure;

fig. 4 is a flowchart illustrating target operation speed calculation in a robot control method according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a robot control device according to an embodiment of the present disclosure;

fig. 6 is a block diagram of a robot according to an embodiment of the present disclosure.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present description. This description may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make and use the present disclosure without departing from the spirit and scope of the present disclosure.

The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

First, the noun terms to which one or more embodiments of the present specification relate are explained.

The Radio Frequency Identification (RFID) technology is an automatic Identification technology for carrying out non-contact bidirectional data communication in a Radio Frequency mode, and an RFID system consists of a reader of a shift-reporting receiving and transmitting antenna, an electronic identifier and a data management system. The system achieves the purpose of counting the total number of the identifiers, namely the total number of the commodities or goods, by identifying the identifiers in the coverage range of the rfid antenna.

Next, the robot according to the present invention will be schematically explained. The robot provided by the invention can be various artificial intelligent devices with a motion function and a photographing function. In the present invention, various shapes of the robot are not limited, such as an oval shape, a circular shape, a convex polygon shape, and the like, and the robot may implement the logic of the control method of the present invention by installing software, an application program in a controller used in cooperation with the robot, or writing a program in a corresponding device inside the robot.

In the present specification, a robot control method is provided, and the present specification relates to a robot control apparatus, a robot, and a computer-readable storage medium, which are described in detail one by one in the following examples.

Fig. 1 shows a flowchart of a robot control method provided according to an embodiment of the present disclosure, which specifically includes the following steps.

Step 102: and controlling the robot to acquire acquisition control information in the process of moving to the target area.

In practical application, when checking goods or commodities, in addition to the manual goods checking, the robot and the rfid equipment can be used for checking the goods, collected goods identifiers are counted, and therefore checking work is achieved.

According to the robot control method provided by the embodiment, the accuracy of counting the number of the identifications is improved while manpower and material resources are saved, the running speed and the collection frequency of the robot are adjusted in real time according to the number of the collected identifications in the process that the robot travels to the target area, so that the problem of missing scanning caused by the running speed of the robot is reduced under the condition that the number of the collected identifications is dense, and meanwhile, the reading rate of the identifications is improved by the robot control method.

In specific implementation, the robot specifically refers to a robot carrying an rfid device, the target area is a storage space for storing a target object, the target object specifically refers to an article or a good that the robot needs to acquire identification information, for example, the article or the good may be an express delivery, the identification information specifically refers to identification information of the target object, for example, the identification information of the target object may be barcode identification information of the express delivery, and accordingly, in this embodiment, the robot carrying the rfid device is taken as the robot, the target area is a shelf or a warehouse point for storing the good, the target object is a good that the robot needs to acquire the identification information, and the identification information is identification information displayed on the good as an example, so as to introduce the robot control method provided in this embodiment in detail, and facilitate understanding, in the following, the robot control method is described in detail by taking an example of the application of the robot control method to an inventory checking scene, but the robot control method of the present invention is not limited to the inventory checking scene, and may also be applied to other scenes in which a robot controls to scan goods, such as a goods purchasing scene, and the like, which is not described herein in detail.

Based on this, the robot is controlled to scan identification information on goods through the rfid equipment carried in the process of advancing to the target shelf or the target warehouse point, wherein the goods are provided with rfid tags for the rfid equipment to identify, and the quantity of the collected tags is counted according to the identified tag information.

Further, the step of controlling the robot to acquire the acquisition control information in the process of moving to the target area includes:

and controlling the robot to collect identification information of the target object in the process of moving to the target area, and counting the collected identification number, wherein the identification number is used as the collection control information.

Specifically, the acquisition control information includes the number of identification information of the target object acquired by the robot, and in practical application, the robot is controlled to acquire the identification information of the target object in the process of traveling to the target area, and the number of the acquired identification information is counted, so that a target operation strategy is determined according to the number of the acquired identification information subsequently.

Specifically, the acquisition control information includes semantic information of an acquisition passing area map, where the semantic information may include a density of the target object, and in practical application, a mark indicating the density of identification information of the target object is set on the area map, for example, a target area a and a target area B in the area map are remarked with red flags beside the area, and the number of identification information indicating that the target object exists in the area is large, which reflects the storage density of the target object; and controlling the robot to adopt different target operation strategies according to the density of the identification information of the target object stored in each target area on the area map so as to continuously change the target operation strategies by acquiring the control information and finish the acquisition of the identification information of the target object.

According to the method and the device, the robot can rapidly judge the area with the dense identification number of the target object through the area map with the semantic information, so that the target operation strategy of the robot can be more accurately changed, and the problem that the identification information of the target object is missed to be scanned due to improper selection of the target operation strategy is avoided.

Further, before the robot is controlled to collect the identification information, a running path of the robot running to the target area needs to be determined, and at this time, the running path of the robot is determined, and the specific implementation manner is as follows:

before the controlling the robot to collect the identification information of the target object in the process of moving to the target area, the method further comprises the following steps:

Specifically, in the process of the operation of the robot, an operation path may be directly input to the robot, and when the robot receives the operation path that operates to a target area, the robot is controlled to travel to the target area based on the operation path.

According to the invention, the robot receives the preset running path, and path planning is not required, so that the processing flow of robot running can be saved, and the working efficiency of the robot is improved.

Further, before controlling the robot to acquire the identification information, it is necessary to determine a running path of the robot to the target area, and at this time, another method for determining the running path of the robot is as follows:

controlling the robot to travel to the target area based on the travel path.

Specifically, the target area is a shelf or warehouse point for storing and storing goods, after the target area required to be operated by the robot is determined, the target area is input into the robot, the robot can plan a running path running to each target area based on the target area, wherein the running path can be a plurality of paths, the robot can select a most appropriate path as a final running path running to the target area according to requirements, and the robot can move to the target area based on the running path.

In practical application, if the robot receives four target areas, namely a target area a, a target area B, a target area C and a target area D, the robot plans a running path running to each target area according to the four target areas, such as a plurality of paths including the target area a, the target area B, the target area D, the target area a, the target area B, the target area C, the target area a, the target area C, the target area B, the target area D, and the like, and the robot selects a suitable running path according to requirements.

In the invention, the path planning is carried out based on the target area which the robot needs to reach, and the path planning process of the robot exists, so that the operation path planning of the robot is more reasonable, wherein the more reasonable path can be the closest path or the path with the fastest speed.

Further, before determining the robot running path, an area map in which the robot runs needs to be created according to the working area of the robot, and the specific implementation manner is as follows:

before the receiving the operation path of the robot to the target area, the method further includes:

Specifically, the robot creates an area map of a working area where the robot runs according to the collected data, and determines a running path of the robot to a target area on the created area map, and in practical applications, the robot creates the area map of the working area where the robot runs according to the collected data, for example, the robot collects single line laser radar data according to the carried single line laser radar, creates a planar grid map (i.e., an area map) of the working area by using the collected single line laser radar data, and determines the running path of the robot based on the created planar grid map, where the planar grid map may form different maps according to different working areas.

In the embodiment, the robot creates the regional map of the working area where the robot operates according to the collected data, and plans the operation path of the robot based on the regional map, so that the operation path of the robot is more reasonable.

Further, before determining the robot running path, an area map in which the robot runs needs to be created according to the working area of the robot, and another specific implementation manner is as follows:

before determining the target area and planning a running path of the robot to the target area based on the target area, the method further includes:

Specifically, the robot creates an area map for a working area where the robot operates according to the collected data, and determines the position of the robot in the area map, where the position of the robot may be the position of the robot in an unopened operating state, and after receiving a target area to be reached, the robot plans an operating path of the robot to the target area in the area map according to the target area to be reached and the position of the robot in the unopened operating state.

In this embodiment, under the condition that the robot creates a regional map of the robot operation according to the collected data, the robot determines the position of the robot and the target region where the robot arrives in the regional map, and based on the position of the robot in the regional map and the target region, a more reasonable operation path of the robot to the target region can be quickly planned in the regional map.

In a specific application, the robot can determine a running path of the robot running to the target area according to the checking requirement, wherein if the checking requirement is that the robot needs to quickly perform the checking task, the robot can select the running path reaching each target area at the fastest speed, and if the checking requirement is that the robot needs to perform the checking task at the shortest running distance, the robot can select the running path reaching each target area at the shortest running distance.

In addition, before acquiring the identification information of the target object in the process of controlling the robot to travel to the target area, the operation speed of the robot based on the current operating mileage is also acquired, and the initial operation speed is acquired according to the operation speed of the current mileage, which is specifically implemented as follows:

acquiring the running speed of the robot based on the current mileage;

In this embodiment, the robot obtains the initial running speed based on the running speed of the current mileage and a preset algorithm, and in order to subsequently obtain the target running speed of the robot in the running process by combining the maximum running speed determined according to the number of identifiers, the running speed of the robot in the running path is more reasonable.

Specifically, the current mileage is a mileage operated by the robot in a working state of starting operation, an operation speed of the robot based on the current mileage is obtained, and an initial operation speed under normal operation is calculated by using a preset algorithm according to the operation speed of the current mileage, wherein the preset algorithm may be dwa algorithm (English is called dynamic window approach, Chinese is called local trajectory planning algorithm).

In practical applications, the robot is provided with a mileage meter for obtaining the mileage information of the robot, for example, the running speed is calculated to be 0.5 meter per second according to the current running mileage of 10 meters, and then the initial running speed of the robot is calculated to be 0.6 meter per second according to the current mileage running speed of 0.5 meter per second and a preset dwa algorithm.

Further, under the condition that the running speed of the robot in the current mileage is obtained, the robot can calculate the maximum running speed at which the robot can run according to the number of currently read identifiers, and obtain the final target running speed at which the robot runs based on the initial running speed calculated by the robot according to the current mileage and the maximum running speed calculated by the number of identifiers, wherein the specific implementation manner is as follows:

after the initial running speed is obtained based on the preset algorithm and the running speed of the current mileage, the method further comprises the following steps:

Specifically, the robot is controlled to calculate a candidate running speed of the robot according to the collected identification number, wherein the candidate running speed can be determined according to the maximum running speed of the robot, which is determined according to the different identification numbers collected by the robot, and meanwhile, the minimum value of the initial running speed calculated based on the current mileage and the maximum running speed determined according to the identification number is taken as the final speed to be output by the robot, so that the robot is ensured to run at the final output target running speed, and the phenomenon of identification missing scanning is reduced, wherein the target running speed represents the target running strategy.

In practical application, the robot determines different maximum running speeds which can be set by the robot according to the collected quantity of different goods identifications, further determines the final running speeds of different robots, realizes real-time adjustment of the running speeds of the robots according to the different quantity of the identifications, and reduces the phenomenon of missed scanning of the identifications caused by excessive quantity of the identifications in the process of ensuring the running path of the robots so as to improve the accuracy of inventory.

Step 104: and determining the robot target operation strategy and the target acquisition frequency of the identification information of the target object acquired by the robot according to the acquisition control information.

Specifically, the target operation strategy can determine different operation strategies according to different identification numbers acquired by the robot and different target acquisition frequencies of the robot in acquiring identification information of a target object, and in practical application, the robot carries the rfid device to acquire the tag and the transmitting power of goods.

Further, the target operation strategy comprises a target linear speed and a target angular speed;

Specifically, the target linear velocity is a linear running velocity of the robot in the running process, the target angular velocity is an angular velocity rotated by the robot when the robot scans the goods identification in the running process, in specific implementation, the robot is controlled to adjust the rotating direction in the running process of the robot according to the target angular velocity, the specific rotating direction can rotate relative to the direction of the robot according to the direction in which the goods are placed, and meanwhile, the robot is controlled to continue to run in the running path of the robot according to the target linear velocity.

In this embodiment, in the process that the robot travels in the travel path, by adjusting the linear travel speed and the angular speed of the rotation direction in the travel process of the robot, the situation that the marks are relatively dense is reduced by adjusting the travel speed and the rotation direction in real time, and the occurrence of the situation that the marks are not scanned in the relatively dense mark area is reduced, so that the reading rate of the robot on the marks is improved.

Furthermore, the target operation strategy determines different operation strategies according to the collected identification number so as to ensure that the operation speed of the robot can be adjusted in real time according to the collected identification number in the process of traveling the operation path, thereby reducing the occurrence of the problem of missing scanning, and the specific implementation mode is as follows:

the determining the robot target operation strategy and the target acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number comprises the following steps:

under the condition that the identification number meets an ith condition, determining the ith running speed of the robot and the ith acquisition frequency of the identification information of the target object acquired by the robot according to the acquired identification number, wherein i is a positive integer greater than or equal to 2;

Specifically, taking i equal to 3 as an example, the target operation strategy is determined according to the number of identifiers when the number of identifiers collected by the robot satisfies 3 conditions, where the 3 conditions may include a first condition, a second condition, and a third condition.

For example, under the condition that the number of identifiers collected by the robot meets a first condition, a first running speed at which the robot runs in the running path and a first collection frequency at which the robot collects identifier information of the target object are determined according to the number of identifiers, wherein the first condition is that the number of identifiers collected by the robot is smaller than a preset first identifier number threshold, the first running speed is a first linear speed and a first angular speed of rotation of the robot, and the first collection frequency is a first transmission frequency at which the robot collects identifiers.

In practical application, after the robot can determine a first running speed of the robot running and a first collection frequency of collected identifications according to the number of the currently collected identifications, the robot continues to run according to a running path through a first linear speed in the first running speed, continues to rotate through a first angular speed in the first running speed, and is controlled to collect identification information of a target object at the first collection frequency.

Further, the first condition includes that the number of identifications is less than a first number threshold;

correspondingly, when the number of identifiers meets a first condition, determining a first operating speed of the robot and a first acquisition frequency at which the robot acquires the identifier information of the target object according to the acquired number of identifiers includes:

and under the condition that the identification number is smaller than a first number threshold value, determining a first running speed of the robot and a first acquisition frequency of the robot for acquiring identification information of a target object according to the acquired identification number.

Specifically, according to different robot inventory demands, a first quantity threshold of the identification quantity is preset, the maximum linear speed and the maximum angular speed of the robot are set, when the identification quantity is smaller than the first quantity threshold, the first running speed of the robot is determined to be the set maximum linear speed and the set maximum angular speed, and the first collection frequency of the robot for collecting goods identification information is obtained.

In practical application, if the first quantity threshold of the set identification quantity is e1, the maximum linear velocity and the maximum angular velocity of the robot operation are set as v, the initial transmission power is p, the currently collected identification quantity is e, and when the current identification quantity e is less than the first quantity threshold e1, the maximum linear velocity and the maximum angular velocity of the robot operation are determined as w, and the first collection frequency for collecting the goods identification is determined as p.

In this embodiment, the maximum linear velocity, the maximum angular velocity, and the default transmitting power of different robots are determined according to different target strategies determined by different numbers of identifiers, so that the phenomenon of missing scanning of identifiers can be reduced under different conditions, and a redundant processing process caused by a fixed speed and a fixed transmitting power in a running path of the robot is also avoided.

For example, when the number of identifiers satisfies a second condition, a second operation speed of the robot and a second collection frequency at which the robot collects identifier information of the target object are determined, and the specific implementation manner is as follows:

under the condition that the identification number meets a second condition, determining a second running speed of the robot and a second acquisition frequency of the robot for acquiring identification information of a target object according to the acquired identification number;

and controlling the robot to continuously operate through the second operation speed, and controlling the robot to continuously acquire the identification information of the target object at the second acquisition frequency.

Specifically, under the condition that the number of identifications collected by the robot meets a second condition, determining that the robot is in according to the number of identifications a second running speed running in the running path and a second collection frequency of identification information of the target object collected by the robot, wherein the second condition is that the number of identifications collected by the robot is greater than or equal to a preset first identification number threshold value and is less than a preset second identification number threshold value, the second running speed is a second linear speed and a second rotational angular speed of the robot, and the second collection frequency is a second emission frequency of the identifications collected by the robot.

In practical application, after the robot can determine a second running speed at which the robot runs and a second acquisition frequency at which the identification is acquired according to the number of the currently acquired identifications, the robot continues to run according to a running path through a second linear speed in the second running speed, continues to rotate through a second angular speed in the second running speed, and is controlled to acquire identification information of a target object at the second acquisition frequency.

Further, the second condition includes that the identification number is greater than or equal to the first number threshold and less than a second number threshold;

determining a second running speed of the robot and a second acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number under the condition that the identification number meets a second condition, wherein the second acquisition frequency comprises:

and under the condition that the identification number is greater than or equal to the first number threshold and smaller than a second number threshold, determining a second running speed of the robot and a second acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number.

Specifically, according to different robot inventory requirements, a first quantity threshold and a second quantity threshold of the identification quantity are preset, the maximum linear speed and the maximum angular speed of the robot in operation are set, and under the condition that the identification quantity is greater than or equal to the first quantity threshold and smaller than the second quantity threshold, the second operation speed of the robot in operation and the second acquisition frequency of the robot for acquiring the identification information of the target object are determined.

In practical application, if the first number threshold of the set identifier numbers is e1, the second number threshold is e2, the maximum linear velocity and the maximum angular velocity of the robot operation are set as v, and the initial transmission power is p, the currently collected identifier number is e, and when the current identifier number is greater than or equal to the first number threshold e1 and less than the second number threshold e2, it is determined that the linear velocity and the angular velocity of the robot operation do not exceed 2v/3, and the transmission power is p2(p2> p).

In one embodiment of the invention, under the condition that the number of the identifications collected by the robot is continuously increased, the corresponding linear speed and angular speed of the robot in operation are correspondingly reduced, and the transmitted power is continuously increased, so that the operation speed of the robot in the operation path can be adjusted under the condition that the number of the identifications is increased, and the missing scanning of the identifications of goods is prevented.

For example, when the number of identifiers satisfies a third condition, a third operating speed of the robot and a third collecting frequency at which the robot collects identifier information of the target object are determined, and the specific implementation manner is as follows:

under the condition that the identification number meets a third condition, determining a third running speed of the robot and a third acquisition frequency of the robot for acquiring identification information of a target object according to the acquired identification number;

and controlling the robot to continuously operate through the third operating speed, and controlling the robot to continuously acquire the identification information of the target object at the third acquisition frequency.

Specifically, under the condition that the number of the identifications collected by the robot meets a third condition, determining that the robot is in a third running speed of running in the running path according to the number of the identifications and a third collection frequency of identification information of the target object collected by the robot, wherein the third condition is that the number of the identifications collected by the robot is greater than or equal to a preset second identification number threshold value, the third running speed is a third line speed and a third rotating speed of the robot, and the third collection frequency is a third emission frequency of the identifications collected by the robot.

In practical application, after the robot can determine a third running speed at which the robot runs and a third acquisition frequency at which the identification is acquired according to the number of the currently acquired identifications, the robot continues to run according to a running path through a third line speed in the third running speed, continues to rotate through a third speed in the third running speed and is controlled to acquire identification information of a target object at the third acquisition frequency.

Further, the third condition includes that the identification number is greater than or equal to the second number threshold;

determining a third operating speed of the robot and a third acquisition frequency at which the robot acquires identification information of a target object according to the acquired identification number when the identification number satisfies a third condition includes:

and under the condition that the identification number is greater than or equal to the second number threshold, determining a third running speed of the robot and a third acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number.

Specifically, according to different robot inventory requirements, a first quantity threshold and a second quantity threshold of the identification quantity are preset, the maximum linear speed and the maximum angular speed of the robot are set, and under the condition that the identification quantity is greater than or equal to the second quantity threshold, a third running speed of the robot and a third acquisition frequency of the robot for acquiring identification information of a target object are determined.

In practical application, if the first quantity threshold of the set identification numbers is e1, the second quantity threshold is e2, the maximum linear velocity and the maximum angular velocity of the robot operation are set as v, and the initial transmission power is p, the currently collected identification number is e, and if the current identification number is greater than the second quantity threshold e2, it is determined that the linear velocity and the angular velocity of the robot operation do not exceed v/3 and w/3, and the transmission power is set as p3(p3> p2> p).

In an embodiment of the present invention, when the number of identifiers is greater than the second number threshold, the real-time operation speed and the transmission power are not adjusted again even if the number of identifiers collected by the robot continuously increases, so as to ensure the accuracy of the number of identifiers collected by the robot.

Further, the determining the target operation policy of the robot and the target collection frequency of the identification information of the target object collected by the robot according to the collection control information includes:

and counting the number of the acquired identifications according to the acquired identification information of the target object, and determining the target operation strategy of the robot and the target acquisition frequency of the robot for acquiring the identification information of the target object based on the number of the identifications.

Specifically, the ith condition is not limited to the above three conditions, and different levels of conditions can be preset according to different requirements, that is, the target operation strategy can have multiple levels of operation conditions, and different target operation strategies and target acquisition frequencies are selected under the condition that different operation conditions are met, so that the operation speed and the transmission power of the robot can be adjusted in real time in an operation path, and the condition that the robot misses when executing an inventory task is ensured.

In conclusion, different target operation strategies of the robot are determined according to different identification numbers acquired by the robot under the condition that different conditions are met, so that the linear speed and the angular speed of the robot in the operation path are adjusted in real time, and the transmitting power is set at the same time, so that the checking accuracy is improved in the checking process of the robot.

Step 106: and controlling the robot to continuously operate through the target operation strategy, and controlling the robot to continuously acquire the identification information of the target object at the target acquisition frequency.

Specifically, the target operation strategy determines different target operation strategies according to different identification numbers acquired by the robot, the selected target operation strategy controls the robot to continue to operate in the operation path according to the operation strategy, and meanwhile, the robot is controlled to continue to acquire identification information of goods at the target acquisition frequency.

Further, after controlling the robot to continue to acquire the identification information of the target object at the target acquisition frequency, the method further includes:

and controlling the robot to stop collecting the identification information of the target object under the condition that the robot is determined to reach the end point of the running path.

Specifically, under the condition that the robot reaches the end point of the running path, after the completion of the execution of the checking task is confirmed, the robot is controlled to stop collecting the identification information of the goods at the target running speed.

To sum up, through the goods sign quantity that real-time scanning arrived, set for linear velocity, angular velocity and the transmitting power of robot operation at next moment, guarantee under the comparatively concentrated condition of sign of scanning, through reducing the robot functioning speed, improving transmitting power's mode, reduce the sign and miss the emergence of sweeping the condition, promote sign read rate.

The following description further describes the robot control method by taking an application of the robot control method provided in the specification to a robot goods inventory operation as an example, with reference to fig. 2, where fig. 2 shows a scene schematic diagram of the application of the robot control method provided in an embodiment of the specification to goods inventory.

Specifically, the figure 2 includes a robot 202, a shelf 204, and an item 206, after the robot 202 determines a suitable travel path according to an area map containing semantic information or a path map generated according to an input target point, the robot 202 is controlled to start to perform inventory work on the item 206, controlling the robot 202 to adjust the target operation strategy according to the density of the goods 206 stored in the shelves 204, so as to realize that when the robot 202 travels in the path, for shelves 204 that store items 206 more densely, the robot 202 will be controlled to select a lower speed operating strategy, and the slower frequency of the transmitted power collects the identification information on the goods 206, counts the quantity of the identification information of the goods 206 collected by the robot 202, to avoid inaccuracies in the amount of identification information for the item 206 caused by improper selection of the target operating strategy.

According to the invention, different target operation strategies and target acquisition frequencies are selected according to different goods quantity stored on the goods shelf when the robot is controlled to count the goods, so that the robot selects the operation speed on the travel path and the acquisition frequency for acquiring the goods identification on the goods shelf under the condition of different identification information quantities, and the condition of missing goods scanning is reduced.

The following will further describe the robot control method with reference to fig. 3, by taking an application of the robot control method provided in this specification to the robot inventory work as an example. Fig. 3 is a flowchart illustrating a processing procedure of a robot control method applied to inventory of goods according to an embodiment of the present disclosure, and includes the following steps.

Step 302: the robot creates an area map according to the collected data and determines a running path of the robot.

Specifically, the robot creates an area map of a working area for the robot to operate according to the collected data, and determines an operation path of the robot to the target area on the created area map, in practical application, a single line laser radar carried by the robot collects single line laser radar data, a 2D grid map of the working area is created by using the collected single line laser radar data, and the robot determines the operation path of the robot to operate based on the created 2D grid map, wherein the 2D grid map can form different maps according to different working areas.

Further, determining the operation path of the robot may be implemented in another way, which is specifically implemented as follows:

In specific application, the robot can determine the running path of the robot according to the received running path, and can also plan the running path of the robot running to the target area according to the received target area and the position of the robot in the area map.

Step 304: and the robot executes the checking task based on the running path.

Specifically, in the case where the robot determines a running path that runs when the performed inventory task is executed, the execution of the inventory task is started.

Step 306: the robot reads the tags of the goods based on the rfid device and counts the number of the collected tags.

Specifically, taking the identification information of the target object as the tag of the goods as an example, the robot carries the rfid device to collect and read the rfid tag on the checked goods so as to obtain the identification information of the rfid tag, and counts the number of the collected rfid tags.

Step 308: and selecting different target operation strategies and target acquisition frequencies according to the number of different labels acquired by the robot.

Specifically, different target operation strategies are selected according to the number of the tags of different rfid tags collected by the robot, wherein the target operation strategies include a target linear velocity and a target angular velocity.

When the goods label collecting device is specifically implemented, the target linear speed is the linear running speed of the robot in the running process, the target angular speed is the angular speed which the robot rotates when scanning goods labels in the running process, and when the number of the labels meets a first condition, the first running speed of the robot and the first collecting frequency of label information of a target object collected by the robot are determined according to the collected number of the labels, wherein the first running speed is the first linear speed and the first rotating angular speed of the robot, and the first collecting frequency is the first transmitting frequency of the label collected by the robot.

And when the number of the labels meets a second condition, determining a second running speed of the robot and a second acquisition frequency of the robot for acquiring the label information of the target object according to the acquired number of the labels, wherein the second running speed is a second linear speed and a second rotating angular speed of the robot, and the second acquisition frequency is a second transmitting frequency of the robot for acquiring the labels.

And when the number of the tags meets a third condition, determining a third running speed of the robot and a third acquisition frequency at which the robot acquires tag information of the target object according to the acquired number of the tags, wherein the third running speed is a third line speed at which the robot runs and a third rotating angular speed, and the third acquisition frequency is a third transmitting frequency at which the robot acquires the tags.

Further, the first condition includes the number of tags collected by the robot being less than a first number threshold; the second condition comprises the number of tags being greater than or equal to the first number threshold and less than a second number threshold; the third condition includes the number of tags being equal to or greater than the second number threshold.

Step 310: and calculating the real-time running speed of the robot according to different target running strategies.

Specifically, different target operation strategies are determined according to different label quantities acquired by the robot, and the real-time operation speed of the robot is calculated according to the different target operation strategies and the initial operation speed of the robot according to the current mileage.

Step 312: and judging whether the robot reaches the end point of the running path, if so, completing the task, and if not, continuing to execute the step 306.

Specifically, the robot determines different target running speeds according to the number of the collected different labels, determines whether the robot reaches the end point of the running path in the process of running the running path, controls the robot to stop the checking task of the collected labels if the robot reaches the end point of the running path, and controls the robot to continue to execute the step 306 to continue scanning and reading the goods labels if the robot does not reach the end point of the running path.

In summary, according to the robot control method applied to the work scene of checking goods provided by the embodiment of the invention, the robot can execute different target operation strategies and emission frequencies according to the real-time read quantity of the rfid tags of the goods in the moving process, dynamically adjust the walking process of the robot, reduce the quantity of missed-scanning tags and improve the reading rate.

The following describes the speed in the robot control method further by taking the calculation of the target operation speed in the robot control method provided in the present specification as an example, with reference to fig. 4. Fig. 4 shows a flowchart of calculating a target operation speed in a robot control method provided in an embodiment of the present specification, which specifically includes the following steps.

Step 402: the robot obtains the current mileage speed according to the mileage recorded in the current odometer.

Specifically, during the starting process of the robot, an odometer carried by the robot is started, and the current mileage speed of the robot is obtained based on the mileage recorded by the odometer, for example, the robot obtains the current mileage speed V0 according to the current mileage.

Step 404: the robot calculates an initial running speed based on a preset algorithm and the current mileage speed.

Specifically, the preset algorithm may be dwa algorithm, the output speed of the robot operation is calculated, the initial operation speed is the optimal speed of the robot in the operation path, which is calculated according to the current mileage speed and the preset algorithm, and the robot calculates the initial operation speed Vt based on the preset algorithm and the current mileage speed V0.

Step 406: and the robot calculates the set maximum running speed according to the number of the labels read at present.

Specifically, for example, when the goods identification information is the tag information, in the process of the robot traveling along the travel path, the robot selects different target operation strategies according to the collected identification number, determines different target linear velocities and different target angular velocities, and calculates the set maximum operation velocity V' based on the different target linear velocities and the different target angular velocities.

During concrete implementation, the number of the collected identifications of the robot can be compared with a preset identification number threshold value, the target running speed and the collection frequency of the emission of the robot are determined, the running speed of the robot is reduced, the emission frequency of the collected identifications of the robot is improved in a mode of reducing the running speed of the robot and improving the emission frequency of the collected identifications of the robot under the condition that the rfid identifications are concentrated, the condition that the identification is not scanned is reduced, and the identification reading rate is improved.

Step 408: the robot outputs a target operation speed based on the maximum operation speed and the initial operation speed.

Specifically, the robot outputs a final target operation speed based on the maximum operation speed V' and the initial operation speed Vt.

In specific implementation, the robot calculates a set maximum operating speed V 'and an initial operating speed Vt calculated by the robot based on a preset algorithm and the current mileage speed V0 based on different target linear speeds and target angular speeds, and takes the minimum value of the maximum operating speed V' and the initial operating speed Vt to output a final target operating speed.

In practical application, the maximum running speed V' and the initial running speed Vt are taken as the minimum value, so that the running speed of the robot is reduced and the occurrence of the label missing scanning condition is reduced in the running process of the robot.

Step 410: and judging whether the robot reaches the end point of the running path, if so, ending the current task, and if not, continuing to execute the step 402.

Specifically, the robot continues to run in the running path according to the target running speed adjusted in real time, if the robot reaches the end point of the running path, the task of checking goods of the current robot is finished, and if the robot does not reach the end point of the running path, the robot is controlled to continue to execute the step 302, and the current mileage speed is obtained based on the current mileage of the current robot.

In conclusion, the robot obtains the output target running speed through the current mileage speed and the initial running speed, and the movement speed of the robot is reduced under the condition of concentrated identification and less identification missing scanning is ensured on the basis of the obtained target running speed through real-time adjustment.

Corresponding to the above method embodiment, the present specification further provides an embodiment of a robot control device, and fig. 5 shows a schematic structural diagram of a robot control device provided in an embodiment of the present specification. As shown in fig. 5, the apparatus includes:

a first acquisition module 502, a determination module 504, a second acquisition module 506;

the first acquisition module 502 is configured to control the robot to acquire acquisition control information during the process of traveling to a target area;

the determining module 504 is configured to determine the robot target operation strategy and a target collection frequency of the identification information of the robot collection target object according to the collection control information;

the second collecting module 506 is configured to control the robot to continue to operate through the target operation policy, and control the robot to continue to collect the identification information of the target object at the target collecting frequency.

Optionally, the first acquisition module 502 is further configured to:

and controlling the robot to collect semantic information of a passing area map in the process of moving to a target area, and taking the semantic information as the collection control information, wherein the semantic information comprises the density degree of the target object.

Optionally, the apparatus further includes:

a receiving module configured to receive a travel path traveled by the robot to the target area and control the robot to travel to the target area based on the travel path.

Optionally, the apparatus further includes:

a first planning module configured to determine the target area and plan a travel path of the robot to the target area based on the target area;

a control module configured to control the robot to travel to the target area based on the travel path.

Optionally, the apparatus further includes:

an acquisition module configured to acquire a running speed of the robot based on a current mileage;

a first obtaining module configured to obtain an initial operation speed based on a preset algorithm and an operation speed of the current mileage.

Optionally, the apparatus further includes:

a calculation module configured to calculate a candidate operating speed of the robot according to the collected identification number;

a second obtaining module configured to obtain a target operating speed of the robot based on the initial operating speed and the candidate operating speed, wherein the target operating speed characterizes the target operating strategy.

Optionally, the determining module 504 is further configured to:

under the condition that the acquisition control information meets a first condition, determining a first running speed of the robot and a first acquisition frequency of the robot for acquiring identification information of a target object according to the acquired identification number;

accordingly, the second acquisition module 506 is further configured to:

and controlling the robot to continuously operate through the first operating speed, and controlling the robot to continuously acquire the identification information of the target object at the first acquisition frequency.

Optionally, the determining module 504 is further configured to:

under the condition that the acquisition control information meets a second condition, determining a second running speed of the robot and a second acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number;

accordingly, the second acquisition module 506 is further configured to:

Optionally, the determining module 504 is further configured to:

under the condition that the acquisition control information meets a third condition, determining a third running speed of the robot and a third acquisition frequency of the robot for acquiring the identification information of the target object according to the acquired identification number;

accordingly, the second acquisition module 506 is further configured to:

accordingly, the determining module 504 is further configured to:

Optionally, the first condition includes that the number of identifiers in the acquisition control information is smaller than a first number threshold;

accordingly, the determining module 504 is further configured to:

Optionally, the second condition includes that the number of identifiers in the acquisition control information is greater than or equal to the first number threshold and is less than a second number threshold;

accordingly, the determining module 504 is further configured to:

Optionally, the third condition includes that the number of identifiers in the acquisition control information is greater than or equal to the second number threshold;

accordingly, the determining module 504 is further configured to:

Optionally, the determining module 504 is further configured to:

Optionally, the apparatus further includes:

a collection module configured to control the robot to stop collecting the identification information of the target object if it is determined that the robot reaches an end point of the travel path.

Optionally, the apparatus further includes:

a second planning module configured to create an area map for the robot to run based on the data collected by the robot, and plan a running path of the robot to the target area on the area map.

Optionally, the apparatus further includes:

a creation module configured to create an area map for the robot operation based on data collected by the robot and determine a position of the robot in the area map;

a third planning module configured to plan a travel path of the robot traveling to the target area in the area map based on the target area and a position of the robot in a case where the target area is received.

The robot control device provided by the embodiment of the invention determines different target operation strategies and different target acquisition frequencies according to the number of the identifications acquired by the robot, and adjusts the operation speed and the emission frequency of the robot in real time, so as to reduce the occurrence of the scanning missing situation and improve the inventory accuracy under the condition of concentrated identifications.

The above is a schematic scheme of a robot control device of the present embodiment. It should be noted that the technical solution of the robot control device is the same concept as the technical solution of the robot control method, and details of the technical solution of the robot control device, which are not described in detail, can be referred to the description of the technical solution of the robot control method.

Fig. 6 shows a block diagram of a robot 600 according to an embodiment of the present disclosure. The components of the robot 600 include, but are not limited to, a memory 610 and a processor 620. The processor 620 is coupled to the memory 610 via a bus 630 and a database 650 is used to store data.

The robot 600 also includes an access device 640, the access device 640 enabling the robot 600 to communicate via one or more networks 660. Examples of such networks include the Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the internet. Access device 640 may include one or more of any type of network interface (e.g., a Network Interface Card (NIC)) whether wired or wireless, such as an IEEE802.11 Wireless Local Area Network (WLAN) wireless interface, a worldwide interoperability for microwave access (Wi-MAX) interface, an ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a bluetooth interface, a Near Field Communication (NFC) interface, and so forth.

In one embodiment of the present description, the above-mentioned components of the robot 600 and other components not shown in fig. 6 may also be connected to each other, for example, by a bus. It should be understood that the block diagram of the robot structure shown in fig. 6 is for exemplary purposes only and is not intended to limit the scope of the present disclosure. Those skilled in the art may add or replace other components as desired.

The bot 600 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet, personal digital assistant, laptop, notebook, netbook, etc.), a mobile phone (e.g., smartphone), a wearable computing device (e.g., smartwatch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or PC. The robot 600 may also be a mobile or stationary server.

Wherein the processor 620 is configured to execute computer-executable instructions that, when executed by the processor, implement the steps of the task processing method.

The above is a schematic solution of a robot of the present embodiment. It should be noted that the technical solution of the robot belongs to the same concept as the technical solution of the robot control method, and details of the technical solution of the robot, which are not described in detail, can be referred to the description of the technical solution of the robot control method.

An embodiment of the present specification also provides a computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of the robot control method.

The above is an illustrative scheme of a computer-readable storage medium of the present embodiment. It should be noted that the technical solution of the storage medium belongs to the same concept as the technical solution of the robot control method, and for details that are not described in detail in the technical solution of the storage medium, reference may be made to the description of the technical solution of the robot control method.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The computer instructions comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described acts or sequences, as some steps may be performed in other sequences or simultaneously according to the present invention. Further, those skilled in the art should also appreciate that the embodiments described in this specification are preferred embodiments and that acts and modules referred to are not necessarily required for an embodiment of the specification.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The preferred embodiments of the present specification disclosed above are intended only to aid in the description of the specification. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the embodiments and the practical application, to thereby enable others skilled in the art to best understand and utilize the embodiments. The specification is limited only by the claims and their full scope and equivalents.

Claims

1. A robot control method, comprising:

2. The robot control method of claim 1, wherein controlling the robot to acquire acquisition control information during travel to a target area comprises:

3. The robot control method of claim 1, wherein controlling the robot to acquire acquisition control information during travel to a target area comprises:

4. The robot control method according to claim 2, wherein the controlling the robot, before acquiring the identification information of the target object while traveling to the target area, further comprises:

5. The robot control method according to claim 2, wherein the controlling the robot, before acquiring the identification information of the target object while traveling to the target area, further comprises:

controlling the robot to travel to the target area based on the travel path.

6. The robot control method according to claim 2, wherein the controlling the robot, before acquiring the identification information of the target object while traveling to the target area, further comprises:

acquiring the running speed of the robot based on the current mileage;

7. The robot control method of claim 6, further comprising, after obtaining an initial operating speed based on a preset algorithm and the operating speed of the current mileage:

8. The robot control method according to claim 1, wherein the determining the robot target operation policy and the target collection frequency at which the robot collects identification information of a target object according to the collection control information includes:

9. The robot control method of claim 1, wherein the target operating strategy includes a target linear velocity, a target angular velocity;

10. The robot control method according to claim 4, wherein before receiving the travel path traveled by the robot to the target area, the method further comprises:

11. The robot control method of claim 5, wherein prior to determining the target area and planning the path of travel of the robot to the target area based on the target area, further comprising:

12. A robot control apparatus, comprising: the device comprises a first acquisition module, a determination module and a second acquisition module;

13. A robot comprising a machine body, wherein the machine body comprises:

a memory and a processor;

the memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions, wherein the processor implements the steps of the robot control method according to any one of claims 1 to 11 when executing the computer-executable instructions.

14. A computer readable storage medium storing computer instructions which, when executed by a processor, carry out the steps of the robot control method of any one of claims 1 to 11.