CN116202523A - Robot control method, apparatus, device and computer readable storage medium - Google Patents
Robot control method, apparatus, device and computer readable storage medium Download PDFInfo
- Publication number
- CN116202523A CN116202523A CN202211742795.4A CN202211742795A CN116202523A CN 116202523 A CN116202523 A CN 116202523A CN 202211742795 A CN202211742795 A CN 202211742795A CN 116202523 A CN116202523 A CN 116202523A
- Authority
- CN
- China
- Prior art keywords
- robot
- target
- path
- intersection area
- path intersection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a robot control method, a device, equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring navigation paths of all robots; determining whether a target navigation path with a path intersection area exists in each navigation path; and if the target navigation path with the path intersection area exists, controlling a plurality of target robots corresponding to the target navigation path to sequentially pass through the path intersection area based on the path intersection area. According to the invention, the target robot orderly passes through the path intersection area, the probability of mutual blockage of the robot in the moving process is reduced, meanwhile, the robot performs the planning of the navigation path to realize the distributed calculation of the navigation path, the intervention of a server on the navigation path of the robot is reduced, and the pressure of the server is lightened.
Description
Technical Field
The present invention relates to the field of intelligent driving technologies, and in particular, to a method, an apparatus, a device, and a computer readable storage medium for controlling a robot.
Background
With the development of science and technology, robots are increasingly used in life of people, such as patrol, meal delivery, express delivery, transportation and the like. Because the road conditions in the current actual life scene are complex, even if the robots can perform autonomous navigation, when a plurality of robots are in the moving process and are in crossroads or reverse driving, the situation that the robots are blocked each other at the crossroads is easy to occur only by the way that the robots autonomously avoid the obstacle.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a robot control method, a device, equipment and a computer readable storage medium, and aims to solve the technical problem that the existing robots are easy to block each other in the moving process.
In order to achieve the above object, the present invention provides a robot control method comprising the steps of:
acquiring navigation paths of all robots;
determining whether a target navigation path with a path intersection area exists in each navigation path;
and if the target navigation path with the path intersection area exists, controlling a plurality of target robots corresponding to the target navigation path to sequentially pass through the path intersection area based on the path intersection area.
Further, the step of controlling the plurality of target robots corresponding to the target navigation path to sequentially pass through the path intersection area based on the path intersection area includes:
determining whether the path intersection region is an intersection;
if the path intersection area is an intersection, acquiring the arrival time of the target robot at the intersection;
and controlling the target robot to sequentially pass through the path intersection area based on the arrival time.
Further, the target robot includes a first robot and a second robot, and the step of controlling the target robot to sequentially pass through the path intersection region based on the arrival time includes:
when the arrival time of the first robot is acquired, sending an edge-leaning parking instruction to the second robot so that the second robot parks in an edge-leaning manner when arriving at the path intersection area;
and when the first robot is detected to pass through the intersection, sending a driving instruction to the second robot so as to drive the second robot to pass through the intersection.
Further, the step of obtaining the arrival time of the target robot at the intersection includes:
sending the path intersection region to the target robot, wherein the target robot feeds back an arrival time when the path intersection region is reached;
and receiving the arrival time fed back by the target robot.
Further, the step of controlling the plurality of target robots corresponding to the target navigation path to sequentially pass through the path intersection area based on the path intersection area includes:
if the path intersection area is not an intersection, determining whether the target robots travel in a reverse direction;
if the target robots are in reverse running, acquiring task priorities corresponding to the target robots;
and controlling the target robot to sequentially pass through the path intersection area based on the task priority.
Further, the target robot includes a first robot and a second robot, and the step of controlling the target robot to sequentially pass through the path intersection region based on the task priority includes:
when the first robot reaches the path intersection area, determining whether the task priority of the first robot is greater than or equal to the task priority of the second robot;
if the task priority of the first robot is greater than or equal to the task priority of the second robot, sending an edge parking instruction to the second robot in the target robots, so that the second robot parks by edge when reaching the path intersection area;
and when the first robot is detected to pass through the path intersection area, sending a driving instruction to the second robot so as to drive the second robot to pass through the path intersection area.
Further, after the step of determining whether the task priority of the first robot is greater than or equal to the task priority of the second robot in the target robot, the method further includes:
if the task priority of the first robot is smaller than that of the second robot, sending an edge parking instruction to the first robot in the target robots so that the first robot parks in an edge when reaching the path intersection area;
and when the second robot is detected to pass through the path intersection area, sending a running instruction to the first robot so as to enable the first robot to run through the path intersection area.
In addition, in order to achieve the above object, the present invention also provides a robot control device including:
the acquisition module is used for acquiring the navigation path of each robot;
the determining module is used for determining whether a target navigation path with a path intersection area exists in each navigation path;
and the control module is used for controlling a plurality of target robots corresponding to the target navigation paths to sequentially pass through the path intersection area based on the path intersection area if the target navigation paths with the path intersection area exist.
In addition, in order to achieve the above object, the present invention also provides a robot control apparatus including: the robot control system comprises a memory, a processor and a robot control program stored in the memory and capable of running on the processor, wherein the robot control program realizes the steps of the robot control method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a robot control program which, when executed by a processor, implements the steps of the robot control method as described above.
The invention obtains the navigation path of each robot; then determining whether a target navigation path with a path intersection area exists in each navigation path; and if the target navigation path with the path intersection area exists, controlling a plurality of target robots corresponding to the target navigation path to sequentially pass through the path intersection area based on the path intersection area, so that the target robots sequentially pass through the path intersection area, the probability of mutual blocking of the robots in the moving process is reduced, meanwhile, the robot performs planning of the navigation path to realize distributed calculation of the navigation path, the intervention of a server on the navigation path of the robot is reduced, and the pressure of the server is lightened.
Drawings
FIG. 1 is a schematic diagram of a robot control device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of the robot control method of the present invention;
fig. 3 is a schematic functional block diagram of an embodiment of a robot control device according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, fig. 1 is a schematic diagram of a robot control device in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the robot control device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the robot control device may further include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Among other sensors, such as light sensors, motion sensors, and other sensors. In particular, the light sensor may comprise an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile robotic control device moves to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the acceleration in all directions (generally three axes), and can detect the gravity and the direction when the motion sensor is stationary, and the motion sensor can be used for identifying applications of the control gesture of the mobile robot (such as horizontal-vertical screen switching, related games, magnetometer gesture calibration), vibration identification related functions (such as pedometer and knocking), and the like; of course, the mobile robot control device may also be configured with other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, and the like, which are not described herein.
It will be appreciated by those skilled in the art that the robotic control device structure shown in fig. 1 is not limiting of the robotic control device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a robot control program may be included in a memory 1005 as one type of computer storage medium.
In the robot control device shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server, and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to invoke the robot control program stored in the memory 1005.
In the present embodiment, the robot control apparatus includes: the robot control system comprises a memory 1005, a processor 1001 and a robot control program stored in the memory 1005 and capable of running on the processor 1001, wherein the processor 1001 executes the steps of the robot control method in the following embodiments when calling the robot control program stored in the memory 1005.
The invention also provides a robot control method, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the robot control method of the invention.
Currently, autonomous Mobile Robots (AMR) are based on natural environment SLAM navigation technology to achieve flexible handling. In AMR systems using SLAM navigation, the path planning of multiple robots is usually unified by a scheduling server, and the allocated path measurements are sent to the respective robots for re-adaptation and execution. In this case, the problem of multi-vehicle cluster scheduling is complicated by using the conventional graph theory, and a server is more required to be added in a site scheduling system, and meanwhile, the calculation capability and the real-time performance of the server are very high.
In this embodiment, the robot control method includes:
step S101, obtaining navigation paths of all robots;
in this embodiment, the scheduling server acquires the navigation paths of the robots in real time, where the robots are SLAM terminals based on natural environments, and the robots have an autonomous path planning capability, that is, the robots autonomously plan the navigation paths to the target points, travel based on the navigation paths, and share the planned navigation paths with the scheduling server.
Step S102, determining whether a target navigation path with a path intersection area exists in each navigation path;
in this embodiment, when the navigation path of each robot is obtained, the scheduling server determines whether a target navigation path having a path intersection area exists in each navigation path, specifically, the scheduling server may obtain a running speed of each robot when the robot normally runs, determine whether a target navigation path having a path intersection area exists according to the running speed and the navigation path, for example, for a navigation path a of the robot a and a navigation path B of the robot B, the scheduling server may determine whether an intersection area exists between the navigation path a and the navigation path B, if the intersection area exists, the scheduling server calculates a time of the intersection area reached by the robot a according to the running speed of the robot a, and calculates a time of the intersection area reached by the robot B according to the running speed of the robot B, if a time difference between the time of the intersection area reached by the robot a and the time of the intersection area reached by the robot B is smaller than a preset time difference, and further determine that the navigation path a and the navigation path B are the target navigation paths, if the navigation path a and the navigation path B are the target navigation paths, and the preset time difference between the robot a and the robot B is the preset time, for example, and the preset time difference may be set to be 10S, and the reasonable time difference is set.
Step S103, if the target navigation path with the path intersection area exists, controlling a plurality of target robots corresponding to the target navigation path to sequentially pass through the path intersection area based on the path intersection area
In this embodiment, if the target navigation path having the path intersection area exists, the plurality of target robots corresponding to the target navigation path are controlled to sequentially pass through the path intersection area based on the path intersection area, so that each target robot sequentially passes through the path intersection area, and the probability of the robots blocking each other in the moving process is reduced.
According to the robot control method, the navigation paths of all robots are obtained; then determining whether a target navigation path with a path intersection area exists in each navigation path; and if the target navigation path with the path intersection area exists, controlling a plurality of target robots corresponding to the target navigation path to sequentially pass through the path intersection area based on the path intersection area, so that the target robots sequentially pass through the path intersection area, the probability of mutual blocking of the robots in the moving process is reduced, meanwhile, the robot performs planning of the navigation path to realize distributed calculation of the navigation path, the intervention of a server on the navigation path of the robot is reduced, and the pressure of the server is lightened.
Based on the first embodiment, a second embodiment of the robot control method of the present invention is proposed, in which step S103 includes:
step S201, determining whether the path intersection area is an intersection;
step S202, if the path intersection area is an intersection, acquiring the arrival time of the target robot at the intersection;
step S203, based on the arrival time, controlling the target robot to sequentially pass through the path intersection area.
In this embodiment, when determining that there is a target navigation path having a path intersection area, the scheduling server determines a target robot corresponding to the target navigation path, and then determines whether the path intersection area is an intersection, for example, whether the path intersection area is an intersection such as an intersection or a T-intersection, according to the target navigation path.
If the path intersection area is determined to be an intersection, the scheduling server obtains the arrival time of the target robot at the intersection, specifically, if the target robot includes a robot a and a robot B, the scheduling server may obtain the arrival time of the robot a and the robot B at the intersection first, and if the target robot includes a robot a, a robot B, and a robot C, the scheduling server may obtain the arrival time of two robots at the intersection first among the robot a, the robot B, and the robot C. Further, in an embodiment, the step S202 includes:
step S2021, transmitting the path intersection region to the target robot, wherein when the path intersection region is reached, the target robot feeds back an arrival time;
step S2022, receiving an arrival time fed back by the target robot.
In this embodiment, if it is determined that the path intersection area is an intersection, the scheduling server may send the path intersection area to the target robot, where after the path intersection area is received, the target robot may determine, in real time, whether the target robot reaches the path intersection area through the laser radar, and when the path intersection area is reached, the target robot feeds back the arrival time, that is, the arrival time is sent by the target robot to the scheduling server, and the scheduling server receives the arrival time fed back by the target robot, so that the arrival time of the target robot may be accurately obtained, so as to achieve accurate scheduling of the target robot, so that the target robot sequentially passes through the path intersection area, and the probability of mutual blocking of the robots in the moving process is reduced.
After the arrival time of each target robot is acquired, the scheduling server controls the target robots to sequentially pass through the path intersection area based on the arrival time, specifically, the scheduling server controls the target robots which enter the path intersection area first to pass through preferentially based on the arrival time, and then the target robots which enter the path intersection area stop waiting, and pass through the path intersection area after the target robots which enter the path intersection area first pass through.
According to the robot control method provided by the embodiment, whether the path intersection area is an intersection is determined; then, if the path intersection area is an intersection, acquiring the arrival time of the target robot at the intersection; and then, based on the arrival time, controlling the target robots to sequentially pass through the path intersection region, so that the target robots can sequentially pass through the path intersection region according to the arrival time, and the probability of mutual blocking of the robots in the moving process is further reduced.
Based on the second embodiment, a third embodiment of the robot control method of the present invention is proposed, in this embodiment, the target robot includes a first robot and a second robot, and step S203 includes:
step S301, when the arrival time of the first robot is obtained, an edge-leaning parking instruction is sent to the second robot, so that the second robot parks in an edge-leaning mode when the second robot arrives at the path intersection area;
and step S302, when the first robot is detected to pass through the intersection, a driving instruction is sent to the second robot so as to drive the second robot to pass through the intersection.
In this embodiment, when the target robot arrives at the intersection, if the arrival time of the first robot is acquired first, the arrival time of the first robot is acquired, and when the arrival time of the second robot is acquired, an edge parking instruction is sent to the second robot in the target robot, so that the second robot performs edge parking when arriving at the path intersection area, that is, when receiving the edge parking instruction, the second robot performs edge parking stop according to the distance between the current position and the path intersection area, so as to perform edge parking when arriving at the path intersection area.
And then, the scheduling server detects the position information of the first robot in real time, determines whether the first robot passes through the intersection, and if the first robot passes through the intersection, sends a driving instruction to the second robot so as to enable the second robot to drive through the intersection, thereby realizing that the target robot orderly passes through the path intersection area, and further reducing the probability of mutual blocking of the robots in the moving process.
If the second robot includes a plurality of robots, when the first robot passes through the intersection, the scheduling server determines a robot that arrives at the intersection first in the second robot, transmits a driving instruction to the robot that arrives at the intersection first so that the robot that arrives at the intersection first passes through the intersection, and deletes the robot that arrives at the intersection first in the second robot, when the robot that arrives at the intersection first passes through the intersection, the scheduling server continues to execute the step of the robot that arrives at the intersection first in the second robot until the number of the second robots is 1, and when the number of the second robots is 1, the scheduling server transmits the driving instruction to the second robot so that the second robot drives through the intersection.
According to the robot control method, when the arrival time of the first robot is acquired, an edge-by-edge parking instruction is sent to the second robot, so that the second robot parks by edge when arriving at the path intersection area; and then when the first robot passes through the intersection, sending a driving instruction to the second robot so as to drive the second robot to pass through the intersection, so that the target robot orderly passes through a path intersection area, and the probability of mutual blocking of the robots in the moving process is further reduced.
Based on the above-described respective embodiments, a fourth embodiment of the robot control method of the present invention is proposed, in which step S103 includes:
step S401, if the path intersection area is not an intersection, determining whether the target robots are in reverse driving;
step S402, if the target robots are in reverse running, acquiring task priorities corresponding to the target robots;
step S403, based on the task priority, controlling the target robot to sequentially pass through the path intersection region.
In this embodiment, if the path intersection area is not an intersection, the scheduling server determines whether or not the target robots travel in the reverse direction.
If the target robots travel in the opposite direction, the scheduling server obtains the task priority corresponding to the target robots, specifically, the scheduling server may obtain the task priority through the task currently executed by the target robots, where the task priority corresponding to the task of the robots may be preset, for example, the priority corresponding to the cargo-carrying task such as meal delivery, express delivery, transport, etc. is the largest, the priority of the task of the empty robot is the smallest, etc.
After the task priority is acquired, the scheduling server controls the target robots to sequentially pass through the path intersection area based on the task priority, for example, the target robots with high task priority preferentially pass through the path intersection area, so that the target robots sequentially pass through the path intersection area by the task priority, and the probability of mutual blocking of the robots in the moving process is further reduced.
According to the robot control method provided by the embodiment, if the path intersection area is not an intersection, whether the target robots travel in the opposite direction or not is determined; then, if the target robots are in reverse running, acquiring task priorities corresponding to the target robots; and then, based on the task priority, controlling the target robot to sequentially pass through the path intersection region so as to enable the target robot to sequentially pass through the path intersection region by the task priority, thereby further reducing the probability of mutual blocking of the robots in the moving process.
Based on the fourth embodiment, a fifth embodiment of the robot control method of the present invention is proposed, in which the target robot includes a first robot and a second robot, and step S403 includes:
step S501, when the first robot reaches the path intersection area, determining whether the task priority of the first robot is greater than or equal to the task priority of the second robot;
step S502, if the task priority of the first robot is greater than or equal to the task priority of the second robot, sending an edge parking instruction to the second robot in the target robots, so that the second robot parks by edge when reaching the path intersection area;
step S503, when it is detected that the first robot passes through the path intersection area, a travel instruction is sent to the second robot, so that the second robot travels through the path intersection area.
In this embodiment, when the task priority of the target robot is obtained, whether the target robot reaches the path intersection area is monitored in real time, if it is detected that a first robot in the target robot reaches the path intersection area, the scheduling server determines whether the task priority of the first robot is greater than or equal to the task priority of a second robot in the target robot, where the first robot may be any robot in the target robot, and when the first robot reaches the path intersection area, other robots (second robots) in the target robot do not reach the path intersection area.
And if the task priority of the first robot is greater than or equal to that of the second robot, sending an edge parking instruction to the second robot in the target robots so that the second robot performs edge parking when reaching the path intersection area, namely, when receiving the edge parking instruction, the second robot performs edge parking stopping according to the distance between the current position and the path intersection area so as to perform edge parking when reaching the path intersection area.
And then, the scheduling server detects the position information of the first robot in real time, determines whether the first robot passes through the path intersection area, and if so, sends a running instruction to the second robot so that the second robot runs through the path intersection area.
Further, in one possible implementation manner, after step S501, the robot control method further includes:
step S504, if the task priority of the first robot is smaller than the task priority of the second robot, sending an edge parking instruction to the first robot in the target robots, so that the first robot parks by edge when reaching the path intersection area;
step S505, when it is detected that the second robot passes through the path intersection area, of transmitting a travel instruction to the first robot to cause the first robot to travel through the path intersection area.
In this embodiment, if the task priority of the first robot is smaller than the task priority of the second robot, an edge parking instruction is sent to the first robot in the target robots, so that the first robot parks by edge when reaching the path intersection area; that is, upon receiving the side parking instruction, the first robot performs side parking stop according to the distance between the current position and the path intersection area to side parking when reaching the path intersection area.
And then, the scheduling server detects the position information of the second robot in real time, determines whether the second robot passes through the path intersection area, and if so, sends a running instruction to the first robot so that the first robot runs through the path intersection area, and further, the robot with high task priority preferentially passes through the path intersection area, so that the target robot orderly passes through the path intersection area through the task priority, and the probability of mutual blocking of the robots in the moving process is further reduced.
According to the robot control method, when a first robot in the target robot reaches the path intersection area, whether the task priority of the first robot is greater than or equal to the task priority of a second robot in the target robot is determined; then, if the task priority of the first robot is greater than or equal to the task priority of the second robot, sending an edge parking instruction to the second robot in the target robots so that the second robot parks in an edge when reaching the path intersection area; and when the first robot passes through the path intersection area, a driving instruction is sent to the second robot so that the second robot can drive through the path intersection area, and then the robot with high task priority can pass through the path intersection area preferentially, so that the target robot can pass through the path intersection area orderly through the task priority, and the probability of mutual blocking of the robots in the moving process is further reduced.
In addition, an embodiment of the present invention further provides a robot control device, including:
an acquisition module 10 for acquiring a navigation path of each robot;
a determining module 20, configured to determine whether a target navigation path with a path intersection area exists in each navigation path;
and the control module 30 is configured to control, if the target navigation path having a path intersection region exists, a plurality of target robots corresponding to the target navigation path to sequentially pass through the path intersection region based on the path intersection region.
The method executed by each program unit may refer to each embodiment of the robot control method of the present application, and will not be described herein.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a robot control program, and the robot control program realizes the steps of the robot control method when being executed by a processor.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A robot control method, characterized in that the robot control method comprises the steps of:
acquiring navigation paths of all robots;
determining whether a target navigation path with a path intersection area exists in each navigation path;
and if the target navigation path with the path intersection area exists, controlling a plurality of target robots corresponding to the target navigation path to sequentially pass through the path intersection area based on the path intersection area.
2. The robot control method according to claim 1, wherein the step of controlling a plurality of target robots corresponding to the target navigation path to sequentially pass through the path intersection region based on the path intersection region comprises:
determining whether the path intersection region is an intersection;
if the path intersection area is an intersection, acquiring the arrival time of the target robot at the intersection;
and controlling the target robot to sequentially pass through the path intersection area based on the arrival time.
3. The robot control method according to claim 2, wherein the target robot includes a first robot and a second robot, and the step of controlling the target robot to sequentially pass through the path intersection region based on the arrival time includes:
when the arrival time of the first robot is acquired, sending an edge-leaning parking instruction to the second robot so that the second robot parks in an edge-leaning manner when arriving at the path intersection area;
and when the first robot is detected to pass through the intersection, sending a driving instruction to the second robot so as to drive the second robot to pass through the intersection.
4. The robot control method according to claim 2, wherein the step of acquiring an arrival time at which the target robot arrives at the intersection comprises:
sending the path intersection region to the target robot, wherein the target robot feeds back an arrival time when the path intersection region is reached;
and receiving the arrival time fed back by the target robot.
5. The robot control method according to any one of claims 1 to 4, wherein the step of controlling a plurality of target robots corresponding to the target navigation path based on the path intersection region to sequentially pass through the path intersection region comprises:
if the path intersection area is not an intersection, determining whether the target robots travel in a reverse direction;
if the target robots are in reverse running, acquiring task priorities corresponding to the target robots;
and controlling the target robot to sequentially pass through the path intersection area based on the task priority.
6. The robot control method according to claim 5, wherein the target robot includes a first robot and a second robot, and the step of controlling the target robot to sequentially pass through the path intersection region based on the task priority includes:
when the first robot reaches the path intersection area, determining whether the task priority of the first robot is greater than or equal to the task priority of the second robot;
if the task priority of the first robot is greater than or equal to the task priority of the second robot, sending an edge parking instruction to the second robot in the target robots, so that the second robot parks by edge when reaching the path intersection area;
and when the first robot is detected to pass through the path intersection area, sending a driving instruction to the second robot so as to drive the second robot to pass through the path intersection area.
7. The robot control method according to claim 6, wherein after the step of determining whether the task priority of the first robot is greater than or equal to the task priority of the second robot in the target robot, further comprising:
if the task priority of the first robot is smaller than that of the second robot, sending an edge parking instruction to the first robot in the target robots so that the first robot parks in an edge when reaching the path intersection area;
and when the second robot is detected to pass through the path intersection area, sending a running instruction to the first robot so as to enable the first robot to run through the path intersection area.
8. A robot control device, characterized in that the robot control device comprises:
the acquisition module is used for acquiring the navigation path of each robot;
the determining module is used for determining whether a target navigation path with a path intersection area exists in each navigation path;
and the control module is used for controlling a plurality of target robots corresponding to the target navigation paths to sequentially pass through the path intersection area based on the path intersection area if the target navigation paths with the path intersection area exist.
9. A robot control apparatus, characterized in that the robot control apparatus comprises: a memory, a processor and a robot control program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the robot control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a robot control program, which when executed by a processor, implements the steps of the robot control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211742795.4A CN116202523A (en) | 2022-12-30 | 2022-12-30 | Robot control method, apparatus, device and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211742795.4A CN116202523A (en) | 2022-12-30 | 2022-12-30 | Robot control method, apparatus, device and computer readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116202523A true CN116202523A (en) | 2023-06-02 |
Family
ID=86516430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211742795.4A Pending CN116202523A (en) | 2022-12-30 | 2022-12-30 | Robot control method, apparatus, device and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116202523A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116819986A (en) * | 2023-08-28 | 2023-09-29 | 温州宝翔科技有限公司 | Remote control method and system for voltage-stabilizing extension socket |
-
2022
- 2022-12-30 CN CN202211742795.4A patent/CN116202523A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116819986A (en) * | 2023-08-28 | 2023-09-29 | 温州宝翔科技有限公司 | Remote control method and system for voltage-stabilizing extension socket |
| CN116819986B (en) * | 2023-08-28 | 2023-11-24 | 温州宝翔科技有限公司 | Remote control method and system for voltage-stabilizing extension socket |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101855861B1 (en) | Robot delivery system and control method of robot moving using the same | |
| US11269327B2 (en) | Picking up and dropping off passengers at an airport using an autonomous vehicle | |
| CN110794841B (en) | Path navigation method, device and computer readable storage medium | |
| CN109901578B (en) | Method and device for controlling multiple robots and terminal equipment | |
| JP2021526691A (en) | Automatic guide vehicle control method, control device, and storage medium | |
| US11456890B2 (en) | Open and safe monitoring system for autonomous driving platform | |
| CN116202523A (en) | Robot control method, apparatus, device and computer readable storage medium | |
| JP7560892B2 (en) | Automatic control system, automatic control method, and automatic control device | |
| CN112085445A (en) | Robot destination arrival determining method and device, electronic equipment and storage medium | |
| CN113156951B (en) | Task transfer method, device, equipment and storage medium | |
| US20210357620A1 (en) | System, moving object, and information processing apparatus | |
| EP4001110A1 (en) | Information processing device, information processing method, and program | |
| CN114132343B (en) | Vehicle tracking method, device, system and computer readable storage medium | |
| US11548529B2 (en) | Control method, control device, and recording medium | |
| CN114895670A (en) | Robot collision prediction method and device, electronic device and storage medium | |
| CN112699135B (en) | Information updating method and device | |
| CN113074731A (en) | Intelligent navigation equipment and autonomous navigation method of intelligent navigation equipment | |
| CN112405522A (en) | Cross-floor map switching method and device, robot and storage medium | |
| KR102460949B1 (en) | System and method for sharing information of autonomous vehicle and controlling | |
| WO2024142373A1 (en) | Intuitive display of traveling route of unmanned traveling vehicle | |
| KR102585341B1 (en) | Multiple unmanned mobile vehicle control system using flexible movement path information, device and method | |
| WO2024142372A1 (en) | Avoidance of collision with unmanned traveling vehicle | |
| US20240184292A1 (en) | Information processing device, control method, and storage medium | |
| CN114442636B (en) | Control method and device of following robot, robot and storage medium | |
| KR102573512B1 (en) | Method and server for boarding a moving robot in elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |