WO2021027966A1

WO2021027966A1 - Traveling method, traveling device, and storage medium

Info

Publication number: WO2021027966A1
Application number: PCT/CN2020/109612
Authority: WO
Inventors: 王游; 陈子冲
Original assignee: 纳恩博（常州）科技有限公司
Priority date: 2019-08-15
Filing date: 2020-08-17
Publication date: 2021-02-18
Also published as: CN110554697A

Abstract

A traveling method, a traveling device, and a storage medium. The method comprises: obtaining a control command, wherein the control command is at least used for indicating a distance to be traveled of a traveling device (101); obtaining a first route according to said distance, wherein the first route is a route along which the traveling device travels to complete said distance (102); obtaining at least one target position on the first route (103); and sequentially traveling to each of the at least one target position to complete said distance (104).

Description

Travel method, feasible equipment and storage medium

Cross references to related applications

This application is filed based on a Chinese patent application with an application number of 201910755559.8 and an application date of August 15, 2019, and claims the priority of the Chinese patent application. The content of the Chinese patent application is hereby incorporated into this application by way of introduction.

Technical field

This application relates to traveling technology, and specifically to a traveling method, feasible traveling equipment and storage medium.

Background technique

In related technologies, mobile devices such as robots, balance carts, and balance wheels can realize travel through autonomous navigation, or they can be controlled by control devices to realize travel. Among them, in autonomous navigation scenarios, the feasible advancement equipment performs route planning and control of forward, backward, turning and other travel actions according to the actual travel environment. It is necessary to constantly call computing resources and/or storage resources to maintain the feasible advancement equipment along the navigation route. Marching is a heavy burden for resources.

Summary of the invention

In order to solve the existing technical problems, the embodiments of the present application provide a traveling method, a feasible device and a storage medium, which can at least solve the problem of a large number of resources used for autonomous navigation of a feasible device and a large resource burden in related technologies.

The technical solutions of the embodiments of the present application are implemented as follows:

The embodiment of the present application provides a traveling method, the method includes:

Obtain a control command, the control command at least being used to indicate the to-be-traveled distance of the accessible device;

Obtaining a first route according to the to-be-traveled distance, where the first route is a route that the accessible device travels to complete the to-be-traveled distance;

Obtain at least one target location on the first route;

Traveling sequentially to each of the at least one target position to complete the to-be-traveled distance.

In the above solution, the obtaining at least one target location on the first route includes:

Obtain at least two target positions on the first route;

Correspondingly, the sequentially traveling to each of the at least one target position to complete the to-be-traveled distance includes:

According to the distance between each of the at least two target positions and the end position corresponding to the to-be-traveled distance, the distance between each target position and the to-be-traveled distance is changed from large to small, and the target positions are sequentially advanced.

In the above solution, the method includes:

Get the first target position;

Controlling the feasible device to travel to the first target position;

Obtain the second target position;

Controlling the viable device to travel from the first target position to the second target position;

Wherein, the first target position and the second target position are any two adjacent target positions among the at least two target positions, and the second target position is between the end position corresponding to the distance to be traveled The distance of is smaller than the distance between the first target position and the end position corresponding to the distance to be traveled.

In the above solution, the method includes:

Obtain the first target position and the second target position;

Controlling the feasible device to travel to the first target position;

Control the viable device to travel from the first target position to the second target position; wherein the first target position and the second target position are any two adjacent ones of the at least two target positions. There are two target positions, and the distance between the second target position and the end position corresponding to the distance to be traveled is smaller than the distance between the first target position and the end position corresponding to the distance to travel.

In the above solution, the method further includes:

Collect travel environment data where the feasible equipment is located;

When the traveling environment data satisfies a predetermined condition, a first route is obtained, where the first route is a target route traveled by the accessible device to complete the to-be-traveled distance, and traveling environment data of the target route Meet the predetermined condition.

In the above solution, before the obtaining the control command, the method further includes:

In the case of collecting travel environment data that meets the preset conditions, send a notification message to the remote server;

Correspondingly, the obtaining control command includes:

Receiving the control command for the notification message from the remote server.

In the above solution, the method further includes:

Correcting the second target position;

Correspondingly, the feasible travel device is controlled to travel from the first target position to the corrected second target position.

In the above solution, the method further includes:

Collect travel environment data where the feasible equipment is located;

When the traveling environment data meets a predetermined condition, the second target position is obtained.

The embodiment of the present application provides a feasible equipment, including:

The first obtaining unit is configured to obtain a control command, where the control command is at least used to indicate the to-be-traveled distance of the accessible device;

The second obtaining unit is configured to obtain a first route according to the to-be-traveled distance, wherein the first route is a route that the accessible device walks after completing the to-be-traveled distance;

The third obtaining unit is configured to obtain at least one target position on the first route;

The traveling unit is configured to sequentially travel to each of the at least one target position to complete the to-be-traveled distance.

In the above scheme,

The third obtaining unit is configured to obtain at least two target positions on the first route;

Correspondingly, the traveling unit is configured to sequentially travel to the respective target positions according to the distance between each of the at least two target positions and the end position corresponding to the distance to be traveled.

In the above scheme,

The third obtaining unit is further configured to obtain the first target position of the first route;

The traveling unit is further configured to control the feasible traveling equipment to travel to the first target position;

The third obtaining unit is further configured to obtain a second target position of the first route;

The traveling unit is further configured to control the feasible traveling device to travel from a first target position to a second target position; wherein the first target position and the second target position are among the at least two target positions The distance between any two adjacent target positions and the second target position and the end position corresponding to the distance to be traveled is smaller than the distance between the first target position and the end position corresponding to the distance to travel.

In the above scheme,

The third obtaining unit is further configured to obtain the first target position and the second target position;

The traveling unit is further configured to control the feasible traveling equipment to travel to the first target position and control the feasible traveling equipment to travel from the first target position to a second target position; wherein, the first target The position and the second target position are any two adjacent target positions of the at least two target positions, and the distance between the second target position and the end position corresponding to the distance to be traveled is smaller than the first The distance between the target position and the end position corresponding to the distance to be traveled.

The above scheme also includes:

A collection unit configured to collect travel environment data where the feasible equipment is located;

Correspondingly, the second obtaining unit is configured to obtain a first route when the traveling environment data collected by the collecting device satisfies a predetermined condition, wherein the first route is for the feasible traveling equipment to complete the pending travel A target route traveled by distance, and travel environment data of the target route meets the predetermined condition.

In the above solution, the device further includes:

The sending unit is configured to send a notification message to the remote server when the collecting unit collects traveling environment data that meets predetermined conditions;

Correspondingly, the first obtaining unit is configured to receive the control command for the notification message from the remote server.

The above scheme also includes:

A correction unit configured to correct the second target position;

Correspondingly, the traveling unit is configured to control the feasible traveling device to travel from the first target position to the corrected second target position.

The above scheme also includes:

The third obtaining unit is configured to obtain the second target position when the traveling environment data of the accessible device is collected by the collecting unit and meets a predetermined condition.

The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the foregoing method are implemented.

The embodiment of the present application provides a feasible device including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor implements the steps of the foregoing method when the program is executed.

The embodiments of the present application provide a traveling method, a feasible traveling device, and a storage medium. The method includes: obtaining a control command, the control command being used to at least indicate the to-be-traveled distance of the accessible device; and obtaining according to the to-be-traveling distance A first route, wherein the first route is a route that the feasible travel device walks while completing the to-be-traveled distance; obtains at least one target position on the first route; sequentially travels to the at least one target position To complete the distance to be traveled.

In the embodiment of the present application, the distance to be traveled indicated by the control command is completed by sequentially traveling to each target position on the first route, which is equivalent to the travel of the distance to be traveled in sections. The calculation and/or storage resources that are called locally are less, which can greatly reduce the resource burden and thereby improve the travel efficiency.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only It is an embodiment of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative work.

FIG. 1 is a schematic diagram of the implementation process of the first embodiment of the traveling method provided by this application;

2 is a schematic diagram of the implementation process of the second embodiment of the traveling method provided by this application;

3 is a schematic diagram of the implementation process of the third embodiment of the traveling method provided by this application;

FIG. 4 is a schematic diagram of an embodiment of collected traveling images provided by this application;

FIG. 5 is a schematic diagram 1 of obtaining a target location embodiment provided in this application:

Fig. 6(a) and (b) are schematic diagrams for obtaining the target location embodiment provided by this application:

FIG. 7 is a schematic diagram of the composition structure of an embodiment of a feasible equipment provided by this application;

FIG. 8 is a schematic diagram of the hardware structure of an embodiment of a feasible device provided by this application.

detailed description

In order to make the purpose, technical solutions, and advantages of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the drawings in the embodiments of this application. Obviously, the described embodiments are only It is a part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application. In the case of no conflict, the embodiments in the application and the features in the embodiments can be combined with each other arbitrarily. The steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer-executable instructions. And, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here.

The accessible equipment involved in the following embodiments of the present application may be any reasonable equipment capable of traveling, such as a robot, a balance car, a balance wheel, a scooter, etc. The preferred accessible equipment is a robot.

The embodiments of the present application can at least solve the problem of high resource burden and low traveling efficiency caused by the need for continuous call of computing resources and storage resources for autonomous navigation of feasible devices in related technologies. In addition, it can at least solve the problem of how to efficiently and quickly realize the driving of accessible equipment when the road is straight and long.

The first embodiment of the traveling method provided in this application is applied to a viable device. As shown in FIG. 1, the method includes:

Step 101: Obtain a control command, where the control command is at least used to indicate the to-be-traveled distance of the accessible device;

Step 102: Obtain a first route according to the to-be-traveled distance, where the first route is a route that the viable device walks after completing the to-be-traveled distance;

Step 103: Obtain at least one target location on the first route;

Step 104: Go to each of the at least one target position in sequence to complete the to-be-traveled distance.

The entity performing steps 101-104 is a viable device.

In the foregoing solution, for the distance to be traveled indicated by the control command, compared with the solution in the related art that directly performs the distance to be traveled, travel to the target position on the first route in sequence. The feasible travel equipment travels to the end position corresponding to the distance to be traveled. This kind of scheme is equivalent to the travel of the to-be-traveled distance in segments. The scheme of traveling separately for each segment must require less calculation and/or storage resources than directly navigating to the destination, which can greatly reduce the resource burden, and then Improve travel efficiency.

Those skilled in the art should understand that the number of the aforementioned target positions may be one, or two or more. In the case where the number of target positions is one, the aforementioned solution is equivalent to that the viable device travels to the end position through the target position obtained. Specifically, the feasible approach equipment regards the target position as an intermediate position between traveling from the current position to the end position, and the feasible approach equipment can travel from the current position to the intermediate position, and then travel from the intermediate position to the end position. position. In the case where the number of target positions is two or more, for any two target positions, the distance between each target position in the two target positions and the end position corresponding to the distance to be traveled is determined by Larger becomes smaller, and then proceed to each target position in sequence. In layman's terms, the segmented traveling solution in the embodiment of the present application realizes the arrival of the terminal position by sequentially traveling to a target position getting closer and closer to the terminal position.

Specifically, as described above, according to the distance between each of the two target positions and the end position corresponding to the distance to be traveled from large to small, the solution of sequentially traveling to each of the target positions can be implemented by the following method The solutions described in Example 2 and Example 3 are implemented.

This application provides a second embodiment of a traveling method, which is applied to a feasible traveling device. As shown in FIG. 2, the method includes:

Step 201: Obtain a control command, where the control command is at least used to indicate the to-be-traveled distance of the accessible device;

Step 202: Obtain a first target position of the first route, where the first route is a route traveled by the accessible device to complete the distance to be traveled;

Step 203: Control the feasible device to travel to the first target position;

Step 204: Obtain a second target position of the first route;

Step 205: Control the viable device to travel from the first target position to the second target position;

Step 206: Determine whether the second target position is a position reached by the feasible traveling device traveling to the to-be-traveled distance;

If it is determined to be no, go to step 207;

If it is determined to be yes, the process ends and the feasible equipment has traveled to the end position;

Step 207: Determine that the second target position is the first target position, and return to step 203 to continue execution until the second target position is the position reached by the feasible traveling device traveling to the to-be-traveled distance.

It can be understood that the first target position and the second target position in steps 201 to 207 are any two adjacent target positions on the first route, and the end position of the second target position corresponding to the distance to be traveled is smaller than the The distance between the first target position and the end position corresponding to the distance to be traveled.

In the foregoing solution, travel to the end position by sequentially traveling to each target location on the first route. This solution for segmented travel of the to-be-traveled distance allows the advancement device to perform segmented navigation call calculation and/or storage Fewer resources can greatly reduce the burden of resources and improve travel efficiency. Moreover, in the aforementioned scheme, each target position is obtained sequentially, that is, the next target position that is closer to the end position is obtained after the travel of one of the segments is completed, which is equivalent to proceeding to the current target position. A solution for obtaining a target position, and the next target position is closer to the end position than the current target position. This method of obtaining the target position is more flexible and has a wide range of applications. Routes with various complex road conditions such as long straight sections and curved sections.

It can be understood that the aforementioned solution is equivalent to the solution of obtaining the next target position while traveling. This obtaining solution can obtain the next target position according to the actual traveling environment of the feasible traveling equipment, which can ensure the accuracy of obtaining the target position, and further Ensure the travel accuracy of feasible equipment.

This application provides a third embodiment of a traveling method, which is applied to a feasible traveling device. As shown in FIG. 3, the method includes:

Step 301: Obtain a control command, the control command at least being used to indicate the distance to be traveled by the accessible device;

Step 302: Obtain each target position of the first route, where the first route is a route that the accessible device walks after completing the distance to be traveled;

Step 303: Control the feasible device to travel to the first target position among the target positions;

Step 304: Control the viable device to travel from the first target position to a second target position adjacent to the first target position among the target positions;

Step 305: Determine whether the second target position is a position reached by the feasible travel equipment traveling to the to-be traveled distance;

If it is determined to be no, go to step 306;

Step 306: Determine that the second target position is the first target position, and return to step 304 to continue execution until the second target position is the feasible travel equipment to travel to the end position.

It can be understood that in steps 301 to 306, the end position corresponding to the second target position and the distance to be traveled is smaller than the distance between the first target position and the end position corresponding to the distance to travel.

In the foregoing solution, the method of sequentially traveling to each target position on the first route to the position reached by the feasible traveling device travels to the to-be-traveled distance. This solution of segmenting the to-be-traveled distance is further to pass It is a plan to proceed to the target position getting closer and closer to the end position in order to achieve the end position. It can be understood that the navigation call used in segmented travel requires less calculation and/or storage resources, which can greatly reduce resource burden and improve travel efficiency. And in the foregoing solution, different from the method of sequentially acquiring the target positions in the foregoing method embodiment 2, in the embodiment of the present application, each target position is acquired together, and the target position is reached by driving one by one to the target position getting closer and closer to the end destination. This scheme of acquiring each target position together is more suitable for long straight sections, and can realize the efficient travel of feasible equipment on long straight sections.

It can be understood that the aforementioned solution of acquiring each target position together is more suitable for driving on a long straight road section because the target position on a long straight road section is easy to obtain, for example, the distance to be traveled by the feasible equipment indicated by the control command is at least two For the division of length, if the position (the initial position of the accessible device) when the accessible device obtains the control command is also used as the target position, then the distance between every two adjacent target positions is equal to the divided lengths For example, the distance between the starting point position and the first target position is equal to the first divided length, the distance between the first target position and the second target position is equal to the second divided length, and so on, The distance between the penultimate target location and the destination location is equal to the last length divided. It can be understood that the distance between every two adjacent target positions may be the same or different, depending on the specific situation.

In any one of the foregoing embodiments 1 to 3, as an implementation manner, the method further includes:

Collect travel environment data where the feasible equipment is located;

In the case of collecting travel environment data that satisfies predetermined conditions, a first route is obtained, where the first route is a target route traveled by the accessible device to complete the distance to be traveled, and the travel environment of the target route The data meets the predetermined condition. Correspondingly, the feasible approach device is controlled to travel to the first target position according to the target route, and the feasible approach device is controlled to travel from the first target position to the second target position according to the target route.

It can be understood that the travel environment data that meets the predetermined condition may be environmental data characterized by a straight and long travel route of the device that can travel. The accessible equipment can travel along the straight long road, or along a certain line of the straight long road, such as the central line of the straight long road. In this case, the implementation of the scheme described in any one of the foregoing embodiments 1 to 3 is equivalent to a plan of segmented travel on a long straight section, and each segment (long straight section) is traveled separately according to the target route. On the one hand, Compared with navigating directly to the destination, it requires less computing and/or storage resources, which can greatly reduce the burden of resources and improve travel efficiency; on the other hand, traveling along the target route can efficiently travel to the destination.

Those skilled in the art can understand that the solution of obtaining control commands as described above in the embodiments of the present application may be a control command generated by the feasible equipment in the case of collecting traveling environment data that meets predetermined conditions, and the control commands generated by each segment The autonomous navigation realizes travel to the destination. In addition, the viable device may also send a notification message to a remote server and receive the control command for the notification message from the remote server when the travel environment data that meets a predetermined condition is collected. The notification message is used to prompt collection of traveling environment data that meets a predetermined condition, the remote server generates and sends a control command when the notification message is received, and the feasible device receives the control command returned in response to the notification message. In this way, it is equivalent to being controlled by the remote server, and the feasible travel device travels in segments based on the to-be-traveled distance information sent by the remote server, and the remote server only needs to send a control command once. This kind of remote server only needs to send a control command once, and the device can travel to the destination in segments. Compared with the solution in the related technology that the remote server sends a control command to complete one part of the journey, there is no need for more remote servers. Sending the control instructions once can complete the travel of each segment, reducing the burden on the remote server.

As an implementation manner, in the foregoing second embodiment, that is, in the solution of acquiring each target position in sequence, the second target position may also be obtained when traveling environment data meeting a predetermined condition is collected. That is, the accessible device in the embodiment of the application collects environmental data while traveling to the current target position, and then determines the next target position when the traveling environmental data that meets the predetermined conditions is collected, so that at least the target position can be guaranteed The accuracy of the determination.

As an implementation manner, the method further includes: correcting the second target position; correspondingly, controlling the accessible device to travel from the first target position to the corrected second target position. Further, the second target position is corrected based on the collected traveling environment data that meets the predetermined conditions. The accuracy of the second target position can be ensured, and thus the traveling accuracy of feasible equipment can be ensured.

Hereinafter, the solution of the embodiment of the present application will be described in detail with reference to FIG. 4, FIG. 5 and FIG. 6(a), (b).

Taking the feasible equipment as a robot and the control command being generated by a remote server for controlling the robot and sent to the robot as an example, in this embodiment of the present application, at least one image acquisition device is provided on the robot, and the image acquisition device may be any reasonable Cameras such as vision cameras, depth cameras, fisheye cameras, etc. The robot collects its traveling environment through the image acquisition device, and obtains the traveling image as shown in FIG. 4. The robot can analyze the road features of the traveling image. If the analysis finds that the road ahead is a straight and long road, it generates a notification message and sends the notification message and the traveling image to the server. The server displays the traveling image. The operator can observe the traveling environment of the robot based on the traveling image displayed on the server, and perform operations on the server. For example, the operator inputs information indicating that the robot advances 50m. The server detects this input information, generates a control command, and It is sent to the robot.

The robot receives a control command for instructing the robot to advance 50m. Considering that in this application scenario, the robot receives the control command when it detects that there is a straight long road in the current travel environment of the robot, the robot can consider the received control command to instruct it to follow the detected straight road. The control command for the long road (the road between the two road lines in the figure) to move forward 50m may further be a control command for moving forward 50m according to the center line of the detected straight long road. According to the pre-set segmentation rules, the robot divides the arithmetic sequence with a difference of 5m for the forward distance of 50m indicated by the remote server. For example, it is divided into four lengths of 5m, 10m, 15m, and 20m. In the image, the position on the center line of the road is the initial position, and the position that travels 50m along the center line of the road from the initial position is the end position. These two positions are used as special target positions. From the initial position to the end position, The distance between two adjacent target positions is 5m, 10m, 15m, and 20m. In this way, the position of each target position can be determined on the center line of the straight long road, as shown in Figure 5. If the robot’s position on the center line of the road is the initial position when the traveling image is collected by the robot, and the 50m position along the center line of the road from the initial position is the end position, these two positions are not only special target positions, but also The robot needs to relocate three (middle) target positions between the initial position and the end position, as shown in Fig. 5, target position 1, target position 2, and target position 3. It can be understood that the located target position 1 is located at a distance of 5m from the initial position of the robot on the central line of the road, and target position 2 is located at a distance of 10m from the target location 1 on the central line of the road. The upper, target position 3 is located at a distance of 15 m from the target position 2 on the center line of the road, and the distance of the target position 3 from the end position on the center line of the road is 20 m. The robot is in the initial position, takes the target position 1 as the current destination, and travels to the target position 1 at the speed obtained by autonomous navigation along the center line of the road. In the case of reaching the target position 1, it is determined that the target position 1 is not the final destination, and the front target position 2 is regarded as the next destination in the case that the robot has already traveled to the target position 1, and travels along the center line of the road. Go to the target position 2 at the speed obtained by the navigation, and proceed to the end position in turn. This solution of locating the target location together is more suitable for straight and long road sections. The final destination can be reached by segmenting on the straight and long roads, and efficient travel on the long straight road sections can be realized.

In addition, the robot can also use the following scheme for segmented travel: Due to the limitation of the acquisition accuracy and range of the image acquisition device itself, the travel environment data located in the far distance of the robot may be ambiguous and unclear. In order to avoid the collection environment Road feature recognition error caused by fuzzy data. The robot can recognize the road features and determine the current target position while collecting images. Specifically, the image acquisition device collects environmental data when the robot is in the initial position, and analyzes the road features of the traveling image. If the analysis shows that the road ahead is a straight and long road, a notification message is sent to the server. The server generates a control command, and the robot receives a control command used to instruct the robot to advance 50m along the center line of the road. Assuming that the image capture device can clearly capture images within 20m of the robot, the robot can locate the current destination as the distance from the robot The initial position at 20m is shown in Figure 6(a). The robot is at the initial position, takes the current target position such as target position 1 as the current destination, and travels to the current destination along the center line of the road at a speed obtained by autonomous navigation. Based on the traveling image collected from the target position 1, the robot obtains the analysis result that the road ahead is still a straight and long road, and determines that the target position 1 is not the end position, then the target position 1 is used as the initial position of the robot at this time, and the front is positioned Target position 2 which is 10 m away from target position 1 is the current destination. Any position within 20m or less can be positioned as the next target position. As shown in Figure 6(b), travel along the center line of the road at the speed obtained by autonomous navigation to the target position 2, and then proceed to the end position in turn. It can be understood that the speed of each segment may be the same or different depending on the specific situation. This solution of sequentially positioning target positions based on road conditions can ensure the accuracy of target position positioning on the one hand, and on the other hand, it is more suitable for different road conditions in practical applications and has a wider range of applications. Among them, in the solution of sequential positioning of target positions, the distance between two adjacent target positions may be the same or different, and the target position to be positioned shall be subject to a clear collection of the traveling image.

In the aforementioned scheme, each segment is independently navigated, and the distance between the segments is less than 50m. Compared with the robot in the related technology, the autonomous navigation is performed at a distance of less than 50m. Less computing and/or storage resources can greatly reduce the burden of resources, making resources more inclined to respond to the robot's traveling actions, such as forward actions, thereby improving traveling efficiency. In addition, when the travel environment data that meets the predetermined conditions is detected, the notification message is sent to the remote server and the control command is received, so that the robot can travel along the target route-the center line of the road, and can travel on the road with good road conditions. . In addition, the operator only needs to send the control command once through the remote server, and the travel of each segment can be completed without the operator having to send the control command multiple times, which reduces the burden on the operator.

It can be understood that due to the limitation of the acquisition accuracy and range of the image acquisition device, the display of the image of the near environment in the image acquisition device is more accurate, and the display of the image of the distant environment may not be accurate enough. The target position of the robot can be accurately located, and the positioning of the target position far away from the robot position may deviate from the target route such as the center line of the road by 1m. To solve this problem, when the robot is traveling to the current target position, according to the collected traveling environment data, the next target position of the robot to be traveled is corrected, for example, the target position 2 that deviates from the center line of the road is deviated from The position of the central line of the road is moved to the central line of the road to ensure that the robot can travel on the target route and ensure the accuracy of travel.

It is understandable that the robot can stop traveling after traveling to the final destination and notify the remote server. In addition, when the robot encounters an abnormal situation that cannot be handled, such as an obstacle that cannot be avoided, it also sends a notification message to the remote server. The notification message is used to inform the robot to stop traveling and the reason that caused it to stop traveling, such as having traveled to the final destination or encountered an abnormal situation that cannot be handled. It can also receive a stop travel instruction from a remote server, and the robot responds to the travel instruction and responds. Among them, the operator observes the traveling environment of the robot through the image transmitted by the robot, such as knowing that there is an obstacle in front of the robot through the image, and generates an instruction for controlling the robot to stop traveling.

The present application also provides an embodiment of a feasible device, as shown in FIG. 7, including: a first obtaining unit 701, a second obtaining unit 702, a third obtaining unit 703, and a traveling unit 704; wherein,

The first obtaining unit 701 is configured to obtain a control command, where the control command is at least used to indicate the to-be-traveled distance of the accessible device;

The second obtaining unit 702 is configured to obtain a first route according to the to-be-traveled distance, where the first route is a route that the accessible device walks after completing the to-be-traveled distance;

The third obtaining unit 703 is configured to obtain at least one target position on the first route;

The traveling unit 704 is configured to sequentially travel to each of the at least one target position to complete the to-be-traveled distance.

As an implementation manner, the third obtaining unit 703 is configured to obtain at least two target positions on the first route; correspondingly, the traveling unit 704 is configured to obtain at least two target positions according to The distance between each target position and the end position corresponding to the to-be-traveled distance is changed from large to small, and the target positions are sequentially advanced.

As an implementation manner, the third obtaining unit 703 is further configured to obtain the first target position of the first route; the traveling unit 704 is further configured to control the feasible traveling device to travel to the first Target position; the third obtaining unit 703 is further configured to obtain a second target position of the first route; the traveling unit 704 is further configured to control the feasible traveling device to travel from the first target position to the second Target position; wherein the first target position and the second target position are any two adjacent target positions of the at least two target positions, and the second target position corresponds to the end point of the distance to be traveled The distance between the positions is smaller than the distance between the first target position and the end position corresponding to the distance to be traveled.

As an implementation manner, the third obtaining unit 703 is further configured to obtain a first target position and a second target position; the traveling unit 704 is further configured to control the feasible traveling device to travel to the first target Position and control the viable device to travel from the first target position to the second target position; wherein the first target position and the second target position are any adjacent ones of the at least two target positions The distance between the two target positions and the second target position and the end position corresponding to the distance to be traveled is smaller than the distance between the first target position and the end position corresponding to the distance to travel.

The device also includes:

The acquisition unit (image acquisition device) is configured to collect travel environment data where the accessible device is located; in the case of collecting travel environment data that meets predetermined conditions, trigger the second obtaining unit 702 to obtain the first route, Wherein, the first route is a target route that the viable device walks after completing the to-be-traveled distance.

The device also includes:

The sending unit is configured to send a notification message to a remote server when the collecting unit collects traveling environment data that meets predetermined conditions; correspondingly, the first obtaining unit 701 is configured to receive the data from the remote server for The control command of the notification message.

The device also includes:

A correction unit configured to correct the second target position;

Correspondingly, the traveling unit 704 is configured to control the feasible traveling device to travel from the first target position to the corrected second target position.

In the foregoing solution, the third obtaining unit 703 is configured to obtain the second target position when the traveling environment data of the accessible device collected by the collecting unit meets a predetermined condition.

The feasible travel equipment provided in the foregoing embodiment belongs to the same concept as the foregoing travel method embodiment, and its specific implementation process is detailed in the method embodiment, which will not be repeated here. The aforementioned first obtaining unit 701, second obtaining unit 702, third obtaining unit 703, and traveling unit 704 can all be composed of digital signal processing (DSP), central processing unit (CPU), logic programming array (FPGA), controller (MCU) ) And so on. The acquisition unit is implemented by the aforementioned image acquisition unit such as a vision camera, a depth camera, and a fisheye camera. The sending unit is implemented by the subsequent communication component 83.

The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by the processor, it is at least used to execute any one of the methods shown in FIGS. 1 to 6(a) and (b). step. The computer-readable storage medium may specifically be a memory. The memory may be the memory 82 shown in FIG. 8.

The embodiment of the present application also provides a terminal. FIG. 8 is a schematic diagram of the hardware structure of a viable device according to an embodiment of the application. As shown in FIG. 8, it includes: a communication component 83 for data transmission, at least one processor 81, and storage capable of running on the processor 81 The memory 82 of the computer program. The various components in the terminal are coupled together through the bus system 84. It can be understood that the bus system 84 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 84 also includes a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are marked as the bus system 84 in FIG. 8.

Wherein, the processor 81 executes at least the steps of any one of the methods shown in FIGS. 1 to 6 (a) and (b) when executing the computer program.

It is understood that the memory 82 may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory. Among them, the non-volatile memory can be a read only memory (ROM, Read Only Memory), a programmable read only memory (PROM, Programmable Read-Only Memory), an erasable programmable read only memory (EPROM, Erasable Programmable Read- Only Memory, Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), magnetic random access memory (FRAM, ferromagnetic random access memory), flash memory (Flash Memory), magnetic surface memory , CD-ROM, or CD-ROM (Compact Disc Read-Only Memory); magnetic surface memory can be magnetic disk storage or tape storage. The volatile memory may be random access memory (RAM, Random Access Memory), which is used as an external cache. By way of exemplary but not restrictive description, many forms of RAM are available, such as static random access memory (SRAM, Static Random Access Memory), synchronous static random access memory (SSRAM, Synchronous Static Random Access Memory), and dynamic random access Memory (DRAM, Dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, Synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (DDRSDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), enhanced -Type synchronous dynamic random access memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), synchronous connection dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, Direct Rambus Random Access Memory) ). The memory 82 described in the embodiment of the present application is intended to include, but is not limited to, these and any other suitable types of memory.

The method disclosed in the foregoing embodiment of the present application may be applied to the processor 81 or implemented by the processor 81. The processor 81 may be an integrated circuit chip with signal processing capability. In the implementation process, the steps of the foregoing method can be completed by an integrated logic circuit of hardware in the processor 81 or instructions in the form of software. The aforementioned processor 81 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The processor 81 may implement or execute various methods, steps, and logical block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor. Combining the steps of the method disclosed in the embodiments of the present application, it may be directly embodied as being executed and completed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, and the storage medium is located in the memory 82. The processor 81 reads the information in the memory 82 and completes the steps of the foregoing method in combination with its hardware.

In an exemplary embodiment, the accessible device may be implemented by one or more application specific integrated circuits (ASIC, Application Specific Integrated Circuit), DSP, programmable logic device (PLD, Programmable Logic Device), and complex programmable logic device (CPLD). , Complex Programmable Logic Device), FPGA, general-purpose processor, controller, MCU, microprocessor (Microprocessor), or other electronic components are used to implement the aforementioned travel method.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, such as: multiple units or components can be combined, or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the coupling, or direct coupling, or communication connection between the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms of.

The units described above as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units; Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, the functional units in the embodiments of the present application can all be integrated into one processing unit, or each unit can be individually used as a unit, or two or more units can be integrated into one unit; The unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc. A medium that can store program codes.

Alternatively, if the above-mentioned integrated unit of this application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application essentially or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for A computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the methods described in the various embodiments of the present application. The aforementioned storage media include: removable storage devices, ROM, RAM, magnetic disks, or optical disks and other media that can store program codes.

The methods disclosed in the several method embodiments provided in this application can be combined arbitrarily without conflict to obtain new method embodiments.

The features disclosed in the several product embodiments provided in this application can be combined arbitrarily without conflict to obtain new product embodiments.

The features disclosed in the several method or device embodiments provided in this application can be combined arbitrarily without conflict to obtain a new method embodiment or device embodiment.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application. Should be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Industrial applicability

Claims

A traveling method, the method includes:

Obtain a control command, the control command at least being used to indicate the to-be-traveled distance of the accessible device;

Obtaining a first route according to the to-be-traveled distance, where the first route is a route that the accessible device travels to complete the to-be-traveled distance;

Obtain at least one target location on the first route;

Traveling sequentially to each of the at least one target position to complete the to-be-traveled distance.
The method according to claim 1, wherein the obtaining at least one target location on the first route comprises:

Obtain at least two target positions on the first route;

Correspondingly, the sequentially traveling to each of the at least one target position to complete the to-be-traveled distance includes:

According to the distance between each of the at least two target positions and the end position corresponding to the to-be-traveled distance, the distance between each target position and the to-be-traveled distance is changed from large to small, and the target positions are sequentially advanced.
The method of claim 2, wherein the method comprises:

Get the first target position;

Controlling the feasible device to travel to the first target position;

Obtain the second target position;

Controlling the viable device to travel from the first target position to the second target position;

Wherein, the first target position and the second target position are any two adjacent target positions among the at least two target positions, and the second target position is between the end position corresponding to the distance to be traveled The distance of is smaller than the distance between the first target position and the end position corresponding to the distance to be traveled.
The method of claim 2, wherein the method comprises:

Obtain the first target position and the second target position;

Controlling the feasible device to travel to the first target position;

Control the viable device to travel from the first target position to the second target position; wherein the first target position and the second target position are any two adjacent ones of the at least two target positions. There are two target positions, and the distance between the second target position and the end position corresponding to the distance to be traveled is smaller than the distance between the first target position and the end position corresponding to the distance to travel.
The method according to any one of claims 1 to 4, wherein the method further comprises:

Collect travel environment data where the feasible equipment is located;

When the traveling environment data satisfies a predetermined condition, a first route is obtained, where the first route is a target route traveled by the accessible device to complete the to-be-traveled distance, and traveling environment data of the target route Meet the predetermined condition.
The method according to claim 5, wherein, before the obtaining the control command, the method further comprises:

In the case of collecting travel environment data that meets the preset conditions, send a notification message to the remote server;

Correspondingly, the obtaining control command includes:

Receiving the control command for the notification message from the remote server.
The method according to claim 3 or 4, wherein the method further comprises:

Correcting the second target position;

Correspondingly, the feasible travel device is controlled to travel from the first target position to the corrected second target position.
The method according to claim 3, wherein the method further comprises:

Collect travel environment data where the feasible equipment is located;

When the traveling environment data meets a predetermined condition, the second target position is obtained.
A viable equipment, including:

The first obtaining unit is configured to obtain a control command, where the control command is at least used to indicate the to-be-traveled distance of the accessible device;

The second obtaining unit is configured to obtain a first route according to the to-be-traveled distance, wherein the first route is a route that the accessible device walks after completing the to-be-traveled distance;

The third obtaining unit is configured to obtain at least one target position on the first route;

The traveling unit is configured to sequentially travel to each of the at least one target position to complete the to-be-traveled distance.
The device according to claim 9, wherein:

The third obtaining unit is configured to obtain at least two target positions on the first route;

Correspondingly, the traveling unit is configured to sequentially travel to the respective target positions according to the distance between each of the at least two target positions and the end position corresponding to the distance to be traveled.
The device according to claim 10, wherein:

The third obtaining unit is further configured to obtain the first target position of the first route;

The traveling unit is further configured to control the feasible traveling equipment to travel to the first target position;

The third obtaining unit is further configured to obtain a second target position of the first route;

The traveling unit is further configured to control the feasible traveling device to travel from a first target position to a second target position;

Wherein, the first target position and the second target position are any two adjacent target positions among the at least two target positions, and the second target position is between the end position corresponding to the distance to be traveled The distance of is smaller than the distance between the first target position and the end position corresponding to the distance to be traveled.
The device according to claim 10, wherein:

The third obtaining unit is further configured to obtain the first target position and the second target position;

The traveling unit is further configured to control the feasible traveling equipment to travel to the first target position and control the feasible traveling equipment to travel from the first target position to a second target position;

Wherein, the first target position and the second target position are any two adjacent target positions among the at least two target positions, and the second target position is between the end position corresponding to the distance to be traveled The distance of is smaller than the distance between the first target position and the end position corresponding to the distance to be traveled.
The device according to any one of claims 9 to 12, further comprising:

A collection unit configured to collect travel environment data where the feasible equipment is located;

Correspondingly, the second obtaining unit is configured to obtain a first route when the traveling environment data collected by the collecting device satisfies a predetermined condition, wherein the first route is for the feasible traveling equipment to complete the pending travel A target route traveled by distance, and travel environment data of the target route meets the predetermined condition.
The device according to claim 13, wherein the device further comprises:

The sending unit is configured to send a notification message to the remote server when the collecting unit collects traveling environment data that meets predetermined conditions;

Correspondingly, the first obtaining unit is configured to receive the control command for the notification message from the remote server.
The device according to claim 11 or 12, further comprising:

A correction unit configured to correct the second target position;

Correspondingly, the traveling unit is configured to control the feasible traveling device to travel from the first target position to the corrected second target position.
The device according to claim 11, further comprising:

The third obtaining unit is configured to obtain the second target position when the traveling environment data of the accessible device is collected by the collecting unit and meets a predetermined condition.
A computer-readable storage medium with a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of claims 1 to 8.
A feasible device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the steps of the method according to any one of claims 1 to 8 when the processor executes the program.