WO2022110481A1

WO2022110481A1 - Method and apparatus for robot to pass through narrow channel, readable storage medium, and robot

Info

Publication number: WO2022110481A1
Application number: PCT/CN2020/140565
Authority: WO
Inventors: 赵勇胜; 刘志超
Original assignee: 深圳市优必选科技股份有限公司
Priority date: 2020-11-24
Filing date: 2020-12-29
Publication date: 2022-06-02
Also published as: CN112526990B; CN112526990A

Abstract

A method and apparatus for a robot to pass through a narrow channel, a readable storage medium, and a robot. The method comprises: in the navigation process of a target robot, when the target robot travels to a position where the distance to the narrow channel is less than a preset distance threshold, monitoring whether the narrow channel is already occupied (S101); and if the narrow passage is not occupied, broadcasting a channel occupancy signal frame, and passing through the narrow channel (S102), the channel occupancy signal frame being used to inform other robots that the narrow channel is already occupied. Each robot can pass through the narrow channel in order, thereby avoiding the occurrence of interlocking phenomenon.

Description

Method, device, readable storage medium and robot for robot passing through narrow lane

This application claims the priority of the Chinese Patent Application No. 202011330842.5 filed with the Chinese Patent Office on November 24, 2020, the entire contents of which are incorporated herein by reference.

technical field

The present application belongs to the field of robotics technology, and in particular, relates to a method, device, computer-readable storage medium, and robot for a robot to pass through a narrow track.

Background technique

In the prior art, when two or more robots are navigating in the same scene, if there is a narrow aisle (which may include but not limited to narrow aisles, automatic gates, narrow doors, etc.) A situation where more than two robots need to pass through a narrow road at the same time. When such a conflict occurs, each robot cannot move and can only wait, resulting in an interlock phenomenon.

technical problem

In view of this, embodiments of the present application provide a method, device, computer-readable storage medium, and robot for a robot to pass through a narrow aisle, so as to solve the interlocking phenomenon caused when two or more robots need to pass through a narrow aisle at the same time.

technical solutions

A first aspect of the embodiments of the present application provides a method for a robot to pass through a narrow track, which may include:

During the navigation of the target robot, when the target robot travels to a position where the distance from the narrow aisle is less than a preset distance threshold, monitor whether the narrow aisle is occupied; the narrow aisle has a width smaller than a preset width. threshold channel;

If the narrow lane is not occupied, the broadcast channel occupies a signal frame and passes through the narrow lane; the channel occupied signal frame is used to inform other robots that the narrow lane is occupied.

Further, the method may also include:

If the narrow channel has been occupied, determine whether to perform path switching according to the received channel occupancy signal frame;

If no path switching is performed, a channel request signal frame will be sent, and a preset waiting position will be navigated;

When receiving the channel passing signal frame containing the robot identification of the target robot, the broadcast channel occupies the signal frame and passes through the narrow channel.

Further, determining whether to perform path switching according to the received channel occupation signal frame may include:

extracting the number of robots waiting to enter the narrow lane from the received lane occupancy signal frame;

Calculate the length difference between the candidate path and the current path;

Whether to perform path switching is determined according to the number of robots, the difference in length, the preset duration of passing through the narrow aisle, and the preset traveling speed.

Further, the method may also include:

In the process of passing through the narrow lane, when receiving the channel request signal frame, extract the robot identifier in the channel request signal frame;

If the robot identification is not recorded in the preset requesting robot identification list, the robot identification is recorded at the end of the requesting robot identification list, and the number of robots waiting to enter the narrow lane is increased by one counting unit .

Further, the method may also include:

After passing through the narrow channel, stop the broadcast channel from occupying the signal frame;

Extracting the robot identification at the header of the robot identification list requesting passage, and sending a channel passing signal frame to the robot corresponding to the robot identification.

Further, the method may also include:

After the channel occupied signal frame is broadcast, if the channel occupied signal frame broadcast by other robots is received, the robot identifier in the channel occupied signal frame is extracted;

According to the robot identification, determine whether the authority of the target robot has priority;

If the authority of the target robot has priority, insert the robot identification into the header of the robot identification list requesting to pass, and continue to pass through the narrow aisle.

Further, the method may also include:

If the authority of the target robot is not prioritized, stop the broadcast channel occupying the signal frame;

Send a channel request signal frame and navigate to a preset waiting position;

A second aspect of the embodiments of the present application provides a device for a robot to pass through a narrow track, which may include:

The monitoring module is used to monitor whether the narrow aisle is occupied when the target robot travels to a position less than a preset distance threshold from the narrow passage during the navigation of the target robot; the narrow passage is the traffic width Channels smaller than the preset width threshold;

The narrow aisle passing module is used for broadcasting a channel occupied signal frame and passing through the narrow aisle if the narrow aisle is not occupied; the channel occupied signal frame is used to inform other robots that the narrow aisle is occupied.

Further, the device may also include:

a path judging module, configured to judge whether to perform path switching according to the received channel occupancy signal frame if the narrow lane is occupied;

The waiting-to-pass module is used to send a channel request signal frame and navigate to a preset waiting position if no path switching is performed;

The narrow channel passing module is further configured to, when a channel passing signal frame containing the robot identifier of the target robot is received, the broadcast channel occupies the signal frame and passes through the narrow channel.

Further, the path judgment module may include:

a robot number extraction unit, used for extracting the number of robots waiting to enter the narrow lane from the received channel occupancy signal frame;

a length difference calculation unit, used to calculate the length difference between the candidate path and the current path;

A path determination unit, configured to determine whether to perform path switching according to the number of robots, the difference in length, the preset duration of passing through the narrow aisle, and the preset traveling speed.

Further, the device may also include:

The robot identification extraction module is used for extracting the robot identification in the channel request signal frame when receiving the channel request signal frame in the process of passing through the narrow track;

The list maintenance module is used to record the robot identification to the end of the requesting robot identification list if the robot identification is not recorded in the preset requesting robot identification list, and will wait to enter the narrow aisle. The number of robots is increased by one count unit.

Further, the device may also include:

The channel passing signal frame sending module is used to stop broadcasting the channel to occupy the signal frame after passing through the narrow channel, extract the robot identification located at the head of the robot identification list requesting passage, and send it to the robot corresponding to the robot identification Channels pass through signal frames.

Further, the robot identification extraction module is also used for: after broadcasting the channel occupation signal frame, if receiving the channel occupation signal frame broadcast by other robots, then extracting the robot identification in the channel occupation signal frame;

The apparatus may also include:

an authority judgment module, used for judging whether the authority of the target robot is prioritized according to the robot identification;

The identification inserting module is used for inserting the robot identification into the header of the robot identification list requesting to pass if the authority of the target robot takes precedence, and continues to pass through the narrow aisle.

A third aspect of the embodiments of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any one of the foregoing methods for a robot to pass through a narrow track is implemented A step of.

A fourth aspect of the embodiments of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the computer program when the processor executes the computer program. The steps of any of the above-mentioned methods for the robot to pass through the narrow aisle.

A fifth aspect of the embodiments of the present application provides a computer program product, which, when the computer program product runs on a robot, causes the robot to execute the steps of any of the above-mentioned methods for the robot to pass through a narrow aisle.

beneficial effect

Compared with the prior art, the embodiments of the present application have the following beneficial effects: during the navigation of the target robot in the embodiments of the present application, when the target robot travels to a position where the distance from the narrow track is smaller than the preset distance threshold, the Whether the narrow lane is occupied; if the narrow lane is not occupied, the broadcast channel occupies the signal frame and passes through the narrow lane; the channel occupied signal frame is used to inform other robots that the narrow lane is occupied. Through the embodiment of the present application, each robot can be made to pass through the narrow aisle in an orderly manner, and the occurrence of interlocking phenomenon can be avoided.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying 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 for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a flowchart of an embodiment of a method for a robot to pass through a narrow track in an embodiment of the present application;

Fig. 2 is the state flow chart of the robot passing through the narrow track;

3 is a structural diagram of an embodiment of a device for a robot to pass through a narrow track in an embodiment of the application;

FIG. 4 is a schematic block diagram of a robot in an embodiment of the present application.

Embodiments of the present invention

In order to make the purpose, features and advantages of the invention of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some, but not all, embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other features , whole, step, operation, element, component and/or the presence or addition of a collection thereof.

It should also be understood that the terminology used in the specification of the application herein is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

It should also be further understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items .

As used in this specification and the appended claims, the term "if" may be contextually interpreted as "when" or "once" or "in response to determining" or "in response to detecting" . Similarly, the phrases "if it is determined" or "if the [described condition or event] is detected" may be interpreted, depending on the context, to mean "once it is determined" or "in response to the determination" or "once the [described condition or event] is detected. ]" or "in response to detection of the [described condition or event]".

In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

In a specific implementation of the embodiment of the present application, each robot may be centrally scheduled through a server. Each robot in the scene is wirelessly connected to the server and continuously reports position and status information to the server. The server sends commands such as task scheduling and navigation control to the robot. When two or more robots want to pass through the same narrow aisle, the server sends instructions to each robot to make it pass through the narrow aisle in sequence.

However, this method of centralized scheduling of servers requires high deployment costs. In another specific implementation of the embodiment of the present application, a non-centralized solution is also provided, which coordinates various tasks through communication and interaction between robots. Robots pass through narrow lanes. Each robot in the same scene can use lidar, camera, etc. to create a navigation map for the scene, and synchronize the navigation map to each robot running in the scene. The narrow lanes in the navigation map that cannot allow two robots to pass through each other at the same time are used as resources that can be preempted. After the initial map construction, the outer frame of the narrow lane area on the navigation map can be marked, and each narrow lane is assigned a unique one. Narrow lane identification (ID). It should be noted that, in this embodiment of the present application, a narrow passage may be defined as a passage with a passage width smaller than a preset width threshold, which may include but not limited to narrow passages, automatic gates, narrow doors, etc. The width threshold It may be set according to the actual situation, which is not specifically limited in this embodiment of the present application.

In the embodiments of the present application, wireless communication devices for mutual communication and distance measurement may be installed on each robot, including but not limited to wireless communication devices based on technologies such as UWB, Zigbee, and Bluetooth. Each wireless communication device is configured with a unique identification, preferably, the identification of the wireless communication device can be used as the identification of the robot.

Referring to FIG. 1, an embodiment of a method for a robot to pass through a narrow aisle in an embodiment of the present application may include:

Step S101: During the navigation process of the target robot, when the target robot travels to a position where the distance from the narrow lane is less than a preset distance threshold, monitor whether the narrow lane is occupied.

In the embodiment of the present application, for the sake of simplicity, any robot in the same scene (referred to as a target robot) is used as an example for description, and the target robot is the execution body of the embodiment of the present application. Any robot in the same scene can be used as the target robot, and the effectiveness of the method can only be guaranteed if all robots in the same scene execute the method.

During the navigation process of the target robot, if it is not necessary to pass a narrow road on its navigation path, it is not necessary to perform the steps in the embodiments of the present application; if it needs to pass a narrow road on its navigation path, when it travels to a distance of When the narrow track is less than the preset distance threshold, it starts to enter the monitoring state. The distance threshold may be set according to the actual situation, which is not specifically limited in this embodiment of the present application. Preferably, the distance threshold may be set to 5 meters.

In the monitoring state, the target robot listens to the channel occupation signal frame (referred to as PATH_OCC_SIG) broadcasted by other robots around the narrow track, and the channel occupation signal frame is used to inform other robots other than the robot broadcasting the frame that the narrow track is occupied. Road is occupied. The specific monitoring duration may be set according to the actual situation, which is not specifically limited in this embodiment of the present application. Preferably, the monitoring duration may be set to 0.5 to 1 second.

If the monitoring process does not receive PATH_OCC_SIG from other robots about the narrow aisle, it can be determined that the narrow aisle is not occupied, and the target robot begins to enter the narrow aisle passing state, and step S102 is executed; PATH_OCC_SIG of the narrow lane, it can be determined that the narrow lane has been occupied, at this time, the forward speed can be reduced, and step S103 and its subsequent steps can be executed.

Step S102, the broadcast channel occupies the signal frame and passes through the narrow channel.

The target robot may periodically broadcast PATH_OCC_SIG while passing through the narrow lane. The specific broadcast period may be set according to the actual situation, which is not specifically limited in this embodiment of the present application. Preferably, the broadcast period can be set to 200 milliseconds.

The PATH_OCC_SIG signal contains the narrow lane identification of the narrow lane, the number of robots waiting to enter the narrow lane (the initial value is 0) and other information. A robot entering the narrow aisle passing state can create a list of robot identifications requesting the narrow aisle (the initial state of the list is empty), which is used to chronologically record the robots of other robots that request the narrow aisle when passing. logo.

Step S103: Determine whether to perform path switching according to the received channel occupation signal frame.

Specifically, the target robot can extract the number of robots waiting to enter the narrow lane (denoted as N) from the received channel occupancy signal frame, and calculate the length difference between the candidate path and the current path (denoted as DL ), in addition, it is also necessary to obtain the preset duration of passing through the narrow lane (denoted as T) and the preset travel speed (denoted as s), wherein the duration of the narrow lane can be based on the path length of the narrow lane area and the speed through the narrow road is estimated. Then, it may be determined whether to perform path switching according to the number of robots, the difference in length, the preset duration of passing through the narrow aisle, and the preset traveling speed. If (N+△N ₁ )*T>DL/s, that is, the travel time will be shortened after switching to the candidate route, you can switch to the candidate route for navigation, otherwise, the route switching will not be performed. Wherein, ΔN ₁ is a preset redundancy amount, which can be set according to actual conditions, which is not specifically limited in this embodiment of the present application. Preferably, it can be set to 0.5.

If other narrow lanes (referred to as candidate narrow lanes) also need to pass on the candidate path, you can monitor the PATH_OCC_SIG of the candidate narrow lane to obtain the number of robots waiting to enter the candidate narrow lane (referred to as N') and the preset According to the duration of the candidate narrow lane (denoted as T'), if (N+ΔN ₂ )*T>DL/s+N'*T', the navigation can be switched to the candidate route, otherwise, the route switch will not be performed. Wherein, ΔN ₂ is a preset redundancy amount, which can be set according to actual conditions, which is not specifically limited in this embodiment of the present application. Preferably, it can be set to 1.

If no path switching is performed, step S104 and subsequent steps are continued.

Step S104, sending a channel request signal frame, and navigating to a preset waiting position.

Specifically, the target robot can continuously send channel request signal frames (referred to as PATH_REQ_SIG), and the number of consecutive sending times of PATH_REQ_SIG and the time interval between each time can be set according to the actual situation, which is not done in this embodiment of the present application. Specific restrictions. Preferably, the PATH_REQ_SIG can be sent three times continuously, and the time interval between each time is 100 milliseconds. The target robot reduces the speed and continues to move forward, and stops and waits when the nearest robot waiting to pass through the narrow aisle is smaller than the preset waiting distance threshold from or near the narrow aisle area, thereby forming a waiting queue. The waiting distance threshold may be set according to the actual situation, so as to avoid obstructing the passage of other robots, which is not specifically limited in this embodiment of the present application. Preferably, it can be set to 1.5 meters.

Among them, the distance to the nearest robot waiting to pass through the narrow aisle can be obtained by means of wireless ranging. In a specific implementation, the ranging signal frame (referred to as BLINK_SIG) sent by the other party can be received, the one with the signal strength greater than a certain threshold and the largest one is found, and the distance is estimated according to the signal strength. In another specific implementation, you can receive the BLINK_SIG sent by the other party, find the robots whose signal strength is greater than a certain threshold, and then sort them according to the signal strength, and then use the Time Of Flight (TOF) method to measure the distance with each robot, and get the nearest robot. distance from the robot.

The target robot stops after reaching the waiting position, and continuously broadcasts BLINK_SIG during the waiting process. The time interval between frames can be set according to the actual situation, which is not specifically limited in this embodiment of the present application. Preferably, it can be set to 200 milliseconds. If the channel passing signal frame (referred to as PATH_PASS_SIG) containing the robot identifier of the target robot is received during the waiting process, or if the PATH_OCC_SIG is not received in a continuous period of time, the narrow channel can be passed according to step S102. The duration of the time period may be set according to the actual situation, which is not specifically limited in this embodiment of the present application. Preferably, it can be set to 2 seconds.

During the process of passing through the narrow aisle according to step S102, the target robot extracts the robot identifier in the channel request signal frame when receiving the PATH_REQ_SIG sent by other robots. If the robot ID has been recorded in the requesting robot ID list, ignore the frame; if the robot ID is not recorded in the requesting robot ID list, record the robot ID at the end of the requesting robot ID list, and In the PATH_OCC_SIG of the subsequent broadcast, the number of robots waiting to enter the narrow lane is increased by one counting unit.

After the target robot passes through the narrow aisle, it stops broadcasting PATH_OCC_SIG, and extracts the robot identification (ie the robot identification with the earliest time) located at the head of the robot identification list requesting access, and sends it to the robot identification corresponding to the robot identification. Robot sends PATH_PASS_SIG. If there are other robot identifications in the list after the earliest robot identification is taken out from the header of the requesting robot identification list, the remaining robot identifications in the list can be attached to the signal PATH_PASS_SIG in order and sent. The number of consecutive sending times of PATH_PASS_SIG and the time interval between each time may be set according to actual conditions, which are not specifically limited in this embodiment of the present application. Preferably, the PATH_PASS_SIG can be sent three times continuously, and the time interval between each time is 150 milliseconds.

After the target robot waiting to enter the narrow lane receives the PATH_PASS_SIG sent to itself, if the frame is followed by a list of robot identifiers for requesting passage, the information of the list can be saved as its own list of robot identifiers for requesting passage. The target robot begins to enter the narrow aisle and enters the narrow aisle traffic state, and at the same time continuously broadcasts PATH_OCC_SIG.

When the target robot enters the narrow lane traffic state, there is a very small probability that after it starts broadcasting PATH_OCC_SIG, it receives the PATH_OCC_SIG broadcast by other robots, that is, a conflict occurs between the two. At this time, the target robot may extract the robot identifier in the PATH_OCC_SIG broadcast by other robots, and judge whether the authority of the target robot is prioritized according to the robot identifier. For example, the robot identifier of the target robot can be marked as ID ₁ , and the robot identifier in the PATH_OCC_SIG broadcast by other robots can be marked as ID ₂ , if ID ₁ >ID ₂ , it is determined that the authority of the target robot takes precedence, otherwise, Then it is determined that the authority of the target robot has no priority. Of course, other authority determination rules may also be set according to actual situations, which are not specifically limited in this embodiment of the present application.

If the authority of the target robot takes precedence, insert the robot identifier in the PATH_OCC_SIG broadcast by other robots into the header of the robot identifier list requesting to pass, and continue to pass through the narrow aisle.

If the authority of the target robot is not prioritized, stop broadcasting PATH_OCC_SIG, and execute step S104 and its subsequent steps. In this process, you don't need to measure the distance with other robots again, just use the distance measurement result saved before.

It should be noted that a certain random amount can also be added to the sending interval of the various signal frames sent periodically above to avoid continuous conflicts with signal frames sent by other robots.

The state flow chart of the whole process of the robot passing through the narrow aisle is shown in Figure 2. In this way, the server does not need to be scheduled in a centralized manner, which greatly reduces the deployment cost.

To sum up, in this embodiment of the present application, during the navigation process of the target robot, when the target robot travels to a position where the distance from the narrow lane is less than the preset distance threshold, monitor whether the narrow lane is occupied; if the If the narrow lane is not occupied, the broadcast channel occupies the signal frame and passes through the narrow lane; the channel occupied signal frame is used to inform other robots that the narrow lane is occupied. Through the embodiment of the present application, each robot can be made to pass through the narrow aisle in an orderly manner, and the occurrence of interlocking phenomenon can be avoided.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Corresponding to a method for a robot to pass through a narrow aisle described in the above embodiment, FIG. 3 shows a structural diagram of an embodiment of a device for a robot to pass through a narrow aisle provided by an embodiment of the present application.

In this embodiment, a device for a robot to pass through a narrow aisle may include:

The monitoring module 301 is configured to monitor whether the narrow road is occupied when the target robot travels to a position less than a preset distance threshold from the narrow road during the navigation process of the target robot; the narrow road is for passage Channels whose width is less than the preset width threshold;

The narrow aisle passing module 302 is configured to broadcast a channel occupied signal frame and pass through the narrow aisle if the narrow aisle is not occupied; the channel occupied signal frame is used to inform other robots that the narrow aisle is occupied.

Further, the device may also include:

The path determination module 303 is configured to determine whether to perform path switching according to the received channel occupation signal frame if the narrow lane is occupied;

Waiting for passage module 304, for sending a channel request signal frame and navigating to a preset waiting position if no path switching is performed;

Further, the path judgment module may include:

Further, the device may also include:

The apparatus may also include:

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described devices, modules and units can be referred to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

FIG. 4 shows a schematic block diagram of a robot provided by an embodiment of the present application. For convenience of description, only parts related to the embodiment of the present application are shown.

As shown in FIG. 4 , the robot 4 of this embodiment includes a processor 40 , a memory 41 , and a computer program 42 stored in the memory 41 and executable on the processor 40 . When the processor 40 executes the computer program 42, the steps in the above-mentioned embodiments of the method for the robot to pass through the narrow aisle are implemented. Alternatively, when the processor 40 executes the computer program 42, the functions of the modules/units in the above-mentioned device embodiments are implemented.

Exemplarily, the computer program 42 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 41 and executed by the processor 40 to complete the this application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the robot 4 .

Those skilled in the art can understand that FIG. 4 is only an example of the robot 4, and does not constitute a limitation to the robot 4. It may include more or less components than the one shown in the figure, or combine some components, or different components, such as The robot 4 may also include input and output devices, network access devices, buses, and the like.

The processor 40 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 41 may be an internal storage unit of the robot 4 , such as a hard disk or a memory of the robot 4 . The memory 41 can also be an external storage device of the robot 4, such as a plug-in hard disk equipped on the robot 4, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash card (Flash Card) and so on. Further, the memory 41 may also include both an internal storage unit of the robot 4 and an external storage device. The memory 41 is used to store the computer program and other programs and data required by the robot 4. The memory 41 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated to different functional units, Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above-mentioned system, reference may be made to the corresponding process in the foregoing method embodiments, which will not be repeated here.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the device/robot embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or Components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

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

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps of the foregoing method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory) ), random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, computer-readable Storage media exclude electrical carrier signals and telecommunications signals.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims

A method for a robot to pass through a narrow road, comprising:

During the navigation of the target robot, when the target robot travels to a position where the distance from the narrow aisle is less than a preset distance threshold, monitor whether the narrow aisle is occupied; the narrow aisle has a width smaller than a preset width. Threshold channel;

If the narrow lane is not occupied, the broadcast channel occupies a signal frame and passes through the narrow lane; the channel occupied signal frame is used to inform other robots that the narrow lane is occupied.
The method for passing a narrow road for a robot according to claim 1, further comprising:

If the narrow channel has been occupied, determine whether to perform path switching according to the received channel occupancy signal frame;

If no path switching is performed, a channel request signal frame will be sent, and a preset waiting position will be navigated;

When receiving the channel passing signal frame containing the robot identification of the target robot, the broadcast channel occupies the signal frame and passes through the narrow channel.
The method for a robot to pass through a narrow aisle according to claim 2, wherein the judging whether to perform path switching according to the received channel occupancy signal frame comprises:

extracting the number of robots waiting to enter the narrow lane from the received lane occupancy signal frame;

Calculate the length difference between the candidate path and the current path;

Whether to perform path switching is determined according to the number of robots, the difference in length, the preset duration of passing through the narrow aisle, and the preset traveling speed.
The method for passing a narrow road for a robot according to claim 1, further comprising:

In the process of passing through the narrow lane, when receiving the channel request signal frame, extract the robot identifier in the channel request signal frame;

If the robot identification is not recorded in the preset requesting robot identification list, the robot identification is recorded at the end of the requesting robot identification list, and the number of robots waiting to enter the narrow lane is increased by one counting unit .
The method for passing a narrow road for a robot according to claim 4, further comprising:

After passing through the narrow channel, stop the broadcast channel from occupying the signal frame;

Extracting the robot identification at the header of the robot identification list requesting passage, and sending a channel passing signal frame to the robot corresponding to the robot identification.
The method for a robot passing through a narrow aisle according to any one of claims 1 to 5, further comprising:

After the channel occupied signal frame is broadcast, if the channel occupied signal frame broadcast by other robots is received, the robot identifier in the channel occupied signal frame is extracted;

According to the robot identification, determine whether the authority of the target robot has priority;

If the authority of the target robot has priority, insert the robot identification into the header of the robot identification list requesting to pass, and continue to pass through the narrow aisle.
The method for a robot passing through a narrow aisle according to claim 6, further comprising:

If the authority of the target robot is not prioritized, stop the broadcast channel occupying the signal frame;

Send a channel request signal frame and navigate to a preset waiting position;

When receiving the channel passing signal frame containing the robot identification of the target robot, the broadcast channel occupies the signal frame and passes through the narrow channel.
A device for a robot to pass through a narrow track, characterized in that it includes:

The monitoring module is used to monitor whether the narrow aisle is occupied when the target robot travels to a position less than a preset distance threshold from the narrow passage during the navigation of the target robot; the narrow passage is the traffic width Channels smaller than the preset width threshold;

The narrow aisle passing module is used for broadcasting a channel occupied signal frame and passing through the narrow aisle if the narrow aisle is not occupied; the channel occupied signal frame is used to inform other robots that the narrow aisle is occupied.
A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the robot according to any one of claims 1 to 7 can pass the narrow path. The steps of the Tao method.
A robot, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, when the processor executes the computer program, the implementation of claims 1 to 7 The steps of any one of the method for the robot to pass through the narrow aisle.