WO2022183803A1 - 移动设备的避让方法、装置及计算机可读存储介质 - Google Patents

移动设备的避让方法、装置及计算机可读存储介质 Download PDF

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Publication number
WO2022183803A1
WO2022183803A1 PCT/CN2021/137415 CN2021137415W WO2022183803A1 WO 2022183803 A1 WO2022183803 A1 WO 2022183803A1 CN 2021137415 W CN2021137415 W CN 2021137415W WO 2022183803 A1 WO2022183803 A1 WO 2022183803A1
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Prior art keywords
mobile device
avoidance
candidate parking
target
candidate
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PCT/CN2021/137415
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English (en)
French (fr)
Inventor
刘玉豪
张美华
王仕腾
Original Assignee
上海擎朗智能科技有限公司
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Application filed by 上海擎朗智能科技有限公司 filed Critical 上海擎朗智能科技有限公司
Priority to KR1020227023303A priority Critical patent/KR20220125718A/ko
Priority to EP21887877.5A priority patent/EP4082724A4/en
Priority to JP2022526395A priority patent/JP7368622B2/ja
Priority to US17/848,662 priority patent/US20220326712A1/en
Publication of WO2022183803A1 publication Critical patent/WO2022183803A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33027—Artificial neural network controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40317—For collision avoidance and detection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40339—Avoid collision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40476—Collision, planning for collision free path

Definitions

  • the embodiments of the present application relate to the technical field of artificial intelligence, and in particular, to an avoidance method, an apparatus, and a computer-readable storage medium for a mobile device.
  • the present application provides an avoidance method, an apparatus and a computer-readable storage medium for a mobile device, which can reduce the startup time of the mobile device after avoidance.
  • the present application provides an avoidance method for a mobile device, which can be applied to an avoidance device for a mobile device, including: determining a target path direction of the mobile device; determining a first candidate parking direction and a second candidate parking direction; direction, the target parking direction of the mobile device is determined from the first candidate parking direction and the second candidate parking direction; the mobile device is controlled to park in the avoidance area according to the target parking direction.
  • the target path direction is the direction of the navigation path after the mobile device stops in the avoidance area.
  • the above-mentioned "determining the first candidate parking direction and the second candidate parking direction” may include: determining the channel width of the preset moving area of the mobile device; width, to determine the first candidate parking direction and the second candidate parking direction; the avoidance area belongs to the range of the preset movement area.
  • the above-mentioned "determining the first candidate parking direction and the second candidate parking direction according to the boundary of the avoidance area and the width of the passage” may include: determining that the passage width is greater than the preset length. In this case, two different directions parallel to the boundary of the avoidance area are determined as the first candidate parking direction and the second candidate parking direction, respectively.
  • the above-mentioned "determining the first candidate parking direction and the second candidate parking direction according to the boundary of the avoidance area and the width of the passage” may include: determining that the width of the passage is less than or equal to the predetermined In the case of setting the length, the first candidate parking direction and the second candidate parking direction are determined according to the positional relationship between the line where the physical long axis of the mobile device is located and the line where the moving direction of the mobile device is located.
  • the above-mentioned “determining the first candidate parking direction and the second candidate parking direction according to the positional relationship between the line where the physical long axis of the mobile device is located and the line where the moving direction of the mobile device is located” also Can include:
  • the above “determine the first candidate docking direction and the second candidate docking direction according to the positional relationship between the line where the physical long axis of the mobile device is located and the line where the moving direction of the mobile device is located”, include:
  • the above-mentioned "determining the first candidate parking direction and the second candidate parking direction” may further include:
  • the target boundary is the boundary closest to the mobile device in the target parking area
  • Two different directions parallel to the target boundary are determined as the first candidate parking direction and the second candidate parking direction, respectively.
  • controlling the mobile device to park in the avoidance area according to the target parking direction may include: controlling the movement direction of the mobile device toward the target parking direction, and parked in the avoidance area.
  • the above-mentioned "determining the target parking direction of the mobile device from the first candidate parking direction and the second candidate parking direction according to the target path direction” may include:
  • the target parking direction is determined from the first candidate parking direction and the second candidate parking direction.
  • the above-mentioned “determining the target parking direction from the first candidate parking direction and the second candidate parking direction according to the first direction angle and the second direction angle” may include:
  • the first direction angle When the first direction angle is smaller than the second direction angle, determine the first candidate parking direction as the target parking direction; when the first direction angle is greater than the second direction angle, determine the second candidate parking direction as the target parking direction; In the case that the first direction angle is equal to the second direction angle, the first candidate parking direction or the first candidate parking direction is determined as the target parking direction.
  • the present application provides an avoidance device for a mobile device, including: a determination module and a control module.
  • the determination module is used to determine the target path direction of the mobile device, wherein, the target path direction is the direction of the navigation path after the mobile device stops in the avoidance area;
  • a determining module further configured to determine the first candidate parking direction and the second candidate parking direction
  • the determining module is further configured to determine the target parking direction of the mobile device from the first candidate parking direction and the second candidate parking direction according to the target path direction;
  • the control module is used for controlling the mobile device to park in the avoidance area according to the target parking direction determined by the determination module.
  • the determining module is specifically used to: determine the channel width of the preset moving area of the mobile device; determine the first candidate docking direction and the second candidate parking direction according to the boundary of the avoidance area and the channel width.
  • the determining module is specifically further configured to: in the case that the width of the channel is determined to be greater than the preset length, respectively determine two different directions parallel to the boundary of the avoidance area as the first A candidate parking direction and a second candidate parking direction.
  • the determining module is further used to: in the case that the width of the channel is determined to be less than or equal to the preset length, according to the line where the physical long axis of the mobile device is located and the movement direction of the mobile device.
  • the positional relationship of the straight line determines the first candidate parking direction and the second candidate parking direction.
  • the determining module is further used for: in the case where the line where the physical long axis is located and the line where the moving direction is located are parallel to each other, two different The directions are respectively determined as a first candidate parking direction and a second candidate parking direction.
  • the determining module is further used for: in the case where the line where the physical long axis is located and the line where the moving direction is located are perpendicular to each other, the two different lines perpendicular to the boundary of the avoidance area are determined.
  • the directions are respectively determined as a first candidate parking direction and a second candidate parking direction.
  • the determining module is specifically further used to: determine a target docking area, where the target docking area does not belong to the range of the preset moving area; identify a target boundary, where the target boundary is, The boundary closest to the mobile device in the target parking area; two different directions parallel to the target boundary are respectively determined as the first candidate parking direction and the second candidate parking direction.
  • control module is specifically configured to: control the movement direction of the mobile device toward the target parking direction, and park in the avoidance area.
  • the determining module is further configured to: determine the first direction angle and the second direction angle, wherein the first direction angle is the folder between the first candidate parking direction and the target path direction. angle, the second direction angle is the angle between the second candidate docking direction and the target path direction;
  • the target parking direction is determined from the first candidate parking direction and the second candidate parking direction.
  • the determining module is further configured to: in the case that the first direction angle is smaller than the second direction angle, determine the first candidate parking direction as the target parking direction; When the angle is greater than the second direction angle, the second candidate parking direction is determined as the target parking direction; when the first direction angle is equal to the second direction angle, the first candidate parking direction or the first candidate parking direction is determined as the target parking direction. direction.
  • the present application provides an avoidance device for a mobile device, including a memory, a processor, a bus and a communication interface; the memory is used to store computer execution instructions, and the processor and the memory are connected through a bus; when the avoidance device of the mobile device runs , the processor executes the computer-executed instructions stored in the memory, so that the avoidance apparatus of the mobile device executes the avoidance method for the mobile device provided in the first aspect above.
  • the avoidance device of the mobile device may further include a transceiver, and the transceiver is used to perform the steps of sending and receiving data, signaling or information under the control of the processor of the avoidance device of the mobile device, for example, to obtain the information of the target path. direction.
  • the avoidance device of the mobile device may be the mobile device itself, or a part of the device in the mobile device, for example, a chip system in the mobile device.
  • the chip system is used to support the avoidance apparatus of the mobile device to implement the functions involved in the first aspect, for example, to receive, send or process the data and/or information involved in the avoidance method of the mobile device.
  • the chip system includes chips, and may also include other discrete devices or circuit structures.
  • the avoidance device of the mobile device may also be a server connected in communication with the mobile device, or may be a part of the device in the server, for example, may be a chip system in the server.
  • the present application provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the computer executes the instructions, the computer is made to execute the avoidance method for the mobile device provided in the first aspect.
  • the present application provides a computer program product, the computer program product includes computer instructions, when the computer instructions are executed on the computer, the computer is made to execute the avoidance method for the mobile device provided in the first aspect.
  • the above computer instructions may be stored in whole or in part on a computer-readable storage medium.
  • the computer-readable storage medium may be packaged together with the processor of the avoidance device of the mobile device, or may be packaged separately with the processor of the avoidance device of the mobile device, which is not limited in this application.
  • the direction of the mobile device when it stops in the avoidance area (that is, the target parking direction in this application) is determined according to the direction of the target path, and the direction of the target path is the direction of the mobile device in the avoidance area.
  • the direction of the navigation path after docking Therefore, the technical solution of the present application can determine the target parking direction consistent with the direction of the navigation path from the two candidate parking directions, that is, the angle difference between the direction of the navigation path and the target parking direction is not very large. In this way, after the mobile device is parked in the avoidance area, the body of the mobile device can be quickly adjusted to the direction of the navigation path. Therefore, the avoidance method of the mobile device provided by the present application can reduce the startup time of the mobile device after the avoidance.
  • the name of the avoidance device of the mobile device does not limit the device or the functional module itself, and in actual implementation, these devices or functional modules may appear in other names. As long as the functions of each device or functional module are similar to those of the present application, they fall within the scope of the claims of the present application and their equivalents.
  • FIG. 1 is a schematic structural diagram of an avoidance system for a mobile device according to an embodiment of the present application
  • FIG. 2 is a schematic flowchart of an avoidance method for a mobile device according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of a scenario of an avoidance area provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a scenario of another avoidance area provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a scene of another avoidance area provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a scene of another avoidance area provided by an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of another avoidance method for a mobile device provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of an avoidance device for a mobile device according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of another avoidance apparatus for a mobile device according to an embodiment of the present application.
  • first and second in the description and drawings of the present application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of the objects.
  • references to the terms “comprising” and “having” in the description of this application, and any variations thereof, are intended to cover non-exclusive inclusion.
  • a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes other unlisted steps or units, or optionally also Include other steps or units inherent to these processes, methods, products or devices.
  • the application of robots is becoming more and more extensive, and multiple robots may be deployed in an application scenario. In this way, there will be conflicting navigation paths of multiple robots.
  • the robot with the lower priority can stop at the preset avoidance area, or choose a nearby fork to avoid, so as to achieve avoidance.
  • an embodiment of the present application provides an avoidance method for a mobile device.
  • the method can enable the mobile device to quickly adjust the body of the mobile device to the avoidance area after the mobile device is parked in the avoidance area.
  • the direction of the navigation path thereby reducing the startup time of the mobile device after avoidance.
  • the avoidance method for a mobile device provided by the embodiments of the present application can be applied to an avoidance device for a mobile device.
  • the avoidance device of the mobile device may be a mobile device body or a chip system in the mobile device.
  • the mobile device first determines the target path direction, the first candidate parking direction, and the second candidate parking direction; then, the mobile device determines the target parking direction from the first candidate parking direction and the second candidate parking direction according to the target path direction. ; Finally, the mobile device controls itself to dock in the avoidance area according to the target docking direction.
  • the avoidance device of the mobile device may also be a server connected in communication with the mobile device.
  • FIG. 1 is a schematic structural diagram of an avoidance system for a mobile device according to an embodiment of the present application.
  • the avoidance system for a mobile device includes a server 01 and at least one mobile device 02 .
  • the server 01 is connected to each mobile device 02.
  • the server 01 is used to determine a navigation path for each mobile device 02 in the avoidance system of the mobile device. When a conflict of navigation paths of multiple mobile devices 02 occurs, determine the mobile device 02 that needs to be avoided, and control the mobile device 02 that needs to be avoided. Go to the avoidance area to stop.
  • the server 01 is also used to determine the target path direction for the mobile device 02 that needs to be avoided, and to determine the first candidate parking direction and the second candidate parking direction; then according to the target path direction, from the first candidate parking direction and the second candidate parking direction Determine the target parking direction of the mobile device 02 that needs to be avoided; finally, control the mobile device 02 that needs to be avoided to park in the avoidance area according to the target parking direction.
  • the avoidance method for a mobile device provided in the embodiment of the present application is applied in a scenario where the navigation paths of multiple mobile devices 02 conflict.
  • the mobile devices 02 involved in the following description of the embodiments of the present application are all mobile devices 02 that need to go to the avoidance area to park and wait.
  • the processing procedure of the server 01 for each mobile device 02 is the same.
  • the processing of a mobile device 02 by the server 01 is used as an example for description.
  • FIG. 2 is a schematic flowchart of an avoidance method for a mobile device according to an embodiment of the present application.
  • the avoidance method may be executed by the mobile device or the server in FIG. 1 , and specifically may be executed by the processor of the mobile device or the server.
  • the avoidance method of the mobile device includes S201-S204:
  • An avoidance device of the mobile device determines a target path direction of the mobile device.
  • the target path direction is the direction of the navigation path after the mobile device stops in the avoidance area.
  • the avoidance device of the mobile device may plan a target path for the mobile device according to a path algorithm, and then determine the direction of the target path according to the trend of the target path.
  • the avoidance device of the mobile device can determine the target path according to a path algorithm such as a Dynamic Window Approach (DWA) or an artificial potential field method.
  • DWA Dynamic Window Approach
  • the avoidance device of the mobile device can determine the target path according to a path algorithm such as a Dynamic Window Approach (DWA) or an artificial potential field method.
  • DWA Dynamic Window Approach
  • the trend of the target path of the mobile device A is shown in the dotted line in FIG. 3
  • the avoidance device of the mobile device The direction of the arrow D in FIG. 3 is determined as the target path direction of the mobile device A.
  • the avoidance device of the mobile device determines a first candidate parking direction and a second candidate parking direction.
  • the avoidance device of the mobile device may determine the first candidate parking direction and the second candidate parking direction according to the channel width of the preset movement area of the mobile device and the boundary of the avoidance area .
  • the preset movement area may be a movement area of the mobile device determined in advance by a person.
  • the preset moving area may be a corridor of the hotel.
  • the boundary of the avoidance area may be a wall or other types of obstacles, which are not limited in this embodiment of the present application.
  • the avoidance area when the avoidance area is a preset avoidance area close to the wall, the avoidance area is within the range of the preset movement area; when the avoidance area is a fork, the avoidance area is not preset within the moving area.
  • the avoidance device of the mobile device can set the two parallel to the boundary of the avoidance area. Different directions are respectively determined as the first candidate parking direction and the second candidate parking direction.
  • FIG. 3 a schematic diagram of a scenario of an avoidance area is provided. As shown in FIG. 3 , the two directions parallel to the boundary of the avoidance area are the direction of arrow A and the direction of arrow B respectively.
  • the direction of arrow A is determined as the first candidate parking direction
  • the direction of arrow B is determined as the second candidate parking direction. It can be seen that when the avoidance area is within the range of the preset movement area, the boundary of the avoidance area may be a boundary of the preset movement area.
  • the preset length may be an artificially predetermined length.
  • the width of the channel is less than or equal to the preset length, the long and short sides of the mobile device have an impact on the docking of the mobile device.
  • the positional relationship of the straight line where the moving direction of the device is located determines the first candidate parking direction and the second candidate parking direction.
  • the apparatus may determine two different directions parallel to the boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively.
  • FIG. 4 a schematic diagram of a scenario of an avoidance area is provided.
  • the movement direction of the mobile device A is the direction of the arrow C, and the line where the arrow C points is parallel to the line where the physical long axis of the mobile device A is located, then the avoidance device of the mobile device determines that the mobile device A is in Figure 4
  • two different directions parallel to the boundary of the avoidance area that is, the directions of arrows A and B in FIG. 4 , can be determined as the first candidate parking direction and the second candidate parking direction, respectively.
  • the moving direction of the mobile device is The avoidance device may determine two different directions perpendicular to the boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively. Referring to FIG. 5 , a schematic diagram of a scenario of an avoidance area is provided.
  • the movement direction of the mobile device A is the direction of the arrow C, and the line where the arrow C points is perpendicular to the line where the physical long axis of the mobile device A is located, then the avoidance device of the mobile device determines that the mobile device A is in Figure 5
  • two different directions perpendicular to the boundary of the avoidance area that is, the directions of arrows A and B in FIG. 5 , can be determined as the first candidate parking direction and the second candidate parking direction, respectively.
  • the avoidance device of the mobile device can first determine the target parking area, and then identify the boundary closest to the mobile device in the target parking area as the target boundary. Two different directions of the target boundary are determined as a first candidate parking direction and a second candidate parking direction, respectively.
  • the target parking area is also the determined avoidance area, which does not belong to the range of the preset moving area.
  • FIG. 6 a schematic diagram of a scenario of an avoidance area is provided.
  • the avoidance device of the mobile device determines the target parking area as shown in FIG. 6 , and the target parking area has two boundaries, that is, the first boundary and the second boundary in FIG. 6 .
  • the avoidance device of the mobile device recognizes that the boundary closest to the mobile device in the target parking area is the first boundary, and the first boundary is used as the target boundary.
  • the avoidance device of the mobile device may determine two different directions parallel to the first boundary (that is, the direction of arrow A and the direction of arrow B) as the first candidate parking direction and the second candidate parking direction, respectively.
  • the avoidance device of the mobile device determines the target parking direction of the mobile device from the first candidate parking direction and the second candidate parking direction according to the target path direction.
  • the avoidance device of the mobile device may first determine the first direction angle and the second direction angle, and then determine the target parking from the first candidate parking direction and the second candidate parking direction according to the first direction angle and the second direction angle. direction.
  • the first direction angle is the included angle between the first candidate parking direction and the target path direction
  • the second direction angle is the included angle between the second candidate parking direction and the target path direction
  • the avoidance device of the mobile device determines the first candidate parking direction as the target parking direction; when the first direction angle is greater than the second direction angle, determines the first candidate parking direction.
  • the two candidate parking directions are the target parking directions; when the first direction angle is equal to the second direction angle, the first candidate parking direction or the first candidate parking direction is determined as the target parking direction.
  • arrow A points to the first candidate parking direction
  • arrow B points to the second candidate parking direction
  • arrow D points to the target path direction.
  • the avoidance device of the mobile device can determine the angle between the direction of the arrow A and the direction of the arrow D, that is, the ⁇ angle in FIG. 3 as the first direction angle, and the direction of the arrow B and the direction of the arrow D.
  • the included angle between them that is, the angle ⁇ in FIG. 3 is determined as the second direction angle.
  • the avoidance device of the mobile device can point the arrow B, that is, the second candidate parking direction as the target parking. direction.
  • arrow A points to the first candidate parking direction
  • arrow B points to the second candidate parking direction
  • arrow D points to the target path direction.
  • the avoidance device of the mobile device can determine the angle between the direction of arrow A and the direction of arrow D, that is, the ⁇ angle in FIG. 4 as the first direction angle
  • the direction of arrow B and the direction of arrow D The included angle between them, that is, the angle ⁇ in FIG. 4 is determined as the second direction angle.
  • the avoidance device of the mobile device can point the arrow B, that is, the second candidate parking direction as the target parking. direction.
  • the direction of arrow A is the first candidate parking direction
  • the direction of arrow B is the second candidate parking direction
  • the direction of arrow D is the target path direction.
  • the avoidance device of the mobile device can determine the angle between the direction of arrow A and the direction of arrow D, that is, the ⁇ angle in FIG. 5 as the first direction angle
  • the direction of arrow B and the direction of arrow D is determined as the second direction angle.
  • the ⁇ angle in FIG. 5 is smaller than the ⁇ angle, that is, the first direction angle is greater than the second direction angle
  • the avoidance device of the mobile device can determine the direction of the arrow B, that is, the second candidate parking direction, as the target Parking direction.
  • the sum of the physical short axis and the physical long axis of the mobile device may be determined as a preset length.
  • the width of the channel is less than or equal to the preset length, and the line where the physical long axis of the mobile device is located and the line where the moving direction is located are perpendicular to each other (that is, the situation shown in the scene diagram in FIG. 5 ), if the two move If the devices meet in front of the preset motion area, only one mobile device can go to the avoidance area to adjust the parking direction, and the other mobile device can keep the original motion direction and continue to drive.
  • the mobile device B can continue to drive without adjusting the direction to avoid.
  • the physical short axis of the mobile device B is the side length m in the direction parallel to the boundary of the avoidance area
  • the physical long axis is the side length n in the direction perpendicular to the boundary of the avoidance area.
  • the direction of arrow A is the first candidate parking direction
  • the direction of arrow B is the second candidate parking direction
  • the direction of arrow D is the target path direction.
  • the avoidance device of the mobile device can determine the angle between the direction of arrow A and the direction of arrow D, that is, the ⁇ angle in FIG. 6 as the first direction angle
  • the direction of arrow B and the direction of arrow D is determined as the second direction angle.
  • the ⁇ angle in FIG. 6 is smaller than the ⁇ angle, that is, the first direction angle is greater than the second direction angle
  • the avoidance device of the mobile device can determine the second candidate parking direction pointed by the arrow B as the target parking direction .
  • the avoidance device of the mobile device controls the mobile device to park in the avoidance area according to the target parking direction.
  • the avoidance device of the mobile device can control the movement direction of the mobile device to be toward the target parking direction, and park in the avoidance area.
  • the target parking direction determined by the avoidance device of the mobile device is the direction of arrow B, and the angle difference between the direction of arrow B and the direction of the target path is small.
  • the movement direction is toward the direction of arrow B.
  • the movement direction is towards the direction of the arrow A.
  • the avoidance method of the mobile device provided by the embodiment of the present application can reduce the startup time of the mobile device after the avoidance.
  • the direction of the mobile device when it stops in the avoidance area (that is, the target parking direction in the present application) is determined according to the direction of the target path, and the direction of the target path is the direction of the mobile device in the avoidance area.
  • the direction of the navigation path after the avoidance area stops. Therefore, the technical solution of the present application can determine the target parking direction consistent with the direction of the navigation path from the two candidate parking directions, that is, the angle difference between the direction of the navigation path and the target parking direction is not very large. In this way, after the mobile device is parked in the avoidance area, the body of the mobile device can be quickly adjusted to the direction of the navigation path. Therefore, the avoidance method of the mobile device provided by the present application can reduce the startup time of the mobile device after the avoidance.
  • FIG. 7 is a schematic flowchart of another avoidance method for a mobile device according to an embodiment of the present application.
  • the avoidance method includes S701-S7010:
  • the avoidance device of the mobile device determines a target path direction of the mobile device.
  • the avoidance device of the mobile device determines the channel width of the preset movement area of the mobile device.
  • the avoidance device of the mobile device determines whether the width of the channel is greater than the preset length.
  • the avoidance device of the mobile device determines two different directions parallel to the boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively.
  • the avoidance device of the mobile device judges whether the straight line where the physical long axis is located and the line where the moving direction is located are parallel to each other.
  • the avoidance device of the mobile device determines two different directions parallel to the boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively.
  • the avoidance device of the mobile device determines two different directions perpendicular to the boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively.
  • the avoidance device of the mobile device executes S708.
  • the avoidance device of the mobile device determines the first direction angle and the second direction angle, and determines the target parking direction from the first candidate parking direction and the second candidate parking direction according to the first direction angle and the second direction angle.
  • the avoidance device of the mobile device controls the movement direction of the mobile device toward the target parking direction, and stops in the avoidance area.
  • FIG. 8 is a schematic structural diagram of an avoidance device for a mobile device according to an embodiment of the present application.
  • the avoidance apparatus of the mobile device may be the server 01 in the avoidance system of the mobile device involved in FIG. 1 in the above embodiment, or may be the mobile device itself.
  • the avoidance device of the mobile device includes: a determination module 31 and a control module 32 .
  • the determination module 31 executes S201, S202 and S203 in the foregoing method embodiments, and the control module 32 executes S204 in the foregoing method embodiments.
  • the determining module 31 is used to determine the target path direction of the mobile device; the target path direction is the direction of the navigation path after the mobile device stops in the avoidance area;
  • the determining module 31 is further configured to determine the first candidate parking direction and the second candidate parking direction;
  • the determining module 31 is also used to determine the target docking direction of the mobile device from the first candidate docking direction and the second candidate docking direction according to the target path direction;
  • the control module 32 is configured to control the mobile device to park in the avoidance area according to the target parking direction determined by the determination module 31 .
  • the determining module 31 is specifically configured to: determine the channel width of the preset moving area of the mobile device;
  • the avoidance area belongs to the range of the preset movement area.
  • the determining module 31 is specifically further configured to: in the case that the width of the channel is determined to be greater than the preset length, determine two different directions parallel to the boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively. direction.
  • the determining module 31 is specifically further configured to determine the first candidate according to the positional relationship between the straight line where the physical long axis of the mobile device is located and the straight line where the moving direction of the mobile device is located when the channel width is determined to be less than or equal to the preset length.
  • the docking direction and the second candidate docking direction are specifically further configured to determine the first candidate according to the positional relationship between the straight line where the physical long axis of the mobile device is located and the straight line where the moving direction of the mobile device is located when the channel width is determined to be less than or equal to the preset length.
  • the determining module 31 is specifically further configured to: in the case where the straight line where the physical long axis is located and the straight line where the moving direction is located are parallel to each other, respectively determine two different directions parallel to the boundary of the avoidance area as the first candidate parking direction. and the second candidate docking direction.
  • the determining module 31 is specifically also used to: in the case where the straight line where the physical long axis is located and the straight line where the moving direction is located are perpendicular to each other, respectively determine two different directions perpendicular to the boundary of the avoidance area as the first candidate parking direction. and the second candidate docking direction.
  • the determining module 31 is specifically further configured to: determine a target docking area; the target docking area does not belong to the range of the preset moving area;
  • the target boundary is the boundary closest to the mobile device in the target parking area
  • Two different directions parallel to the target boundary are determined as the first candidate parking direction and the second candidate parking direction, respectively.
  • control module 32 is specifically configured to: control the moving direction of the mobile device toward the target parking direction, and park in the avoidance area.
  • the determining module 31 is further configured to: determine the first direction angle and the second direction angle; the first direction angle is the angle between the first candidate parking direction and the target path direction, and the second direction angle is the second candidate parking direction. The angle between the direction and the direction of the target path;
  • the target parking direction is determined from the first candidate parking direction and the second candidate parking direction.
  • the determining module 31 is specifically further configured to: in the case that the first direction angle is smaller than the second direction angle, determine the first candidate parking direction as the target parking direction; in the case that the first direction angle is greater than the second direction angle , determine the second candidate parking direction as the target parking direction; in the case that the first direction angle is equal to the second direction angle, determine the first candidate parking direction or the first candidate parking direction as the target parking direction.
  • the avoidance device of the mobile device may further include a storage module, where the storage module is configured to store program codes of the avoidance device of the mobile device, and the like.
  • FIG. 9 is a schematic structural diagram of another avoidance apparatus for a mobile device according to an embodiment of the present application.
  • the avoidance device includes a memory 41, a processor 42, a bus 43 and a communication interface 44; the memory 41 is used to store computer execution instructions, and the processor 42 and the memory 41 are connected through the bus 43; when the avoidance device of the mobile device runs At this time, the processor 42 executes the computer-executed instructions stored in the memory 41, so that the avoidance apparatus of the mobile device executes the avoidance method of the mobile device provided by the above embodiments.
  • the processors 42 may include one or more central processing units (Central Processing Units, CPUs), such as CPU0 and CPU shown in FIG. 9 . CPU1.
  • the avoidance apparatus of the mobile device may include multiple processors 42, such as the processor 42-1 and the processor 42-2 shown in FIG. 9 .
  • Each of these processors 42 may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU).
  • Processor 42 herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).
  • the memory 41 can be a read-only memory 41 (Read-Only Memory, ROM) or other types of static storage devices that can store static information and instructions, a random access memory (Random Access Memory, RAM) or other types that can store information and instructions.
  • Type of dynamic storage device it can also be Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, CD-ROM storage (including compact discs, laser discs, compact discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by Any other medium accessed by the computer, but not limited to this.
  • the memory 41 may exist independently, and is connected to the processor 42 through a bus 43 .
  • the memory 41 may also be integrated with the processor 42 .
  • the memory 41 is used to store the data in the present application and the computer-executed instructions corresponding to the software programs of the present application.
  • the processor 42 can execute or execute software programs stored in the memory 41 and call data stored in the memory 41 to perform various functions of the avoidance device of the mobile device.
  • the communication interface 44 uses any device such as a transceiver, is used to communicate with other devices or communication networks, such as control systems, radio access networks (Radio Access Network, RAN), wireless local area network (Wireless Local Area Networks, WLAN), etc. .
  • the communication interface 44 may include a receiving unit to implement a receiving function, and a transmitting unit to implement a transmitting function.
  • the bus 43 can be an industry standard architecture (Industry Standard Architecture, ISA) bus, a peripheral device interconnect (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus and the like.
  • ISA Industry Standard Architecture
  • PCI peripheral device interconnect
  • EISA Extended Industry Standard Architecture
  • the bus 43 can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in FIG. 9, but it does not mean that there is only one bus or one type of bus.
  • the functions implemented by the determining module in the avoidance device of the mobile device are the same as those implemented by the processor in FIG. 9
  • the functions implemented by the storage module in the avoidance device of the mobile device are the same as those implemented by the memory in FIG. 9 .
  • the function implemented is the same.
  • the avoidance device of the mobile device may further include a transceiver, and the transceiver is used to perform the steps of sending and receiving data, signaling or information under the control of the processor of the avoidance device of the mobile device, for example, to obtain the information of the target path. direction.
  • the avoidance device of the mobile device may be the mobile device itself, or a part of the device in the mobile device, for example, a chip system in the mobile device.
  • the chip system is used to support the avoidance apparatus of the mobile device to implement the functions involved in the first aspect, for example, to receive, send or process the data and/or information involved in the avoidance method of the mobile device.
  • the chip system includes chips, and may also include other discrete devices or circuit structures.
  • the avoidance device of the mobile device may also be a server connected in communication with the mobile device, or may be a part of the device in the server, for example, may be a chip system in the server.
  • Embodiments of the present application further provide a computer-readable storage medium, where an instruction is stored in the computer-readable storage medium, and when the computer executes the instruction, the computer is made to execute the avoidance method for the mobile device provided by the foregoing embodiments.
  • the computer readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, RAM, ROM, Erasable Programmable Read Only Memory (Erasable Programmable Read Only Memory) Read Only Memory (EPROM), registers, hard disks, optical fibers, CD-ROMs, optical storage devices, magnetic storage devices, or any suitable combination of the foregoing, or any other form of computer-readable storage medium known in the art.
  • An exemplary storage medium is coupled to the processor, such that the processor can read information from, and write information to, the storage medium.
  • the storage medium can also be an integral part of the processor.
  • the processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC).
  • ASIC Application Specific Integrated Circuit
  • the computer-readable storage medium may be any tangible medium containing or storing a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
  • Embodiments of the present application also provide a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned avoidance methods for a mobile device.
  • the computer program product can write program codes for performing the operations of the embodiments of the present application in any combination of one or more programming languages, including object-oriented programming languages, such as Java, C++, etc. , also includes conventional procedural programming languages, such as "C" language or similar programming languages.
  • the program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
  • the disclosed system, apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • 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.
  • each functional unit in each embodiment of the present invention 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 functions, 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.
  • the technical solution of the present invention can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other various programs that can store check codes medium.

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Abstract

本申请公开了一种移动设备的避让方法、装置及计算机可读存储介质，涉及人工智能技术领域，通过调整移动设备在避让区域的停靠方向，从而可以减小移动设备在避让后的启动时间。该方法包括：确定移动设备的目标路径方向；确定第一候选停靠方向和第二候选停靠方向；根据目标路径方向，从第一候选停靠方向和第二候选停靠方向中确定移动设备的目标停靠方向；根据目标停靠方向控制移动设备在避让区域停靠。其中，目标路径方向为移动设备在避让区域停靠之后的导航路径的方向。

Description

移动设备的避让方法、装置及计算机可读存储介质 技术领域
本申请实施例涉及人工智能技术领域，尤其涉及一种移动设备的避让方法、装置及计算机可读存储介质。
发明背景
随着人工智能技术的快速发展，机器人的应用越来越广，在一个应用场景中可能会部署多个机器人。这样，就会出现多个机器人的导航路径有冲突的情况。当两个机器人的导航路径出现冲突时，可以让优先级较低的机器人避让。然而，现有的避让方法中，机器人结束避让之后的启动时间过长。
发明内容
本申请提供一种移动设备的避让方法、装置及计算机可读存储介质，可以减小移动设备在避让后的启动时间。
为达到上述目的，本申请采用如下技术方案：
第一方面，本申请提供一种移动设备的避让方法，可以应用于移动设备的避让装置，包括：确定移动设备的目标路径方向；确定第一候选停靠方向和第二候选停靠方向；根据目标路径方向，从第一候选停靠方向和第二候选停靠方向中确定移动设备的目标停靠方向；根据目标停靠方向控制移动设备在避让区域停靠。其中，目标路径方向为移动设备在避让区域停靠之后的导航路径的方向。
可选的，在一种可能的设计方式中，上述“确定第一候选停靠方向和第二候选停靠方向”可以包括：确定移动设备的预设移动区域的通道宽度；根据避让区域的边界和通道宽度，确定第一候选停靠方向和第二候选停靠方向；避让区域属于预设移动区域的范围。
可选的，在另一种可能的设计方式中，上述“根据避让区域的边界和通道宽度，确定第一候选停靠方向和第二候选停靠方向”可以包括：在确定通道宽度大于预设长度的情况下，将平行于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，在另一种可能的设计方式中，上述“根据避让区域的边界和通道宽度，确定第一候选停靠方向和第二候选停靠方向”，可以包括：在确定通道宽度小于或等于预设长度的情况下，根据移动设备的物理长轴所在直线与移动设备的运动方向所在直线的位置关系确定第一候选停靠方向和第二候选停靠方向。
可选的，在另一种可能的设计方式中，上述“根据移动设备的物理长轴所在直线与移动设备的运动方向所在直线的位置关系确定第一候选停靠方向和第二候选停靠方向”还可以包括：
在物理长轴所在直线与运动方向所在直线相互平行的情况下，将平行于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，在另一种可能的设计方式中，上述“根据移动设备的物理长轴所在直线与移动设备的运动方向所在直线的位置关系确定第一候选停靠方向和第二候选停靠方向”，包括：
在物理长轴所在直线与运动方向所在直线相互垂直的情况下，将垂直于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，在另一种可能的设计方式中，上述“确定第一候选停靠方向和第二候选停靠方向”，还可以包括：
确定目标停靠区域，其中，目标停靠区域不属于预设移动区域的范围；
识别目标边界；其中，目标边界为，目标停靠区域内距离移动设备最近的边界；
将平行于目标边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，在另一种可能的设计方式中，上述“根据目标停靠方向控制移动设备在避让区域停靠”，可以包括：控制移动设备的运动方向朝向目标停靠方向，在避让区域停靠。
可选的，在另一种可能的设计方式中，上述“根据目标路径方向，从第一候选停靠方向和第二候选停靠方向中确定移动设备的目标停靠方向”，可以包括：
确定第一方向角和第二方向角，其中，第一方向角为第一候选停靠方向与目标路径方向的夹角，第二方向角为第二候选停靠方向与目标路径方向的夹角；
根据第一方向角和第二方向角，从第一候选停靠方向和第二候选停靠方向中确定目标停靠方向。
可选的，在另一种可能的设计方式中，上述“根据第一方向角和第二方向角，从第一候选停靠方向和第二候选停靠方向中确定目标停靠方向”，可以包括：
在第一方向角小于第二方向角的情况下，确定第一候选停靠方向为目标停靠方向；在第一方向角大于第二方向角的情况下，确定第二候选停靠方向为目标停靠方向；在第一方向角等于第二方向角的情况下，确定第一候选停靠方向或第一候选停靠方向为目标停靠方向。
第二方面，本申请提供一种移动设备的避让装置，包括：确定模块和控制模块。
其中，确定模块用于确定移动设备的目标路径方向，其中，目标路径方向为 移动设备在避让区域停靠之后的导航路径的方向；
确定模块，还用于确定第一候选停靠方向和第二候选停靠方向；
确定模块，还用于根据目标路径方向，从第一候选停靠方向和第二候选停靠方向中确定移动设备的目标停靠方向；
控制模块，用于根据确定模块确定的目标停靠方向，控制移动设备在避让区域停靠。
可选的，在一种可能的设计方式中，确定模块具体用于：确定移动设备的预设移动区域的通道宽度；根据避让区域的边界和通道宽度，确定第一候选停靠方向和第二候选停靠方向，其中，避让区域属于预设移动区域的范围。
可选的，在另一种可能的设计方式中，确定模块具体还用于：在确定通道宽度大于预设长度的情况下，将平行于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，在另一种可能的设计方式中，确定模块具体还用于：在确定通道宽度小于或等于预设长度的情况下，根据移动设备的物理长轴所在直线与移动设备的运动方向所在直线的位置关系确定第一候选停靠方向和第二候选停靠方向。
可选的，在另一种可能的设计方式中，确定模块具体还用于：在物理长轴所在直线与运动方向所在直线相互平行的情况下，将平行于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，在另一种可能的设计方式中，确定模块具体还用于：在物理长轴所在直线与运动方向所在直线相互垂直的情况下，将垂直于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，在另一种可能的设计方式中，确定模块具体还用于：确定目标停靠区域，其中，目标停靠区域不属于预设移动区域的范围；识别目标边界，其中，目标边界为，目标停靠区域内距离移动设备最近的边界；将平行于目标边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，在另一种可能的设计方式中，控制模块具体用于：控制移动设备的运动方向朝向目标停靠方向，在避让区域停靠。
可选的，在另一种可能的设计方式中，确定模块具体还用于：确定第一方向角和第二方向角，其中，第一方向角为第一候选停靠方向与目标路径方向的夹角，第二方向角为第二候选停靠方向与目标路径方向的夹角；
根据第一方向角和第二方向角，从第一候选停靠方向和第二候选停靠方向中确定目标停靠方向。
可选的，在另一种可能的设计方式中，确定模块具体还用于：在第一方向角小于第二方向角的情况下，确定第一候选停靠方向为目标停靠方向；在第一方向角大于第二方向角的情况下，确定第二候选停靠方向为目标停靠方向；在第一方 向角等于第二方向角的情况下，确定第一候选停靠方向或第一候选停靠方向为目标停靠方向。
第三方面，本申请提供一种移动设备的避让装置，包括存储器、处理器、总线和通信接口；存储器用于存储计算机执行指令，处理器与存储器通过总线连接；当移动设备的避让装置运行时，处理器执行存储器存储的计算机执行指令，以使移动设备的避让装置执行如上述第一方面提供的移动设备的避让方法。
可选的，该移动设备的避让装置还可以包括收发器，该收发器用于在移动设备的避让装置的处理器的控制下，执行收发数据、信令或者信息的步骤，例如，获取目标路径的方向。
可选的，该移动设备的避让装置可以是移动设备自身，也可以是移动设备中的一部分装置，例如可以是移动设备中的芯片系统。该芯片系统用于支持移动设备的避让装置实现第一方面中所涉及的功能，例如，接收，发送或处理上述移动设备的避让方法中所涉及的数据和/或信息。该芯片系统包括芯片，也可以包括其他分立器件或电路结构。
可选的，该移动设备的避让装置也可以是与移动设备通信连接的服务器，也可以是服务器中的一部分装置，例如可以是服务器中的芯片系统。
第四方面，本申请提供一种计算机可读存储介质，计算机可读存储介质中存储有指令，当计算机执行指令时，使得计算机执行如第一方面提供的移动设备的避让方法。
第五方面，本申请提供一种计算机程序产品，该计算机程序产品包括计算机指令，当计算机指令在计算机上运行时，使得计算机执行如第一方面提供的移动设备的避让方法。
需要说明的是，上述计算机指令可以全部或者部分存储在计算机可读存储介质上。其中，计算机可读存储介质可以与移动设备的避让装置的处理器封装在一起的，也可以与移动设备的避让装置的处理器单独封装，本申请对此不做限定。
本申请提供的移动设备的避让方法中，移动设备在避让区域停靠时的方向(也即是本申请中的目标停靠方向)是根据目标路径方向确定的，而目标路径方向是移动设备在避让区域停靠之后的导航路径的方向。所以，本申请技术方案可以从两个候选停靠方向中确定出与导航路径的方向相符的目标停靠方向，也即是导航路径的方向与目标停靠方向的角度差值不会很大。这样，移动设备在避让区域停靠之后，可以快速将从移动设备的机身调整至导航路径的方向。因此，本申请提供的移动设备的避让方法可以减小移动设备在避让后的启动时间。
本申请中第二方面、第三方面、第四方面以及第五方面的描述，可以参考第一方面的详细描述；并且，第二方面、第三方面、第四方面、以及第五方面的描述的有益效果，可以参考第一方面的有益效果分析，此处不再赘述。
在本申请中，上述移动设备的避让装置的名字对设备或功能模块本身不构成限定，在实际实现中，这些设备或功能模块可以以其他名称出现。只要各个设备或功能模块的功能和本申请类似，属于本申请权利要求及其等同技术的范围之内。
本申请的这些方面或其他方面在以下的描述中会更加简明易懂。
附图简要说明
图1为本申请实施例提供的一种移动设备的避让系统的架构示意图；
图2为本申请实施例提供的一种移动设备的避让方法的流程示意图；
图3为本申请实施例提供的一种避让区域的场景示意图；
图4为本申请实施例提供的另一种避让区域的场景示意图；
图5为本申请实施例提供的又一种避让区域的场景示意图；
图6为本申请实施例提供的又一种避让区域的场景示意图；
图7为本申请实施例提供的另一种移动设备的避让方法的流程示意图；
图8为本申请实施例提供的一种移动设备的避让装置的结构示意图；
图9为本申请实施例提供的另一种移动设备的避让装置的结构示意图。
实施本发明的方式
下面结合附图对本申请实施例提供的移动设备的避让方法、装置及计算机可读存储介质进行详细地描述。
本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。
本申请的说明书以及附图中的术语“第一”和“第二”等是用于区别不同的对象，或者用于区别对同一对象的不同处理，而不是用于描述对象的特定顺序。
此外，本申请的描述中所提到的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选的还包括其他没有列出的步骤或单元，或可选的还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
需要说明的是，本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请实施例中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念。
在本申请的描述中，除非另有说明，“多个”的含义是指两个或两个以上。
随着人工智能技术的快速发展，机器人的应用越来越广，在一个应用场景中可能会部署多个机器人。这样，就会出现多个机器人的导航路径有冲突的情况。当两个机器人的导航路径出现冲突时，可以让优先级低的机器人前往预先设置的避让区域停靠，或者就近选择岔路进行避让，从而实现避让。
然而，在上述避让方法中，机器人结束避让之后，往往需要重新调整机身至导航路径的方向，导致机器人在避让后的启动时间过长。
针对上述问题，本申请实施例提供了一种移动设备的避让方法，该方法通过调整移动设备在避让区域的停靠方向，可以使得移动设备在避让区域停靠之后，快速将移动设备的机身调整至导航路径的方向，从而可以减小移动设备在避让后的启动时间。
本申请实施例提供的移动设备的避让方法可以应用于移动设备的避让装置。在一种可能的实现方式中，移动设备的避让装置可以是移动设备本体或者移动设备中的芯片系统。
示例性的，移动设备先确定目标路径方向、第一候选停靠方向以及第二候选停靠方向；之后，移动设备根据目标路径方向，从第一候选停靠方向和第二候选停靠方向中确定目标停靠方向；最后，移动设备根据目标停靠方向控制自身在避让区域停靠。
在另一种可能的实现方式中，移动设备的避让装置也可以是与移动设备通信连接的服务器。
图1为本申请实施例提供的一种移动设备的避让系统的架构示意图。
示例性的，参照图1，移动设备的避让系统包括服务器01和至少一个移动设备02。服务器01与每个移动设备02连接。
服务器01，用于为移动设备的避让系统内的各个移动设备02确定导航路径，在出现多个移动设备02的导航路径冲突时，确定出需要避让的移动设备02，控制需要避让的移动设备02前往避让区域停靠。
服务器01，还用于为需要避让的移动设备02确定目标路径方向，并确定第一候选停靠方向和第二候选停靠方向；之后根据目标路径方向，从第一候选停靠方向和第二候选停靠方向中确定需要避让的移动设备02的目标停靠方向；最后根据目标停靠方向控制需要避让的移动设备02在避让区域停靠。
可以理解的是，本申请实施例提供的移动设备的避让方法，是应用于多个移动设备02的导航路径冲突的场景中。如无明确说明，本申请实施例的以下描述中涉及的移动设备02，均为需要前往避让区域停靠等待的移动设备02。
另外，在图1所示的移动设备的避让系统中，服务器01对每个移动设备02的处理过程均相同。本申请实施例的以下描述中，是以服务器01对一个移动设备02的处理为例进行说明的。
图2为本申请实施例提供的一种移动设备的避让方法的流程示意图。该避让方法可以由图1中的移动设备或服务器执行，具体可以由移动设备或服务器的处理器执行。
参照图2，本申请实施例提供的移动设备的避让方法包括S201-S204：
S201、移动设备的避让装置确定移动设备的目标路径方向。
目标路径方向为移动设备在避让区域停靠之后的导航路径的方向。
在一种可能的实现方式中，移动设备的避让装置可以根据路径算法为移动设备规划目标路径，然后根据目标路径的走势确定出目标路径方向。比如，移动设备的避让装置可以根据动态窗口法(Dynamic Window Approach，DWA)或者人工势场法等路径算法确定目标路径。示例性的，以图3所示的场景示意图为例，移动设备A的目标路径的走势如图3虚线所示，移动设备的避让装置可以将目标路径在P点处的切线方向，也即是图3中箭头D的指向确定为移动设备A的目标路径方向。
可以理解的是，具体根据DWA或者人工势场法等路径算法确定目标路径的方法，可以参照现有技术中的相关描述，此处不再赘述。
S202、移动设备的避让装置确定第一候选停靠方向和第二候选停靠方向。
目前，移动设备的避让区域一般有两种，预先设置的靠近墙体的避让区域或者岔路口。移动设备在预先设置的靠近墙体的避让区域避让停靠时，由于移动设备的长和宽不一定相同，运动方向可能是短边也可能是长边，若预设移动区域的通道宽度过窄，移动设备在避让区域停靠时可能会影响其他移动设备的运动。比如，图4或图5所示的场景示意图中，通道宽度过窄，移动设备A的停靠可能会影响移动设备B的运动。所以，可选的，在一种可能的实现方式中，移动设备的避让装置可以根据移动设备的预设移动区域的通道宽度和避让区域的边界，确定第一候选停靠方向和第二候选停靠方向。
预设移动区域可以是人为事先确定的移动设备的移动区域。示例性的，本申请实施例提供的移动设备的避让方法应用于酒店等场景中时，预设移动区域可以是酒店的长廊。
可以理解的是，在实际应用中，避让区域的边界可以是墙体，也可以是其他类型的障碍体，本申请实施例对此不做限定。
需要说明的是，本申请实施例中，当避让区域为预先设置的靠近墙体的避让区域时，避让区域在预设移动区域的范围内；当避让区域为岔路口时，避让区域不在预设移动区域的范围内。
可选的，在一种可能的实现方式中，通道宽度大于预设长度，则移动设备的长短边对于移动设备的停靠没有影响，移动设备的避让装置可以将平行于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。示例性的，参照图3，提供了一种避让区域的场景示意图。如图3所示，平行于避 让区域的边界的两个方向分别为箭头A的指向和箭头B的指向，移动设备的避让装置确定移动设备A在图3中的避让区域内停靠时，可以将箭头A的指向确定为第一候选停靠方向，并将箭头B的指向确定为第二候选停靠方向。可以看出，避让区域在预设移动区域的范围内时，避让区域的边界可以是预设移动区域的一个边界。
预设长度可以是人为事先确定的长度。
在另一种可能的实现方式中，通道宽度小于或等于预设长度，则移动设备的长短边对于移动设备的停靠有影响，移动设备的避让装置可以根据移动设备的物理长轴所在直线与移动设备的运动方向所在直线的位置关系确定第一候选停靠方向和第二候选停靠方向。
在一种可能的实现方式中，在移动设备物理长轴所在直线与运动方向所在直线相互平行的情况下，表明移动设备的运动方向即为移动设备的短边的前进方向，则移动设备的避让装置可以将平行于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。示例性的，参照图4，提供了一种避让区域的场景示意图。如图4所示，移动设备A的运动方向为箭头C的指向，箭头C的指向所在直线与移动设备A的物理长轴所在直线平行，则移动设备的避让装置确定移动设备A在图4中的避让区域内停靠时，可以将平行于避让区域的边界的两个不同的方向，也即是图4中箭头A和B的指向分别确定为第一候选停靠方向和第二候选停靠方向。
在另一种可能的实现方式中，在移动设备物理长轴所在直线与运动方向所在直线相互垂直的情况下，表明移动设备的运动方向即为移动设备的长边的前进方向，则移动设备的避让装置可以将垂直于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。参照图5，提供了一种避让区域的场景示意图。如图5所示，移动设备A的运动方向为箭头C的指向，箭头C的指向所在直线与移动设备A的物理长轴所在直线垂直，则移动设备的避让装置确定移动设备A在图5中的避让区域内停靠时，可以将垂直于避让区域的边界的两个不同的方向，也即是图5中箭头A和B的指向分别确定为第一候选停靠方向和第二候选停靠方向。
由于移动设备的避让区域还可以为岔路口，所以，可选的，移动设备的避让装置可以先确定目标停靠区域，之后识别目标停靠区域内距离移动设备最近的边界作为目标边界，最后将平行于目标边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
目标停靠区域也即是确定出的避让区域，不属于预设移动区域的范围。
示例性的，参照图6，提供了一种避让区域的场景示意图。移动设备的避让装置确定出目标停靠区域如图6所示，目标停靠区域有两个边界，也即是图6中的第一边界和第二边界。移动设备的避让装置识别出目标停靠区域内距离移动设备最 近的边界为第一边界，则将第一边界作为目标边界。之后移动设备的避让装置可以将平行于第一边界的两个不同的方向(也即是箭头A的指向和箭头B的指向)分别确定为第一候选停靠方向和第二候选停靠方向。
S203、移动设备的避让装置根据目标路径方向，从第一候选停靠方向和第二候选停靠方向中确定移动设备的目标停靠方向。
可选的，移动设备的避让装置可以先确定第一方向角和第二方向角，之后根据第一方向角和第二方向角，从第一候选停靠方向和第二候选停靠方向中确定目标停靠方向。
第一方向角为第一候选停靠方向与目标路径方向的夹角，第二方向角为第二候选停靠方向与目标路径方向的夹角。
可选的，移动设备的避让装置在第一方向角小于第二方向角的情况下，确定第一候选停靠方向为目标停靠方向；在第一方向角大于第二方向角的情况下，确定第二候选停靠方向为目标停靠方向；在第一方向角等于第二方向角的情况下，确定第一候选停靠方向或第一候选停靠方向为目标停靠方向。
示例性的，在图3所示的避让区域的场景示意图中，箭头A的指向为第一候选停靠方向，箭头B的指向为第二候选停靠方向，箭头D的指向为目标路径方向。则移动设备的避让装置可以将箭头A的指向与箭头D的指向之间的夹角，也即是图3中的β角确定为第一方向角，并将箭头B的指向与箭头D的指向之间的夹角，也即是图3中的α角确定为第二方向角。可以看出，图3中的α角小于β角，也即是第一方向角大于第二方向角，则移动设备的避让装置可以将箭头B的指向，即第二候选停靠方向确定为目标停靠方向。
在图4所示的避让区域的场景示意图中，箭头A的指向为第一候选停靠方向，箭头B的指向为第二候选停靠方向，箭头D的指向为目标路径方向。则移动设备的避让装置可以将箭头A的指向与箭头D的指向之间的夹角，也即是图4中的β角确定为第一方向角，并将箭头B的指向与箭头D的指向之间的夹角，也即是图4中的α角确定为第二方向角。可以看出，图4中的α角小于β角，也即是第一方向角大于第二方向角，则移动设备的避让装置可以将箭头B的指向，即第二候选停靠方向确定为目标停靠方向。
在图5所示的避让区域的场景示意图中，箭头A的指向为第一候选停靠方向，箭头B的指向为第二候选停靠方向，箭头D的指向为目标路径方向。则移动设备的避让装置可以将箭头A的指向与箭头D的指向之间的夹角，也即是图5中的β角确定为第一方向角，并将箭头B的指向与箭头D的指向之间的夹角，也即是图5中的α角确定为第二方向角。可以看出，图5中的α角小于β角，也即是第一方向角大于第二方向角，则移动设备的避让装置可以将箭头B的指向，即第二候选停靠方向，确定为目标停靠方向。
同一应用场景的多个移动设备的规格一般是相同的。可选的，可以将移动设备的物理短轴和物理长轴之和确定为预设长度。这样，在通道宽度小于或等于预设长度，且移动设备物理长轴所在直线与运动方向所在直线相互垂直的情况下(也即是图5的场景示意图中示出的情况)，若两个移动设备在预设运动区域正面相遇，则可以仅让一个移动设备前往避让区域调整停靠方向，另一移动设备保持原来的运动方向继续行驶。示例性的，当移动设备A在避让区域按照图5所示的方向停靠时，移动设备B可以继续行驶，无需调整方向避让。示例性的，如图5所示，移动设备B的物理短轴为平行于避让区域的边界的方向的边长m，物理长轴为垂直于避让区域的边界的方向的边长n。
在图6所示的避让区域的场景示意图中，箭头A的指向为第一候选停靠方向，箭头B的指向为第二候选停靠方向，箭头D的指向为目标路径方向。则移动设备的避让装置可以将箭头A的指向与箭头D的指向之间的夹角，也即是图6中的β角确定为第一方向角，并将箭头B的指向与箭头D的指向之间的夹角，也即是图6中的α角确定为第二方向角。可以看出，图6中的α角小于β角，也即是第一方向角大于第二方向角，则移动设备的避让装置可以将箭头B的指向的第二候选停靠方向确定为目标停靠方向。
S204、移动设备的避让装置根据目标停靠方向控制移动设备在避让区域停靠。
可选的，移动设备的避让装置在确定目标停靠方向之后，可以控制移动设备的运动方向朝向目标停靠方向，在避让区域停靠。
以图3所示的避让区域的场景示意图为例，移动设备的避让装置确定出的目标停靠方向为箭头B的指向，箭头B的指向与目标路径方向之间的角度差值很小。移动设备A在避让区域停靠时，运动方向朝向箭头B的指向停靠，这样，移动设备A在避让区域停靠之后，可以快速将机身从箭头B的指向调整至目标路径方向。相反，若移动设备A在避让区域停靠时，运动方向朝向箭头A的指向停靠，这样，移动设备A在避让区域停靠之后，需要将机身调整较大的角度才可以调整至目标路径方向。所以，本申请实施例提供的移动设备的避让方法可以减小移动设备在避让后的启动时间。
本申请实施例提供的移动设备的避让方法中，移动设备在避让区域停靠时的方向(也即是本申请中的目标停靠方向)是根据目标路径方向确定的，而目标路径方向是移动设备在避让区域停靠之后的导航路径的方向。所以，本申请技术方案可以从两个候选停靠方向中确定出与导航路径的方向相符的目标停靠方向，也即是导航路径的方向与目标停靠方向的角度差值不会很大。这样，移动设备在避让区域停靠之后，可以快速将从移动设备的机身调整至导航路径的方向。因此，本申请提供的移动设备的避让方法可以减小移动设备在避让后的启动时间。
图7为本申请实施例提供的另一种移动设备的避让方法的流程示意图。
如图7所示，该避让方法包括S701-S7010：
S701、移动设备的避让装置确定移动设备的目标路径方向。
S702、移动设备的避让装置确定移动设备的预设移动区域的通道宽度。
S703、移动设备的避让装置判断通道宽度是否大于预设长度。
在移动设备的避让装置确定通道宽度大于预设长度的情况下，执行S704；在移动设备的避让装置确定通道宽度小于或等于预设长度的情况下，执行S705。
S704、移动设备的避让装置将平行于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
在S704之后，移动设备的避让装置执行S708。
S705、移动设备的避让装置判断物理长轴所在直线与运动方向所在直线是否相互平行。
在移动设备的避让装置确定物理长轴所在直线与运动方向所在直线相互平行情况下，执行S706；在移动设备的避让装置确定物理长轴所在直线与运动方向所在直线不平行，也即是物理长轴所在直线与运动方向所在直线相互垂直情况下，执行S707。
S706、移动设备的避让装置将平行于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
在S706之后，移动设备的避让装置执行S708。
S707、移动设备的避让装置将垂直于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
在S707之后，移动设备的避让装置执行S708。
S708、移动设备的避让装置确定第一方向角和第二方向角，根据第一方向角和第二方向角，从第一候选停靠方向和第二候选停靠方向中确定目标停靠方向。
S709、移动设备的避让装置控制移动设备的运动方向朝向目标停靠方向，在避让区域停靠。
图8为本申请实施例提供的一种移动设备的避让装置的结构示意图。
如图8所示，该移动设备的避让装置可以是上述实施例中图1所涉及的移动设备的避让系统中的服务器01，也可以是移动设备本身。该移动设备的避让装置包括：确定模块31和控制模块32。
其中，确定模块31执行上述方法实施例中的S201、S202以及S203，控制模块32执行上述方法实施例中的S204。
具体地，确定模块31，用于确定移动设备的目标路径方向；目标路径方向为移动设备在避让区域停靠之后的导航路径的方向；
确定模块31，还用于确定第一候选停靠方向和第二候选停靠方向；
确定模块31，还用于根据目标路径方向，从第一候选停靠方向和第二候选停 靠方向中确定移动设备的目标停靠方向；
控制模块32，用于根据确定模块31确定的目标停靠方向，控制移动设备在避让区域停靠。
可选的，确定模块31具体用于：确定移动设备的预设移动区域的通道宽度；
根据避让区域的边界和通道宽度，确定第一候选停靠方向和第二候选停靠方向；避让区域属于预设移动区域的范围。
可选的，确定模块31具体还用于：在确定通道宽度大于预设长度的情况下，将平行于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，确定模块31具体还用于：在确定通道宽度小于或等于预设长度的情况下，根据移动设备的物理长轴所在直线与移动设备的运动方向所在直线的位置关系确定第一候选停靠方向和第二候选停靠方向。
可选的，确定模块31具体还用于：在物理长轴所在直线与运动方向所在直线相互平行的情况下，将平行于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，确定模块31具体还用于：在物理长轴所在直线与运动方向所在直线相互垂直的情况下，将垂直于避让区域的边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，确定模块31具体还用于：确定目标停靠区域；目标停靠区域不属于预设移动区域的范围；
识别目标边界；目标边界为，目标停靠区域内距离移动设备最近的边界；
将平行于目标边界的两个不同的方向分别确定为第一候选停靠方向和第二候选停靠方向。
可选的，控制模块32具体用于：控制移动设备的运动方向朝向目标停靠方向，在避让区域停靠。
可选的，确定模块31具体还用于：确定第一方向角和第二方向角；第一方向角为第一候选停靠方向与目标路径方向的夹角，第二方向角为第二候选停靠方向与目标路径方向的夹角；
根据第一方向角和第二方向角，从第一候选停靠方向和第二候选停靠方向中确定目标停靠方向。
可选的，确定模块31具体还用于：在第一方向角小于第二方向角的情况下，确定第一候选停靠方向为目标停靠方向；在第一方向角大于第二方向角的情况下，确定第二候选停靠方向为目标停靠方向；在第一方向角等于第二方向角的情况下，确定第一候选停靠方向或第一候选停靠方向为目标停靠方向。
可选的，移动设备的避让装置还可以包括存储模块，存储模块用于存储该移 动设备的避让装置的程序代码等。
图9为本申请实施例提供的另一种移动设备的避让装置的结构示意图。
如图9所示，避让装置包括存储器41、处理器42、总线43和通信接口44；存储器41用于存储计算机执行指令，处理器42与存储器41通过总线43连接；当移动设备的避让装置运行时，处理器42执行存储器41存储的计算机执行指令，以使移动设备的避让装置执行如上述实施例提供的移动设备的避让方法。
在具体的实现中，作为一种实施例，处理器42(42-1和42-2)可以包括一个或多个中央处理器(Central Processing Unit，CPU)，例如图9中所示的CPU0和CPU1。且作为一种实施例，移动设备的避让装置可以包括多个处理器42，例如图9中所示的处理器42-1和处理器42-2。这些处理器42中的每一个CPU可以是一个单核处理器(single-CPU)，也可以是一个多核处理器(multi-CPU)。这里的处理器42可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
存储器41可以是只读存储器41(Read-Only Memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(Random Access Memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器41可以是独立存在，通过总线43与处理器42相连接。存储器41也可以和处理器42集成在一起。
在具体的实现中，存储器41，用于存储本申请中的数据和执行本申请的软件程序对应的计算机执行指令。处理器42可以通过运行或执行存储在存储器41内的软件程序，以及调用存储在存储器41内的数据，移动设备的避让装置的各种功能。
通信接口44，使用任何收发器一类的装置，用于与其他设备或通信网络通信，如控制系统、无线接入网(Radio Access Network，RAN)，无线局域网(Wireless Local Area Networks，WLAN)等。通信接口44可以包括接收单元实现接收功能，以及发送单元实现发送功能。
总线43，可以是工业标准体系结构(Industry Standard Architecture，ISA)总线、外部设备互连(Peripheral Component Interconnect，PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，EISA)总线等。该总线43可以分为地址总线、数据总线、控制总线等。为便于表示，图9中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
作为一个示例，结合图8，移动设备的避让装置中的确定模块实现的功能与图 9中的处理器实现的功能相同，移动设备的避让装置中的存储模块实现的功能与图9中的存储器实现的功能相同。
本实施例中相关内容的解释可参考上述方法实施例，此处不再赘述。
可选的，该移动设备的避让装置还可以包括收发器，该收发器用于在移动设备的避让装置的处理器的控制下，执行收发数据、信令或者信息的步骤，例如，获取目标路径的方向。
可选的，该移动设备的避让装置可以是移动设备自身，也可以是移动设备中的一部分装置，例如可以是移动设备中的芯片系统。该芯片系统用于支持移动设备的避让装置实现第一方面中所涉及的功能，例如，接收，发送或处理上述移动设备的避让方法中所涉及的数据和/或信息。该芯片系统包括芯片，也可以包括其他分立器件或电路结构。
可选的，该移动设备的避让装置也可以是与移动设备通信连接的服务器，也可以是服务器中的一部分装置，例如可以是服务器中的芯片系统。
通过以上的实施方式的描述，所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本申请实施例还提供一种计算机可读存储介质，计算机可读存储介质中存储有指令，当计算机执行该指令时，使得计算机执行上述实施例提供的移动设备的避让方法。
计算机可读存储介质，例如可以是但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、RAM、ROM、可擦式可编程只读存储器(Erasable Programmable Read Only Memory，EPROM)、寄存器、硬盘、光纤、CD-ROM、光存储器件、磁存储器件、或者上述的任意合适的组合、或者本领域熟知的任何其它形式的计算机可读存储介质。一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于特定用途集成电路(Application Specific Integrated Circuit，ASIC)中。在本申请实施例中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
本申请实施例还提供了一种计算机程序产品，包括计算机程序，计算机程序在被处理器执行时实现上述任一项移动设备的避让方法。
所述计算机程序产品可以以一种或多种程序设计语言的任意组合来编写用于执行本申请实施例操作的程序代码，所述程序设计语言包括面向对象的程序设计语言，诸如Java、C++等，还包括常规的过程式程序设计语言，诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序校验码的介质。
另外，还需要说明的是，本案中各技术特征的组合方式并不限本案权利要求中所记载的组合方式或是具体实施例所记载的组合方式，本案所记载的所有技术特征可以以任何方式进行自由组合或结合，除非相互之间产生矛盾。
需要注意的是，以上列举的仅为本发明的具体实施例，显然本发明不限于以上实施例，随之有着许多的类似变化。本领域的技术人员如果从本发明公开的内容直接导出或联想到的所有变形，均应属于本发明的保护范围。
应当理解，本发明实施例中提到的第一、第二等限定词，仅仅为了更清楚地描述本发明实施例的技术方案使用，并不能用以限制本发明的保护范围。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何在本申请揭露的技术范围内的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应该以权利要求的保护范围为准。

Claims (15)

  1. 一种移动设备的避让方法，其特征在于，包括：
    确定移动设备的目标路径方向，其中，所述目标路径方向为所述移动设备在避让区域停靠之后的导航路径的方向；
    确定第一候选停靠方向和第二候选停靠方向；
    根据所述目标路径方向，从所述第一候选停靠方向和所述第二候选停靠方向中确定所述移动设备的目标停靠方向；
    根据所述目标停靠方向控制所述移动设备在所述避让区域停靠。
  2. 根据权利要求1所述的移动设备的避让方法，其特征在于，所述确定第一候选停靠方向和第二候选停靠方向，包括：
    确定所述移动设备的预设移动区域的通道宽度；
    根据所述避让区域的边界和所述通道宽度，确定所述第一候选停靠方向和所述第二候选停靠方向，其中，所述避让区域属于所述预设移动区域的范围。
  3. 根据权利要求2所述的移动设备的避让方法，其特征在于，所述根据所述避让区域的边界和所述通道宽度，确定所述第一候选停靠方向和所述第二候选停靠方向，包括：
    在确定所述通道宽度大于预设长度的情况下，将平行于所述避让区域的边界的两个不同的方向分别确定为所述第一候选停靠方向和所述第二候选停靠方向。
  4. 根据权利要求2所述的移动设备的避让方法，其特征在于，所述根据所述避让区域的边界和所述通道宽度，确定所述第一候选停靠方向和所述第二候选停靠方向，还包括：
    在确定所述通道宽度小于或等于预设长度的情况下，根据所述移动设备的物理长轴所在直线与所述移动设备的运动方向所在直线的位置关系确定所述第一候选停靠方向和所述第二候选停靠方向。
  5. 根据权利要求4所述的移动设备的避让方法，其特征在于，所述根据所述移动设备的物理长轴所在直线与所述移动设备的运动方向所在直线的位置关系确定所述第一候选停靠方向和所述第二候选停靠方向，包括：
    在所述物理长轴所在直线与所述运动方向所在直线相互平行的情况下，将平行于所述避让区域的边界的两个不同的方向分别确定为所述第一候选停靠方向和所述第二候选停靠方向。
  6. 根据权利要求4所述的移动设备的避让方法，其特征在于，所述根据所述移动设备的物理长轴所在直线与所述移动设备的运动方向所在直线的位置关系确定所述第一候选停靠方向和所述第二候选停靠方向，还包括：
    在所述物理长轴所在直线与所述运动方向所在直线相互垂直的情况下，将垂直于所述避让区域的边界的两个不同的方向分别确定为所述第一候选停靠方向和所述第二候选停靠方向。
  7. 根据权利要求1所述的移动设备的避让方法，其特征在于，所述确定第一候选停靠方向和第二候选停靠方向，还包括：
    确定目标停靠区域，其中，所述目标停靠区域不属于预设移动区域的范围；
    识别目标边界，其中，所述目标边界为，所述目标停靠区域内距离所述移动设备最近的边界；
    将平行于所述目标边界的两个不同的方向分别确定为所述第一候选停靠方向和所述第二候选停靠方向。
  8. 根据权利要求1至7中任一项所述的移动设备的避让方法，其特征在于，所述根据所述目标停靠方向控制所述移动设备在所述避让区域停靠，包括：
    控制所述移动设备的运动方向朝向所述目标停靠方向，在所述避让区域停靠。
  9. 根据权利要求1至8中任一项所述的移动设备的避让方法，其特征在于，所述根据所述目标路径方向，从所述第一候选停靠方向和所述第二候选停靠方向中确定所述移动设备的目标停靠方向，包括：
    确定第一方向角和第二方向角，其中，所述第一方向角为所述第一候选停靠方向与所述目标路径方向的夹角，所述第二方向角为所述第二候选停靠方向与所述目标路径方向的夹角；
    根据所述第一方向角和所述第二方向角，从所述第一候选停靠方向和所述第二候选停靠方向中确定所述目标停靠方向。
  10. 根据权利要求9所述的移动设备的避让方法，其特征在于，所述根据所述第一方向角和所述第二方向角，从所述第一候选停靠方向和所述第二候选停靠方向中确定所述目标停靠方向，包括：
    在所述第一方向角小于所述第二方向角的情况下，确定所述第一候选停靠方向为所述目标停靠方向；
    在所述第一方向角大于所述第二方向角的情况下，确定所述第二候选停靠方向为所述目标停靠方向；
    在所述第一方向角等于所述第二方向角的情况下，确定所述第一候选停靠方向或所述第一候选停靠方向为所述目标停靠方向。
  11. 一种移动设备的避让装置，其特征在于，包括：
    确定模块，用于确定移动设备的目标路径方向，其中，所述目标路径方向为所述移动设备在避让区域停靠之后的导航路径的方向；
    所述确定模块，还用于确定第一候选停靠方向和第二候选停靠方向；
    所述确定模块，还用于根据所述目标路径方向，从所述第一候选停靠方向和 所述第二候选停靠方向中确定所述移动设备的目标停靠方向；
    控制模块，用于根据所述确定模块确定的所述目标停靠方向，控制所述移动设备在所述避让区域停靠。
  12. 根据权利要求11所述的移动设备的避让方法，其特征在于，所述确定模块用于确定所述移动设备的预设移动区域的通道宽度；
    根据所述避让区域的边界和所述通道宽度，确定所述第一候选停靠方向和所述第二候选停靠方向，其中，所述避让区域属于所述预设移动区域的范围。
  13. 根据权利要求11所述的移动设备的避让方法，其特征在于，所述确定模块还用于确定目标停靠区域，其中，所述目标停靠区域不属于预设移动区域的范围；
    识别目标边界，其中，所述目标边界为，所述目标停靠区域内距离所述移动设备最近的边界；
    将平行于所述目标边界的两个不同的方向分别确定为所述第一候选停靠方向和所述第二候选停靠方向。
  14. 一种移动设备的避让装置，其特征在于，包括存储器、处理器、总线和通信接口；所述存储器用于存储计算机执行指令，所述处理器与所述存储器通过所述总线连接；
    当所述移动设备的避让装置运行时，处理器执行所述存储器存储的所述计算机执行指令，以使所述移动设备的避让装置执行如权利要求1至10中任意一项所述的移动设备的避让方法。
  15. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有指令，当计算机执行所述指令时，使得所述计算机执行如权利要求1至10中任意一项所述的移动设备的避让方法。
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