WO2023016377A1 - Procédé et appareil de commande de robot, et procédé et appareil de traitement de données - Google Patents

Procédé et appareil de commande de robot, et procédé et appareil de traitement de données Download PDF

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Publication number
WO2023016377A1
WO2023016377A1 PCT/CN2022/110632 CN2022110632W WO2023016377A1 WO 2023016377 A1 WO2023016377 A1 WO 2023016377A1 CN 2022110632 W CN2022110632 W CN 2022110632W WO 2023016377 A1 WO2023016377 A1 WO 2023016377A1
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Prior art keywords
crossing
robot
target robot
control
queuing
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PCT/CN2022/110632
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English (en)
Chinese (zh)
Inventor
蔡林太
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灵动科技（北京）有限公司
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Publication of WO2023016377A1 publication Critical patent/WO2023016377A1/fr

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    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the embodiments of the present application relate to the technical field of robot control, and in particular, to a robot control method and device, and a data processing method and device.
  • the embodiments of the present application provide a robot control method and device as well as a data processing method and device, which can greatly reduce robot collisions at crossings or traffic jams at crossings caused by detection blind spots.
  • an embodiment of the present application provides a robot control method, including:
  • a crossing passage request is initiated to the server, and the server is used to, according to the moving direction of the passing robot in the control crossing, the queuing status of the queuing robots and the moving direction of the target robot, determining whether to issue a notification permission instruction to the target robot;
  • the target robot is controlled to suspend movement until the notification permission instruction is received.
  • the server before initiating the crossing request to the server, it also includes:
  • determining whether the target robot passes a control crossing based on the planned path and a pre-established environment map includes:
  • the method further includes:
  • the first crossing control information includes multiple control crossings divided by the server, and the control crossing area and crossing resource application area corresponding to each control crossing, and The control crossing area ⁇ the crossing resource application area.
  • the method further includes:
  • the second crossing control information includes multiple control crossings updated by the server and the control crossing area and crossing resource application area corresponding to each control crossing, and the The control crossing area ⁇ the crossing resource application area ⁇ the broadcast range;
  • the positioning information and moving direction of the target robot are synchronized to the server in real time.
  • the queuing instruction sent by the server If the queuing instruction sent by the server is received, the queuing instruction carries the estimated passing time of the target robot, and based on the task completion time limit of the target robot and the estimated passing time, control the target robot The movement is suspended until the notification permission instruction is received or the planned path is updated.
  • the queuing instruction sent by the server If the queuing instruction sent by the server is received, the queuing instruction carries the current queuing order of the target robot, and calculates the estimated passing time of the target robot;
  • the target robot is controlled to suspend movement until receiving the notification permission instruction or updating the planned route.
  • controlling the target robot to suspend movement based on the task completion time limit of the target robot and the estimated passing time until receiving the notification permission instruction or updating the planned path includes:
  • the target robot is controlled to suspend movement until receiving the notification permission instruction.
  • the embodiment of the present application provides a data processing method, including:
  • a notification permission instruction is issued to the target robot, so that the target robot receives the target robot. Pass through the control crossing when notifying the permission instruction;
  • the moving direction of the passing robot in the controlled crossing is different from the moving direction of the target robot, it is forbidden to issue a notification permission instruction to the target robot, so that when the target robot does not receive the notification permission instruction, it will stop. Move until the notify permission command is received.
  • the target robot moving to the control crossing before receiving the crossing request sent by the target robot moving to the control crossing, it also includes:
  • the pre-established environment map divide a plurality of control crossings, a control crossing area corresponding to each control crossing, and a crossing resource application area corresponding to each control crossing area, and the control crossing area ⁇ the crossing resource application area, Make the target robot determine that it has entered the pre-divided crossing resource application area based on the positioning information, the planned path and the pre-established environment map, and initiate a crossing request to the server after determining that it has passed the controlled crossing.
  • the target robot moving to the control crossing before receiving the crossing request sent by the target robot moving to the control crossing, it also includes:
  • the width of each crossing the busyness of each crossing, the width of roads near each crossing, and the layout near each crossing, the control crossing and the corresponding control crossing area, crossing resource application area, and broadcast area for each control crossing are updated.
  • the second crossing control information is broadcast to the broadcast range through broadcast signals, the second crossing control information includes multiple updated control crossings and the control crossing area corresponding to each control crossing, and the control crossing area is less than or equal to the Crossing resource application area ⁇ the broadcast range, so that the target robot determines that it has entered the pre-divided crossing resource application area based on the positioning information, the planned path, and the pre-established environmental map, and after passing through the control crossing , initiate a crossing request to the server.
  • the positioning information and moving direction of the target robot are obtained in real time by calling the camera set at the control crossing.
  • the instruction of prohibiting issuing notification permission to the target robot if the moving direction of the passing robot in the controlled crossing is different from the moving direction of the target robot, it further includes:
  • the queuing instruction carrying the estimated passing time of the target robot, so that the target robot suspends movement based on the task completion time limit and the estimated passing time until receiving the Notify the permission instruction or update the planned path.
  • the instruction of prohibiting issuing notification permission to the target robot if the moving direction of the passing robot in the controlled crossing is different from the moving direction of the target robot, it further includes:
  • the queuing instruction carrying the current queuing order of the target robot, so that the target robot calculates the estimated passing time of the target robot, and based on the task completion time limit, the estimated Estimate the passing time, suspend the movement until the notification permission instruction is received or the planned route is updated.
  • the target robot suspends moving until the notification permission instruction is received, the target robot is determined as a queuing robot in the control crossing, so that the target robot is queued to wait for the notification permission instruction.
  • a notification permission instruction will be issued to the queuing robot with the highest priority in the queuing queue, wherein the longer the queuing time of the queuing robot, the faster the queuing robot The higher the priority, the queuing time includes the queuing time at each control crossing within the path planning of the queuing robot.
  • the method further includes: controlling a physical signal light of the controlled crossing according to the traffic situation of the controlled crossing.
  • the embodiment of the present application provides a robot control device, including:
  • the first sending module is used to initiate a crossing pass request to the server when the detection target robot moves to the control crossing, and the server is used to send the request according to the moving direction of the passing robot in the control crossing, the queuing status of the queuing robots and the Determine the direction of movement of the target robot, and determine whether to issue a notification permission instruction to the target robot;
  • the first control module is configured to control the target robot to pass through the control crossing if the notification permission instruction from the server is received; if the notification permission instruction is not received, control the target robot to suspend movement until the notification permission instruction is received. Notification Permission Instructions described above.
  • the embodiment of the present application provides a data processing device, including:
  • the second receiving module is used to receive the crossing pass request sent by the target robot when it moves to the control crossing, and the crossing pass request carries the moving direction of the target robot;
  • the second determining module is used to determine whether to issue a notification permission instruction to the target robot according to the moving direction of the passing robot in the control crossing, the queuing state of the queuing robot, and the moving direction of the target robot;
  • the second sending module is used to issue a notification permission instruction to the target robot if there is no passing robot and queuing robot in the control crossing or the moving direction of the passing robot is the same as the moving direction of the target robot, so that all The target robot passes through the control crossing when receiving the notification permission instruction; if the moving direction of the passing robot in the control crossing is different from the moving direction of the target robot, it is forbidden to issue a notification permission to the target robot instruction, so that when the target robot does not receive the notification permission instruction, it will suspend moving until it receives the notification permission instruction.
  • the embodiment of the present application provides a robot, the robot includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used for processing The components are invoked and executed to realize the above-mentioned robot control method.
  • the embodiment of the present application provides a computing device, including a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used to be called by the processing component Execute to realize the above-mentioned robot control method and the above-mentioned data processing method.
  • the embodiment of the present application provides a computer storage medium storing a computer program, and when the computer program is executed by a computer, the above-mentioned robot control method and the above-mentioned data processing method are realized.
  • the functions described above may be implemented by hardware, or may be implemented by executing corresponding software on the hardware.
  • the hardware or software includes one or more modules corresponding to the above functions.
  • the detection target robot when the detection target robot moves to the control crossing, it initiates a crossing pass request to the server, and the server is used to control the moving direction of the passing robot in the control crossing, the queuing status of the queuing robots and the The moving direction of the target robot determines whether to issue a notification permission instruction to the target robot; if the notification permission instruction from the server is received, control the target robot to pass through the control crossing; if the notification permission instruction is not received, Controlling the target robot to suspend movement until receiving the notification permission instruction can greatly reduce collisions or traffic jams caused by robots at crossings due to detection blind spots.
  • FIG. 1 is a schematic structural diagram of a robot control system provided in an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of another robot control system provided by the embodiment of the present application.
  • FIG. 3 is a flow chart of a robot control method provided in an embodiment of the present application.
  • FIG. 4 is a flow chart of another robot control method provided by the embodiment of the present application.
  • FIG. 5 is a schematic diagram of the control crossing area and the broadcast range provided by the embodiment of the present application.
  • FIG. 6 is a schematic diagram of the control crossing area, the crossing resource application area and the broadcast range provided by the embodiment of the present application;
  • FIG. 7 is a schematic diagram of robot passing through a non-controlled crossing provided by the embodiment of the present application.
  • FIG. 8 is a flow chart of a data processing method provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of the control crossing area, the crossing resource application area and the broadcast range provided by the embodiment of the present application.
  • FIG. 10 is a schematic diagram of a robot control scenario provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of another robot control scenario provided by the embodiment of the present application.
  • FIG. 12 is a schematic diagram of another robot control scenario provided by the embodiment of the present application.
  • FIG. 13 is a schematic diagram of another robot control scenario provided by the embodiment of the present application.
  • FIG. 14 is a schematic diagram of another robot control scenario provided by the embodiment of the present application.
  • FIG. 15 is a schematic diagram of another robot control scenario provided by the embodiment of the present application.
  • FIG. 16 is a schematic diagram of another robot control scenario provided by the embodiment of the present application.
  • FIG. 17 is a schematic diagram of another robot control scenario provided by the embodiment of the present application.
  • Fig. 18 is a flow chart of interaction between a robot and a server provided in the embodiment of the present application.
  • FIG. 19 is a schematic structural diagram of a robot control device provided in an embodiment of the present application.
  • FIG. 20 is a schematic structural diagram of a data processing device provided by an embodiment of the present application.
  • FIG. 21 is a schematic structural diagram of a computing device provided by an embodiment of the present application.
  • FIG. 22 is a schematic structural diagram of another computing device provided by an embodiment of the present application.
  • Fig. 1 is a schematic structural diagram of a robot control system provided by an embodiment of the present application, the system includes a robot 11 and a server 12, wherein the robot 11 also includes a control component 111, that is, the control component 111 is arranged on the robot 11 on the controller.
  • the robot 11 is only an example.
  • the robot control process is an interaction process between multiple robots and the server 12 .
  • each step of the robot control method is executed by the control component 111 in the robot 11 .
  • the control component 111 when the control component 111 detects that the target robot has moved to a controlled crossing, it sends a crossing request to the server 12 .
  • the server 12 determines whether to issue a notification permission instruction to the target robot according to the moving direction of the passing robot in the control crossing, the queuing state of the queuing robot, and the moving direction of the target robot;
  • control component 111 receives the notification permission instruction from the server 12, control the target robot to pass through the control crossing; if the notification permission instruction is not received, control the target robot to suspend movement until the notification is received Licensing directive.
  • FIG. 2 is a schematic structural diagram of another robot control system provided by the embodiment of the present application, the system includes a robot 21 (equivalent to the robot 11 in FIG. 1 ), a control server 22 and a server 23 (equivalent to The server 12 in Fig. 1).
  • each step of the robot control method is executed by the control server 22 .
  • the difference between this system and the above-mentioned robot control system in FIG. 1 is that the robot control system in FIG. 2 integrates the control components of multiple robots into an external control server 22, so that multiple robots can be controlled through the control server 22.
  • the control server 22 when the control server 22 detects that the target robot moves to the control crossing, it will send a crossing request to the server 23. At this time, since the control server 22 can control multiple The target robot, therefore, as an optional solution, can carry the ID of the target robot that needs to pass the crossing when sending the crossing pass request.
  • the server 23 determines whether to issue a notification permission instruction to the target robot according to the moving direction of the passing robot in the control crossing, the queuing state of the queuing robot, and the moving direction of the target robot;
  • the notification permission instruction carries the ID of the target robot, so that the control server 22 controls the target robot corresponding to the ID to pass through the control crossing;
  • the notification permission instruction controls the target robot corresponding to the ID to suspend movement until receiving the notification permission instruction.
  • the server can control the issuance of pass permission instructions for the target robot based on the status of the robots in the crossing, so that robots in different moving directions will not pass through the crossing at the same time, which greatly reduces the risk of robots at the crossing due to blind detection. Collision or traffic jam.
  • Fig. 3 is a flowchart of a robot control method provided in the embodiment of the present application. As shown in Fig. 3, the method includes:
  • the server When detecting that the target robot moves to the control crossing, initiate a crossing passage request to the server, and the server is used to base the moving direction of the passing robot in the control crossing, the queuing status of the queuing robots and the movement of the target robot direction to determine whether to issue a notification permission instruction to the target robot.
  • a plurality of robots run in the aisles in the warehouse, and the crossings of the aisles constitute crossings, wherein the crossings may include controlled crossings and non-controlled crossings, and the present application is aimed at implementing a robot control method for controlled crossings.
  • How to divide the crossing into controlled crossing and non-controlled crossing can be set according to the warehouse environment. For example, this application regards the crossings that are relatively narrow or where robot collision accidents often occur as controlled crossings, and the crossings that are relatively spacious or where there are no robot collision accidents are regarded as non-controlled crossings. Conditions divide controlled crossings and non-controlled crossings, which is not limited in this application.
  • the method of detecting whether the target robot moves to the control crossing can control the movement of the target robot according to the planned path of the target robot, and during the movement of the target robot , determining whether the target robot passes a control crossing based on the planned path and a pre-established environment map.
  • the planned path of the target robot can be the planned path generated by the target robot's own processor based on the set start point, end point and environment map, or the server can generate the planned path of each target robot and then send the planned path to the Each target robot is not limited in this application.
  • the environmental map can be constructed by using the simultaneous localization and mapping technology (SLAM for short).
  • SLAM simultaneous localization and mapping technology
  • the environment map can be stored in the storage system of the robot, or can be stored in the control server in FIG. 2 .
  • the server Before starting the robot control process, the server needs to mark multiple control crossings and corresponding control crossing areas in the environment map, so that after starting the robot control process, the robot determines the The planned path of the robot, and detect whether the planned path will pass through the controlled crossing area. If it passes through the controlled crossing area, it is determined that the robot will pass through the controlled crossing.
  • the server determines whether to issue a notification permission instruction to the target robot according to the moving direction of the passing robot in the control crossing, the queuing status of the queuing robot, and the moving direction of the target robot may include the following: Scenes:
  • the way of controlling the target robot to pass the control crossing may be to give the target robot a driving speed so that it can pass the control crossing according to the driving speed.
  • the driving speed of the target robot can be set to be the same as that of the passing robot or lower than that of the passing robot.
  • the purpose of this setting is to avoid collision between the target robot and the passing robot ACCIDENT.
  • the driving speed of the target robot can be set to 0 until the target robot receives the notification permission instruction, and then proceed to step 102 , controlling the target robot to pass through the control crossing.
  • Fig. 4 is a flowchart of another robot control method provided by the embodiment of the present application, as shown in Fig. 4 , the Methods include:
  • the pre-established environment map can be sent from the server to the target robot.
  • step 201 may specifically include:
  • the first crossing control information includes multiple control crossings divided by the server, and the control crossing area and crossing resource application area corresponding to each control crossing , and the control crossing area ⁇ the crossing resource application area.
  • the server before determining the first crossing control information from the pre-established environmental map, the server needs to divide multiple controlled crossings and the corresponding controlled crossing area and each crossing in the pre-established environmental map.
  • the crossing resource application area corresponding to a controlled crossing area, and the controlled crossing area ⁇ the crossing resource application area will divide multiple controlled crossings and the controlled crossing area corresponding to each controlled crossing area and the crossing corresponding to each controlled crossing area
  • the resource application area is used as the first crossing control information, and the first crossing control information together with the environment map is sent to the target robot.
  • the positioning information may be coordinate information in a coordinate system established on the basis of the environment map, so that the current position of the target robot can be accurately reflected according to the coordinate information.
  • the way to obtain the positioning information of the target robot may be to obtain the positioning information through the positioning module of the target robot itself, or the server may shoot the target robot in real time through the camera on the path. Acquiring the positioning information of the target robot may also include other ways of obtaining the positioning information of the target robot, which is not limited in this application.
  • control crossing area ⁇ the crossing resource application area ⁇ the broadcast range.
  • control crossing area 3 crossing resource application area 2 ⁇ broadcast range 1 .
  • the target robot based on the division rules of the crossing resource application area and the control crossing area in step 2013, the target robot knows that after entering the crossing resource application area, it will pass through the control crossing area. For example, as shown in FIG. 6 , when the target robot A travels to the crossing resource application area 2 , it is determined that the target robot will pass through the controlled crossing area 3 .
  • step 201 may specifically include:
  • the second crossing control information includes multiple controlled crossings updated by the server, and the corresponding controlled crossing area and crossing resource application area for each controlled crossing , and the control crossing area ⁇ the crossing resource application area ⁇ the broadcast range.
  • the control crossing area ⁇ the broadcast range.
  • the control crossing area 3 is smaller than the broadcast range 1, and Figure 5 is only an example.
  • the broadcast range can usually cover the entire environment map, so that after the target robot A enters the broadcast range 1, it can receive To the information of the control crossing contained in the environment map, and the control crossing area corresponding to each control crossing.
  • the target robot A after the target robot A enters the broadcast range 1, the target robot A not only acquires the controlled crossing area including the controlled crossing area 3, but also includes other controlled crossing areas (not shown in the figure).
  • the server before determining the first crossing control information from the pre-established environmental map, the server needs to determine the width of each crossing, the busyness of each crossing, the width of roads near each crossing, and the The nearby layout updates the control crossing and the control crossing area, crossing resource application area and broadcast area corresponding to each control crossing, and uses the updated control crossing and the control control crossing area, crossing resource application area and broadcast area corresponding to each control crossing as the first Control information of the second crossing, and send the control information of the second crossing to the target robot through broadcast information.
  • the control crossing in the first crossing control information is a pre-divided control crossing, which can be understood as a static control crossing, which needs to be pre-divided by the server.
  • the control crossing in the second crossing control information is a dynamically updated control crossing, which needs to be comprehensively determined by the server in real time or periodically according to the situation of each crossing. For example, a crossing is not originally a divided control crossing, but because the crossing is narrow and busy, the server updates the crossing as a control crossing. For example, a crossing was originally a divided control crossing, but due to the recent number of robot tasks, more robots passing through the control crossing have increased the busyness of the control crossing, so the server can appropriately increase the control crossing area of the crossing .
  • the server When detecting that the target robot moves to the control crossing, initiate a crossing passage request to the server, and the server is used to base the moving direction of the passing robot in the control crossing, the queuing status of the queuing robots and the movement of the target robot direction to determine whether to issue a notification permission instruction to the target robot.
  • step 102 for the execution process of this step, which will not be repeated in the embodiment of the present application.
  • crossings can include controlled crossings and non-controlled crossings.
  • non-controlled crossings are relatively spacious or the number of robots passing through this crossing is relatively small. Therefore, for non-controlled crossings, as shown in Figure 7, the target robot A can directly pass through the crossing.
  • the embodiment of the present application only controls the crossings that need to be controlled, thereby improving the traffic efficiency of the robot.
  • the positioning information of the target robot can be determined by referring to the solution described in the above-mentioned step 2012, and this step will not be repeated here.
  • the moving direction of the target robot the moving direction of the target robot can be determined according to the planned path of the target robot.
  • the server can monitor the traffic status of the robot in the control crossing area in real time, so as to release the crossing resources and improve the speed of the robot. traffic efficiency.
  • step 103 for the execution process of this step, which will not be repeated in the embodiment of the present application.
  • the method also includes:
  • the queuing instruction sent by the server If the queuing instruction sent by the server is received, the queuing instruction carries the estimated passing time of the target robot, and based on the task completion time limit of the target robot and the estimated passing time, control the The target robot suspends moving until it receives the notification permission instruction or updates the planned path.
  • the server determines that the moving direction of the passing robot in the controlled crossing is different from the moving direction of the target robot, it is forbidden to issue a notification permission command to the target robot, and a queuing command is issued to the target robot
  • the target robot can be arranged to queue, but the target robot can choose whether to accept the queuing instruction, if accepted, it will wait in the queue until the notification permission instruction is obtained, and if not, re-plan the planned path of the target robot.
  • step 206 if the queuing instruction sent by the server is received, and the queuing instruction carries the current queuing order of the target robot, calculate the estimated passage of the target robot Time: based on the task completion time limit of the target robot and the estimated passing time, control the target robot to suspend movement until receiving the notification permission instruction or updating the planned path.
  • the queuing command sent by the server only carries the current queuing order of the target robot, and the target robot needs to calculate the estimated passing time of the target robot by itself (for example, calculate the estimated passing time of the target robot by means of edge computing. transit time).
  • the above two solutions are only examples, and other solutions may also be included, for example, the generated queuing instructions do not carry any information, and directly control the target robot to suspend movement until receiving the Notify the permission instruction or update the planned path.
  • the process of "controlling the target robot to suspend movement until receiving the notification permission instruction or updating the planned path based on the task completion time limit of the target robot and the estimated passing time" may include :
  • the task completion time limit of the target robot is 5 minutes, and it is determined according to the planned path that the target robot will no longer pass through the control crossing after passing the control crossing, and it is expected to travel for 3 minutes, then determine the exit queue
  • the time threshold is 2 minutes.
  • the target robot may re-plan the route by itself, or the server may re-plan the route for the target robot, which is not limited in this embodiment of the present application.
  • Fig. 8 is a flow chart of a data processing method provided by the embodiment of the present application, the method is executed by the server, as shown in Fig. 8, the method includes:
  • the target robot determines that it has entered the pre-divided crossing resource application area based on the positioning information, the planned path, and the pre-established environmental map, and initiates a crossing request to the server after determining that it has passed the control crossing .
  • the server needs to divide a plurality of control crossings, the control crossing area corresponding to each control crossing, and the crossing resource application area corresponding to each control crossing area in the pre-established environment map, and the control crossing Area ⁇ the crossing resource application area, divide multiple controlled crossings, the corresponding controlled crossing area of each controlled crossing, and the crossing resource application area corresponding to each controlled crossing area as the first crossing control information, and the first crossing control
  • the information is sent to the target robot along with a map of the environment.
  • the controlled crossing and the controlled crossing area it is first necessary to determine the controlled crossing and the controlled crossing area according to the width of each crossing, the busyness of each crossing, the width of the road near each crossing, and the layout near each crossing. For example, when the controlled crossing is wider, the area where the roads intersect is larger, and the controlled crossing area is also larger.
  • the crossing resource application area is usually determined by the busyness of the controlled crossing, the width of the road near the controlled crossing, and the layout near the controlled crossing. When , the crossing resource application area is also larger. This is because the control crossing is very busy, that is, the number of target robots that are about to enter the control crossing is large, and these target robots need to initiate a crossing request before entering the control area. , otherwise, if the crossing resource application area is small, the target robot may be congested outside the crossing resource application area.
  • the broadcast range can usually cover the entire environment map, or cover multiple roads.
  • this application does not specifically limit the size of the control crossing area, the size of the crossing resource application area, and the size of the broadcast area.
  • the busyness of the traffic, the width of the road near the controlled crossing, and the layout near the controlled crossing are reasonably divided into the controlled crossing area, the crossing resource application area and the broadcast area.
  • control crossing area 3 the crossing resource application area 2, and the broadcast range 1 are divided, and the control crossing area 3 ⁇ the crossing resource application Area 2 ⁇ the broadcast area 1 .
  • the purpose of dividing the broadcast range is to make the target robot know the information of the control crossings in the environment map or the planned route and the control crossing area corresponding to each control crossing.
  • the purpose of dividing the crossing resource application area is to enable the target robot to initiate a crossing pass request to the server in advance when passing through the crossing resource application area, so as to avoid re-initiating a crossing pass request when entering the controlled crossing area, which will cause congestion in the controlled crossing area.
  • the purpose of dividing the control crossing is to reduce the problem of robot collision or crossing traffic jam caused by the target robot at the control crossing due to the blind detection area.
  • this application only provides an example of dividing the control crossing area 3, the crossing resource application area 2, and the broadcast range 1. In practical applications, more areas can be refined according to requirements to ensure the passing efficiency of the target robot.
  • the second crossing control information includes multiple updated control crossings and the control crossing area corresponding to each control crossing, and the control crossing area ⁇
  • the crossing resource application area ⁇ the broadcast range, so that the target robot determines that it has entered the pre-divided crossing resource application area based on the positioning information, the planned path, and the pre-established environmental map, and determines that it has been controlled After the crossing, initiate a crossing pass request to the server.
  • the target robot includes a signal receiving device for receiving the broadcast signal sent by the server, and by sending the broadcast signal to the target robot, the target robot can obtain the information of multiple control crossings and the corresponding information of each control crossing. Controlled crossing area, so as to determine whether the planned driving route will pass through the controlled crossing. If passing through the controlled crossing, a crossing request will be initiated in advance before entering the controlled crossing area.
  • control of the crossing in the second crossing control information sent by the broadcast signal is usually based on the current width of each crossing, the busyness of each crossing, the width of the road near each crossing, and the roads near each crossing.
  • the layout comprehensively determines the new control crossing, which may be the same as or different from the control crossing divided in the environmental map.
  • the moving direction of the target robot is usually determined by the planned path.
  • the moving direction includes moving from left to right, or moving from bottom to top.
  • the moving direction of the target robot A in FIGS. 5-7 is from left to right.
  • the passing robot and the queuing robot are actually robots in the storage environment, but they are named as passing robot or queuing robot for the convenience of distinguishing the state of each robot.
  • the target robot is a passing robot; if a target robot is waiting to enter the controlled crossing, the target robot is a queuing robot.
  • the moving direction of the target robot before determining whether to issue a notification permission instruction to the target robot, it is necessary to consider whether the moving direction of the target robot will conflict with the moving direction of the passing robot in the current controlled crossing. For example, if the moving direction of the target robot is from left to right, but the moving direction of the passing robot in the current control crossing is from bottom to top, it may cause a collision accident between the target robot and the passing robot.
  • the target robot needs to wait, that is, the target robot is a queuing robot at this time. If there are other queuing robots in the queuing queue at this time, then Determine the priority of the queuing robots, and issue the pass permission instructions to the robots with the highest priority in turn. The purpose of this is to avoid sending the pass permission instructions to all the queuing robots after all the passing robots in the control crossing have passed. , resulting in robot congestion or collision problems.
  • the control crossing area 3 includes the passing robot B and no queuing robot.
  • the target robot A enters the crossing resource application area 2, it sends The server initiates a crossing pass request, and the request carries the moving direction of the target robot A.
  • the server needs to judge whether the moving direction of the passing robot B is the same as that of the target robot A. If they are the same, the server responds to the request to the target robot A.
  • a notification permission instruction is issued so that the target machine A can follow the passing robot B through the controlled crossing area 3 when receiving the notification permission instruction.
  • the moving speed of the target robot A can be the same as that of the passing robot B.
  • the target robot, queuing robot, and passing robot are named only for the convenience of distinction, and in fact, the passing robot may also be the target robot.
  • the passing robot B when controlling the passing robot B, for the control unit in Figure 1 or the control server in Figure 2, the passing robot B is the target robot, and other robots other than robot B can be regarded as Passing robots or queuing robots, in fact, every robot is a target robot.
  • the positioning information and moving direction of the target robot are acquired in real time by calling the camera set at the controlled crossing, so that the server can monitor the traffic status of the robot in the controlled crossing area in real time, so as to release crossing resources , to improve the traffic efficiency of the robot.
  • the control crossing area 3 includes passing robot B, passing robot C and target robot A.
  • the control crossing area The movement direction of the internal permission is from bottom to top, and at this time the movement direction of target robot A is from left to right, and the movement direction of the two conflicts. If the notification permission command A is issued to the target robot, it may cause the target robot to A collided with the passing robot B and the passing robot C, so it is necessary to prohibit issuing notification permission instructions to the target robot A.
  • the queuing instruction by sending a queuing instruction to the target robot, and the queuing instruction carries the estimated passing time of the target robot, so that the target robot can flexibly control the waiting time according to its own task completion time limit and estimated passing time. Or detour, thereby improving the crossing efficiency of the robot.
  • step 309 may also be to send a queuing instruction to the target robot, where the queuing instruction carries the current queuing order of the target robot, so that the target robot can calculate the The passing time is estimated, and based on the task completion time limit and the estimated passing time, the movement is suspended until the notification permission instruction is received or the planned route is updated.
  • this scheme sends the current queuing order of the target robot to the target robot, and the target robot calculates the estimated passing time by itself (such as calculating the estimated passing time by means of edge computing), and then according to the task completion time limit and Estimated passing time flexibly controls whether to wait in line or bypass, thereby improving the crossing efficiency of the robot.
  • the target robot suspends movement until receiving the notification permission instruction, determine the target robot as a queuing robot in the control crossing, so that the target robot is queued to wait for the notification permission instruction.
  • the queuing instruction is sent to the target robot. If the target robot A queues and suspends its movement until it obtains the pass permission instruction, it will pass through the control crossing area 3. That is to say, the target robot A at this time is Queuing robots.
  • the longer the queuing time of the queuing robot, the higher the priority of the queuing robot, and the queuing time includes the queuing time of each control crossing within the path planning of the queuing robot.
  • the passing robot C since the moving direction of the passing robot C is the same as that of the passing robot B, the passing robot C can follow the passing robot B and pass through the control crossing area 3, while the moving direction of the queuing robot D and the target robot A is the same as that of the passing robot B and the passing robot B. Robot C is moving in a different direction and therefore enters the queue.
  • the server needs to judge the priority of the queuing robot D and the target robot A. Assume that target robot A has entered the queuing queue at multiple control crossings and has queued for a total of 5 minutes, while queuing robot D has queued for a total of 2 minutes at other multiple control crossings, although queuing robot D has priority over target robot A at this time Control area 3, but the priority of the target robot A is still higher than that of the queuing robot D, so the server needs to issue a pass instruction to the target robot A, so that the target robot A bypasses the queuing robot D and passes through the control crossing area 3 first, while queuing The robot D follows the target robot A through the control crossing area 3 .
  • the purpose of setting the priority of the queuing robots is to flexibly control the queuing time of each robot, and avoid the problem that the queuing time of the robots varies greatly, resulting in low robot transportation efficiency.
  • the method further includes: controlling the physical signal lights of the controlled crossing according to the traffic situation of the controlled crossing.
  • the physical signal lights including traffic light display, direction icon display and so on.
  • traffic light display for example, when a red light is displayed from bottom to top, and a green light is displayed from left to right, it indicates that pedestrians or robots are prohibited from moving in the direction from bottom to top, and pedestrians or robots are allowed in the direction of movement from left to right.
  • Robot pass For the direction displayed by the direction icon, as shown in Figure 16, when the physical signal lamp 5 displays " ⁇ " from bottom to top and " ⁇ " from left to right, it indicates that pedestrians or robots are allowed to move in the direction from bottom to top. Passage, the movement direction from left to right prohibits pedestrians or robots from passing.
  • the present application provides schematic diagrams of the actual application scenarios in Figure 16 and Figure 17, for example, as shown in Figure 16, the scenario includes robot B, robot C, robot D and robot A, at this time , the physical signal light 5 displays " ⁇ " from bottom to top, and " ⁇ " from left to right.
  • the moving direction of robot B and robot C is the same as the moving direction permitted by the physical signal light.
  • robot B and robot C As a passing robot passes through the control crossing area 3, the camera 4 takes pictures of the passing situation of robot B and robot C at all times, and robot B and robot C can also synchronize the positioning information and moving direction to the server in real time, while robot A and robot D The direction is not the same as the moving direction of the physical signal light permission, and both enter the queue to wait for the server to issue the permission instruction.
  • the display status of the physical signal light is adjusted so that the physical signal light 5 displays " ⁇ " from bottom to top, from left to right “ ⁇ ” is displayed in the direction, that is to say, at this time, the passage permission resources from left to right have been released, and robots or pedestrians in this moving direction can pass.
  • the server needs to judge the priority of robot A and robot D. Level, assuming that the priority of robot A is higher at this time, the server gives priority to issuing a pass instruction to robot A, so that robot A can pass through the crossing area 3 after receiving the pass permission instruction.
  • Figure 18 is a flowchart of interaction between a robot and a server provided in the embodiment of the present application, as shown in Figure 18:
  • Fig. 19 is a schematic structural diagram of a robot control device provided in an embodiment of the present application. As shown in Fig. 19, the device includes:
  • the first sending module 51 is used to initiate a crossing pass request to the server when the detection target robot moves to the control crossing.
  • the direction of movement of the target robot determines whether to issue a notification permission instruction to the target robot;
  • the first control module 52 is configured to control the target robot to pass through the control crossing if the notification permission instruction from the server is received; if the notification permission instruction is not received, control the target robot to suspend movement until the notification permission instruction is received.
  • the notification permission instruction is configured to control the target robot to pass through the control crossing if the notification permission instruction from the server is received; if the notification permission instruction is not received, control the target robot to suspend movement until the notification permission instruction is received. The notification permission instruction.
  • the device further includes:
  • the first detection module 53 is used to control the movement of the target robot according to the planned path of the target robot, and determine whether the target robot passes by based on the planned path and the pre-established environment map during the movement of the target robot Control crossings.
  • the first detection module 53 of the device is specifically configured to obtain the positioning information of the target robot during the moving process of the target robot; based on the positioning information, the planned path and The pre-established environment map determines whether the target robot has entered the pre-divided crossing resource application area; if it is determined that the target robot has entered the crossing resource application area, then determine that the target robot has passed the control crossing.
  • the device further includes:
  • the first determination module 54 is configured to determine the first crossing control information from the pre-established environment map, the first crossing control information includes the multiple control crossings divided by the server and the corresponding control crossings for each control crossing area, crossing resource application area, and the controlled crossing area ⁇ the crossing resource application area.
  • the device further includes:
  • the first judging module 55 is used to judge whether the second crossing management and control information is received within the broadcast range, and the second crossing management and control information includes multiple management and control crossings updated by the server and the management and control crossing area corresponding to each management and control crossing , crossing resource application area, and the control crossing area ⁇ the crossing resource application area ⁇ the broadcast range; if the second crossing control information is received, continue to execute the first detection module 53 when the target robot moves In the process, the step of obtaining the positioning information of the target robot.
  • the device further includes:
  • the first control module 52 is also used for synchronizing the positioning information and moving direction of the target robot to the server in real time during the period of controlling the target robot to pass through the control crossing if the notified permission instruction is received.
  • the device further includes:
  • the first control module 52 is also configured to receive the queuing instruction sent by the server, the queuing instruction carries the estimated passing time of the target robot, based on the task completion time limit of the target robot, the estimated Passing time, controlling the target robot to suspend movement until receiving the notification permission instruction or updating the planned path.
  • the device further includes:
  • the first control module 52 is also configured to receive the queuing instruction sent by the server, the queuing instruction carries the current queuing order of the target robot, based on the task completion time limit of the target robot, the estimated passage time, control the target robot to suspend movement until receiving the notification permission instruction or updating the planned path.
  • the first control module 52 of the device is specifically configured to determine the exit queuing time threshold based on the task completion time limit and the planned path of the target robot; if the estimated passing time is greater than the specified According to the crossing queuing time threshold, control the target robot to update the planned path; or, if the estimated passing time is less than the crossing queuing time threshold, control the target robot to suspend movement until receiving the notification permission instruction.
  • the robot control device shown in FIG. 19 can execute the robot control method described in the embodiment shown in FIG. 3 and FIG. 4 , and its implementation principles and technical effects will not be repeated here. The specific manner in which each module and unit of the robot control device in the above embodiment performs operations has been described in detail in the embodiment of the method, and will not be described in detail here.
  • Fig. 20 is a schematic structural diagram of a data processing device provided in an embodiment of the present application. As shown in Fig. 20, the device includes:
  • the second receiving module 61 is configured to receive a crossing pass request sent by the target robot when it moves to the control crossing, the crossing pass request carries the moving direction of the target robot;
  • the second determining module 62 is used to determine whether to issue a notification permission instruction to the target robot according to the moving direction of the passing robot in the controlled crossing, the queuing state of the queuing robot, and the moving direction of the target robot;
  • the second sending module 63 is used to issue a notification permission instruction to the target robot if there is no passing robot and queuing robot in the control crossing or the moving direction of the passing robot is the same as the moving direction of the target robot, so that The target robot passes through the control crossing when receiving the notification permission instruction; if the moving direction of the passing robot in the control crossing is different from the moving direction of the target robot, it is forbidden to issue a notification to the target robot A permission instruction, so that when the target robot does not receive the notification permission instruction, it will suspend moving until it receives the notification permission instruction.
  • the device further includes:
  • the second division module 64 is used to divide a plurality of control crossings, the control crossing area corresponding to each control crossing and the crossing resource application area corresponding to each control crossing area in the pre-established environment map, and the control crossing area ⁇ the crossing resource application area, so that the target robot determines that it has entered the pre-divided crossing resource application area based on the positioning information, the planned path, and the pre-established environmental map, and after passing the control crossing, send to The server initiates a crossing clearance request.
  • the device further includes:
  • the second update module 65 is used to update the control crossing and the corresponding control crossing area of each control crossing according to the width of each crossing, the busyness of each crossing, the width of the road near each crossing and the layout near each crossing, Crossing resource application area and broadcast area.
  • the device further includes:
  • the second broadcast module 66 is configured to broadcast the second crossing control information to the broadcast range through broadcast signals, the second crossing control information includes updated multiple controlled crossings and the corresponding controlled crossing area of each controlled crossing, and The control crossing area ⁇ the crossing resource application area ⁇ the broadcast range, so that the target robot can determine that it has entered a pre-divided crossing resource application based on the positioning information, the planned path and the pre-established environmental map In the area, after confirming passing the controlled crossing, initiate a crossing pass request to the server.
  • the device further includes:
  • the second collection module 67 is used to obtain the positioning information and movement of the target robot in real time by calling the camera set at the control crossing during the passage of the target robot after issuing a notification permission instruction to the target robot. direction.
  • the second sending module 63 of the device is also configured to send a queuing instruction to the target robot, the queuing instruction carrying the estimated passing time of the target robot, so that the Based on the task completion time limit and the estimated passing time, the target robot suspends movement until it receives the notification permission instruction or updates the planned path.
  • the second sending module 63 of the device is also used to send a queuing instruction to the target robot, the queuing instruction carrying the current queuing order of the target robot, so that the target robot Based on the task completion time limit and the estimated passing time, the robot suspends movement until it receives the notification permission instruction or updates the planned route.
  • the device further includes:
  • the second determination module 62 is also used to determine the target robot as a queuing robot in the control crossing if the target robot suspends moving until the notification permission instruction is received, so that the target robot can queue Queue to wait to get the notify permission instruction.
  • the device further includes:
  • the second control module 68 is configured to control the physical signal lights of the controlled crossing according to the traffic situation of the controlled crossing.
  • the data processing device shown in FIG. 20 can execute the data processing method described in the embodiment shown in FIG. 8 , and its implementation principles and technical effects will not be repeated here.
  • the specific manner of performing operations by each module and unit of the data processing device in the above embodiment has been described in detail in the embodiment of the method, and will not be described in detail here.
  • control device in the embodiment shown in FIG. 21 can be implemented as a computing device.
  • the computing device can be implemented as the central node mentioned above.
  • the computing device May include a storage component 701 and a processing component 702;
  • One or more computer instructions are stored in the storage component 701, wherein one or more computer instructions are called and executed by the processing component 702, so as to realize the robot control method shown in FIG. 3 and FIG. 4 .
  • the processing component 702 may include one or more processors to execute computer instructions to complete all or part of the steps in the above method.
  • the processing component can also be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs) , a controller, a microcontroller, a microprocessor or other electronic components for implementing the above robot control method.
  • ASICs application-specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field-programmable gate arrays
  • the storage component 701 is configured to store various types of data to support operations at the terminal.
  • the memory component can be implemented by any type of volatile or non-volatile memory device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Magnetic or Optical Disk Magnetic Disk
  • the embodiment of the present application also provides a computing device.
  • the computing device can be implemented as the aforementioned data node.
  • the computing device can include a storage component 801 and a processing component 802 ;
  • One or more computer instructions are stored in the storage component 801 , wherein one or more computer instructions are called and executed by the processing component 802 to implement the data processing method shown in FIG. 8 .
  • a computing device may necessarily also include other components, such as input/output interfaces, communication components, and the like.
  • the input/output interface provides an interface between the processing component and the peripheral interface module, and the above peripheral interface module may be an output device, an input device, and the like.
  • the communication component is configured to facilitate wired or wireless communication, etc., between the computing device and other devices.
  • the embodiment of the present application also provides a robot, the robot includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component , realize the above-mentioned robot control method shown in FIG. 3 and FIG. 4 .
  • the robot may also include some other components, such as walking components, display components, storage components (used to accommodate items in logistics scenarios), and so on.
  • the embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a computer, the robot control method shown in Fig. 3 and Fig. 4 above can be realized;
  • the embodiment of the present application also provides a computer program product, including a computer program.
  • a computer program product including a computer program.
  • the computer program is executed by a computer, the above-mentioned robot control method shown in FIG. 3 and FIG. 4 is realized;
  • the embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a computer, the data processing method shown in FIG. 8 above can be realized;
  • the embodiment of the present application also provides a computer program product, including a computer program, which realizes the data processing method shown in FIG. 8 above when the computer program is executed by a computer;
  • the embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a computer, the data access method shown in FIG. 4 above can be realized;
  • An embodiment of the present application also provides a computer program product, including a computer program, and when the computer program is executed by a computer, the data access method shown in FIG. 4 above is realized.
  • the above computing device may be hardware or software.
  • the computing device When the computing device is hardware, it can be realized as a distributed cluster composed of multiple servers or terminal devices, or as a single server or a single terminal device.
  • the computing device When the computing device is embodied as software, it can be installed in the hardware devices listed above. It can be implemented, for example, as a plurality of software or software modules for providing distributed services, or as a single software or software module. No specific limitation is made here.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.
  • each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware.
  • the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé et un appareil de commande de robot, ainsi qu'un procédé et un appareil de traitement de données. Le procédé de commande de robot consiste à : lorsqu'il est détecté qu'un robot cible se déplace vers un croisement de gestion et de commande, initier une demande de passage de croisement pour un serveur, le serveur étant utilisé pour déterminer, selon les directions de déplacement des robots de passage dans le croisement de gestion et de commande, les états de file d'attente des robots de file d'attente et la direction de déplacement du robot cible, s'il faut ou non envoyer une instruction de notification d'autorisation au robot cible ; si l'instruction de notification d'autorisation du serveur est reçue, commander au robot cible de passer à travers le croisement de gestion et de commande ; et si l'instruction de notification d'autorisation n'est pas reçue, commander au robot cible d'interrompre son déplacement jusqu'à ce que l'instruction de notification d'autorisation soit reçue. Grâce au procédé et à l'appareil de commande de robot, ainsi qu'au procédé et à l'appareil de traitement de données, les collisions ou les embouteillages de robots à un croisement causés par une zone aveugle de détection peuvent être considérablement réduits.
PCT/CN2022/110632 2021-08-11 2022-08-05 Procédé et appareil de commande de robot, et procédé et appareil de traitement de données WO2023016377A1 (fr)

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Citations (5)

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Publication number Priority date Publication date Assignee Title
CN106054879A (zh) * 2016-06-07 2016-10-26 深圳动进智能科技有限公司 Agv小车控制系统及控制方法
CN106960601A (zh) * 2016-01-19 2017-07-18 法拉第未来公司 自动化车辆对进行十字路口穿越的协商系统和方法
CN107608351A (zh) * 2017-09-18 2018-01-19 华南理工大学 一种agv自主交通管制装置及方法
CN108241372A (zh) * 2017-12-27 2018-07-03 安徽嘉熠智能科技有限公司 一种agv小车系统的防撞实现方法及系统
WO2019176258A1 (fr) * 2018-03-15 2019-09-19 ソニー株式会社 Dispositif de commande, procédé de commande et programme

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Publication number Priority date Publication date Assignee Title
CN106960601A (zh) * 2016-01-19 2017-07-18 法拉第未来公司 自动化车辆对进行十字路口穿越的协商系统和方法
CN106054879A (zh) * 2016-06-07 2016-10-26 深圳动进智能科技有限公司 Agv小车控制系统及控制方法
CN107608351A (zh) * 2017-09-18 2018-01-19 华南理工大学 一种agv自主交通管制装置及方法
CN108241372A (zh) * 2017-12-27 2018-07-03 安徽嘉熠智能科技有限公司 一种agv小车系统的防撞实现方法及系统
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