WO2024021758A1

WO2024021758A1 - Robot control method, electronic device and storage medium

Info

Publication number: WO2024021758A1
Application number: PCT/CN2023/093149
Authority: WO
Inventors: 贾思嘉
Original assignee: 北京旷视机器人技术有限公司
Priority date: 2022-07-29
Filing date: 2023-05-10
Publication date: 2024-02-01
Also published as: CN115357017A

Abstract

A robot control method, an electronic device and a storage medium. The robot control method comprises: on the basis of a traveling area of at least one sub-path to be traveled of a traveling path of a target robot, and at least one occupied area, determining whether there is at least one sub-path to be traveled, which can be occupied by the target robot, among the at least one sub-path to be traveled (101), wherein the at least one occupied area comprises: a traveling area of a corresponding sub-path, which is marked as being occupied by a corresponding robot, and/or an area which is occupied by the corresponding robot in a static state; if so, determining at least one target sub-path to be traveled from among the at least one sub-path to be traveled, which can be occupied by the target robot, and marking each target sub-path to be traveled as being occupied by the target robot (102); and controlling the target robot to travel on each target sub-path to be traveled (103).

Description

Robot control method, electronic device and storage medium

This application claims priority to the Chinese patent application filed with the China Patent Office on July 29, 2022, with the application number 202210911177.1 and the invention title "Robot control method, electronic device and storage medium", the entire content of which is incorporated herein by reference. Applying.

Technical field

This application relates to the field of logistics, specifically to robot control methods, electronic equipment and storage media.

Background technique

Currently, during warehouse management, the method used to control robots is to plan a driving path for each robot and control the robot to drive on the driving path. The current method of controlling robots does not consider collision problems. For example, two robots collide due to the overlap of their driving paths.

Contents of the invention

In order to overcome the problems existing in related technologies, this application provides a robot control method, electronic device and storage medium.

The embodiment of the present application provides a robot control method, including:

Based on the traveling area and at least one occupied area of at least one to-be-traveled sub-path of the target robot's traveling path, it is determined whether there is at least one to-be-traveled sub-path that the target robot can occupy in the at least one to-be-traveled sub-path, wherein , the at least one occupied area includes: a driving area marked as a corresponding sub-path occupied by the corresponding robot and/or an area occupied by the corresponding robot when in a stationary state;

If so, determine at least one target to-be-traveled sub-path from at least one to-be-traveled sub-path that the target robot can occupy, and mark each target to-be-traveled sub-path in the at least one target to-be-traveled sub-path as determined by the target robot. The target robot is occupied;

The target robot is controlled to travel on each target sub-path to be traveled.

An embodiment of the present application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the above robot control method. Law.

Embodiments of the present application provide a computer-readable storage medium on which a computer program/instruction is stored. When the computer program/instruction is executed by a processor, the above-mentioned robot control method is implemented.

An embodiment of the present application provides a computer program product, which includes a computer program/instruction. When the computer program/instruction is executed by a processor, the above robot control method is implemented.

The robot control method provided by the embodiment of the present application controls the target robot to drive on the target sub-path to be traveled when the target to-be-traveled sub-path of the target robot's traveling path is marked as occupied by the target robot. For any target to-be-traveled sub-path, there is no overlap between the target to-be-traveled sub-path and any occupied area. While the target robot is traveling on the target to-be-traveled sub-path, other robots will not be on the target to-be-traveled sub-path. In the driving area, other robots will not collide with the target robot. Therefore, when the target robot travels on any target sub-path to be traveled, there will be no robot collision.

The above description is only an overview of the technical solutions of the present application. In order to have a clearer understanding of the technical means of the present application, they can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and understandable. , the specific implementation methods of the present application are specifically listed below.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 shows a flow chart of a robot control method provided by an embodiment of the present application;

Figure 2 shows a structural block diagram of a robot control device provided by an embodiment of the present application;

Figure 3 schematically shows a block diagram of an electronic device for performing a method according to the present application; and

Figure 4 schematically shows a storage unit for holding or carrying program code for implementing the method according to the present application.

Specific embodiments

The present application will be further described in detail below in conjunction with the accompanying drawings and examples. It can be understood that the specific embodiments described here are only used to explain the relevant invention, but not to limit the invention. In addition, it should be noted that, for convenience of description, only parts related to the relevant invention are shown in the drawings. off part.

It should be noted that, as long as there is no conflict, the embodiments in this application and the description information in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

With the development of intelligent technologies such as the Internet of Things, artificial intelligence, and big data, the demand for using these intelligent technologies to transform and upgrade the traditional logistics industry has become increasingly strong. Intelligent Logistics System has become a research hotspot in the field of logistics. Smart logistics uses artificial intelligence, big data and various information sensors, radio frequency identification technology, global positioning system (GPS) and other Internet of Things devices and technologies, and is widely used in basic materials transportation, warehousing, distribution, packaging, loading and unloading and information services. In the activity link, intelligent analysis and decision-making, automated operation and high-efficiency optimized management of the material management process are realized. Internet of Things technology includes sensing equipment, RFID technology, laser infrared scanning, infrared induction identification, etc. The Internet of Things can effectively connect materials in logistics to the network, monitor materials in real time, and sense the humidity, temperature and other environments of the warehouse. Data to ensure the storage environment of materials. Through big data technology, all data in logistics can be sensed and collected, uploaded to the data layer of the information platform, and the data can be filtered, mined, analyzed, etc., and finally the business processes (such as transportation, warehousing, access, picking, packaging, sorting, etc.) (picking, outbound, inventory, distribution, etc.) provide accurate data support. The application directions of artificial intelligence in logistics can be roughly divided into two types: 1) those empowered by AI technology such as unmanned trucks, AGVs, AMRs, forklifts, shuttles, stackers, unmanned distribution vehicles, drones, Intelligent devices such as service robots, robotic arms, and smart terminals replace part of the labor force; 2) Software driven by technologies or algorithms such as computer vision, machine learning, and operations optimization, such as transportation equipment management systems, warehouse management, equipment scheduling systems, order distribution systems, etc. The system improves labor efficiency. With the research and progress of smart logistics, this technology has been applied in many fields, such as retail and e-commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothing, textiles, food and other fields.

Figure 1 shows a flow chart of a robot control method provided by an embodiment of the present application. The method includes:

Step 101: Based on the traveling area and at least one occupied area of at least one to-be-traveled sub-path of the target robot's traveling path, determine whether there is at least one to-be-traveled sub-path that the target robot can occupy in the at least one to-be-traveled sub-path.

The target robot can be any robot in the warehouse where the robot control method provided by the embodiment of the present application is applied.

Robots can be automated guided vehicles (Automated Guided Vehicles, AGVs for short), autonomous mobile robots (Automated Mobile Robots, AMRs for short), forklifts, etc.

In this application, for any robot, the sub-path of the robot's traveling path is a part of the robot's traveling path, and the sub-path of the robot's traveling path is obtained by dividing the robot's traveling path.

For any sub-path of any robot's traveling path, before the robot travels on the sub-path, the sub-path is the to-be-traveled sub-path of the robot's traveling path.

For any sub-path of any robot's driving path, when the robot travels from the starting point of the sub-path to the end of the sub-path, the robot has completed driving the sub-path, and the sub-path is no longer used as the robot's driving path. The to-be-traveled sub-path of the path.

When step 101 is executed for the first time, each sub-path of the target robot's traveling path is a to-be-traveled sub-path of the target robot's traveling path.

N is greater than 1. When step 101 is executed for the Nth time, all to-be-traveled sub-paths of the target robot's traveling path are all sub-paths of the target robot's traveling path, except that the target robot has completed traveling before step 101 is executed for the Nth time. The part outside the sub-path.

At least one to-be-traveled sub-path of the target robot's traveling path in step 101 may refer to: all to-be-traveled sub-paths of the target robot's traveling path when step 101 is performed.

While the target robot is traveling on the target robot's travel path, steps 101-103 are performed at least once. The period during which the target robot travels on the target robot's traveling path may refer to the time period between the time when the target robot starts traveling from the starting point of the traveling path and the time when the target robot reaches the end point of the traveling path.

In this application, the target robot can perform step 101 when one of the following items is satisfied: it is in a stationary state and there is at least one to-be-traveled sub-path of the target robot's traveling path, and the target robot has completed driving and occupied each target to-be-traveled sub-path. path and there is at least one to-be-traveled sub-path of the traveling path of the target robot, and an instruction instructing the target robot to perform step 101 is received.

For any robot's driving path, if the robot travels from the starting point of the driving path to the end point of the driving path, then the robot has completed the driving path.

For any sub-path of any robot's driving path, if the robot travels from the starting point of the sub-path to the end of the sub-path, then the robot has completed the sub-path.

In this application, the robot's activity area can be divided into a preset number of grids, and each grid has the same size. The starting point of the corresponding path in this application may be the corresponding grid, and the end point of the corresponding path in this application may be the corresponding grid.

In this application, for any robot, while the robot is driving on the robot's driving path, the robot performs multiple driving operations corresponding to the driving path. Through the multiple driving operations, the robot completes the driving of the robot. The driving path means that the robot travels from the starting point of the driving path to the end point of the driving path.

For any robot, before the robot travels on the robot's travel path, the robot's travel path can be divided into multiple sub-paths of the travel path according to multiple travel operations corresponding to the robot's travel path. Each sub-path of the path corresponds to one driving operation among the plurality of driving operations. For each sub-path of the driving path, the robot completes the sub-path by executing the driving operation corresponding to the sub-path.

For any robot, all the sub-paths of the robot's driving path can be sorted according to the distance between the starting point of the sub-path of the robot's driving path and the starting point of the driving path from small to large, and the value of the robot's driving path can be obtained. The order of sub-paths, the number of sub-paths of the robot's traveling path is denoted as n, the order of the sub-paths of the robot's traveling path defines the first sub-path of the robot's traveling path, the second sub-path of the robot's traveling path Path...the nth sub-path of the robot's driving path.

For any robot, while the robot is driving on the robot's driving path, the robot starts driving from the first sub-path of the robot's driving path. When the robot completes the last sub-path of the robot's driving path, The robot completes the robot's travel path.

In this application, the robot drives on the ground of the warehouse where the robot control method provided by the embodiment of the application is applied, and a coordinate system can be established. The origin of the coordinate system is on the plane where the ground is located, and the X-axis and Y-axis of the coordinate system They are all on the plane where the ground is located. The X-axis of the coordinate system is the horizontal coordinate axis, and the Y-axis of the coordinate system is the vertical coordinate axis.

In this application, for any robot, the type of driving operation performed by the robot may include but is not limited to long straight movement driving operation and rotation operation.

The long straight movement operation can be: the robot travels in the horizontal direction or in the vertical direction. The rotation operation can be: the robot rotates at the rotation position corresponding to the rotation driving operation.

In this application, for any sub-path of any robot's traveling path, the shape of the traveling area of the sub-path is a polygon.

In this application, for a long straight movement operation performed by a robot, through the long straight movement operation, the robot travels from the starting point corresponding to the long straight movement operation to the end point corresponding to the long straight movement operation, the The starting point corresponding to the long straight movement operation and the end point corresponding to the long straight movement operation are provided by the warehouse management system of the warehouse where the robot control method provided by the embodiment of the present application is applied. The starting point corresponding to the long straight movement operation is the starting point of the sub-path corresponding to the long straight movement operation, and the end point corresponding to the long straight movement operation is the end point of the sub-path corresponding to the long straight movement operation.

The shape of the driving area of the sub-path corresponding to the long straight movement operation may be a rectangle, the horizontal side of the rectangle is parallel to the X-axis of the coordinate system, and the vertical side of the rectangle is parallel to the Y-axis of the coordinate system.

For a sub-path corresponding to a long straight movement operation performed by a robot, the shape of the driving area of the sub-path can be a rectangle. If the robot's driving direction is horizontal when driving on the sub-path, the The starting point of the subpath is on one vertical side of the rectangle, the end point of the subpath is on the other vertical side of the rectangle, and the length of the rectangle is the distance between the starting point of the subpath and the end point of the subpath , the width of the rectangle is: the Y-axis coordinate value of the point with the largest Y-axis coordinate value on the Y-axis of the coordinate system when the robot is driving on the sub-path minus the Y-axis coordinate value of the point on the Y-axis of the coordinate system when the robot is driving on the sub-path. The Y-axis coordinate value of the point with the smallest Y-axis coordinate value on the Y-axis.

If the robot's driving direction is vertical when traveling on the sub-path, the starting point of the sub-path is on one horizontal side of the rectangle, and the end point of the sub-path is on the other horizontal side of the rectangle. The width of the rectangle is: the distance between the starting point of the sub-path and the end point of the sub-path. The length of the rectangle is: the maximum X-axis coordinate value of the robot on the X-axis of the coordinate system when traveling on the sub-path. The X-axis coordinate value of the point minus the X-axis coordinate value of the point with the smallest X-axis coordinate value on the X-axis of the coordinate system when the robot travels on the sub-path.

In this application, for a rotation driving operation performed by a robot, the robot rotates at the rotation position corresponding to the rotation driving operation. Through the rotation driving operation, the driving direction of the robot can be changed from the horizontal direction to the vertical direction. One is converted into the other of the horizontal direction and the vertical direction, and the rotation position corresponding to the rotation driving operation is provided by the embodiment of the present application. The robot control method is provided by the warehouse management system of the warehouse.

The shape of a sub-path corresponding to a rotation driving operation performed by a robot can be a circle. The rotation driving operation is: the robot rotates at the rotation position corresponding to the rotation driving operation, and the center of the circle can be the rotation The rotation position corresponding to the driving operation. The diameter of the circle can be: the length of the diagonal of the rectangle surrounding the robot. The edgemost points on the robot in each direction are on the corresponding sides of the rectangle surrounding the robot. superior.

In this application, for any robot, when the robot is in a stationary state, the rectangle surrounding the robot and the circle related to the rectangle surrounding the robot can be determined, and the edgemost points on the robot in all directions are on the corresponding sides of the rectangle surrounding the robot. The center point of the circle associated with the rectangle surrounding the robot is the center point of the rectangle surrounding the robot, and the diameter of the circle associated with the rectangle surrounding the robot may be the length of the rectangle surrounding the robot. Determine the 6 points where the rectangle intersects the circle, and connect the 6 points to obtain a hexagon, which is the shape of the area occupied by the robot when it is at rest.

At least one occupied area in step 101 includes: a traveling area marked as a corresponding sub-path occupied by the corresponding robot and/or an area occupied by the corresponding robot when in a stationary state.

Each driving area marked as a corresponding sub-path occupied by the corresponding robot is regarded as an occupied area, and each area occupied by the corresponding robot when it is in a stationary state is regarded as an occupied area.

At least one occupied area in step 101 may refer to all occupied areas when step 101 is performed.

In this application, based on the traveling area and at least one occupied area of at least one to-be-traveled sub-path of the target robot's traveling path, it is determined whether there is at least one to-be-traveled sub-path that the target robot can occupy in the at least one to-be-traveled sub-path. .

For any sub-path to be traveled that can be occupied by any target robot, there is no overlap between the sub-path to be traveled that the target robot can occupy and any occupied area in at least one occupied area.

For any two areas, if the two areas have overlapping parts, the overlapping part of the two areas refers to the part that belongs to one of the two areas and the other of the two areas.

In this application, if step 101 is executed, the to-be-traveled sub-path of the target robot's traveling path If the number of paths is one, determine whether the target robot can occupy a sub-path to be traveled.

If step 101 is executed and the number of to-be-traveled sub-paths of the target robot's traveling path is multiple, then the distance between the starting point of the to-be-traveled sub-path of the robot's traveling path and the starting point of the traveling path can be determined from small to large. The multiple to-be-traveled sub-paths of the robot's traveling path are sorted to obtain the order of the multiple to-be-traveled sub-paths.

According to the order of multiple to-be-traveled sub-paths, it is sequentially determined whether the to-be-traveled sub-paths among the multiple to-be-traveled sub-paths can be occupied by the target robot, until it is determined that the target robot cannot occupy the corresponding to-be-traveled sub-path. First, it is determined whether the target robot can occupy the first sub-path to be traveled defined in the order of multiple sub-paths to be traveled. When it is determined that the target robot can occupy the first sub-path to be traveled defined in the order of multiple sub-paths to be traveled, Determine whether the target robot can occupy the second to-be-traveled sub-path defined in the order of multiple to-be-traveled sub-paths, and so on.

In this application, for any to-be-traveled sub-path of the target robot's traveling path, determining whether the target robot can occupy the to-be-traveled sub-path may include: determining whether the to-be-traveled sub-path is marked as occupied by other robots; if the to-be-traveled sub-path is marked as being occupied by other robots; If the sub-path to be traveled is marked as occupied by other robots, determine that the target robot cannot occupy the sub-path to be traveled; if the sub-path to be traveled is not marked as occupied by other robots, determine each of at least one occupied area. Whether the occupied area overlaps with the driving area of the to-be-traveled sub-path; if there is no overlap between the to-be-traveled sub-path and any occupied area, determine whether the target robot can occupy the to-be-traveled sub-path. If there is an overlap with the to-be-traveled sub-path, For occupied areas with overlapping paths, it is determined that the target robot cannot occupy the sub-path to be traveled.

The target robot can be any robot in the warehouse where the robot control method provided by the embodiment of the present application is applied. Other robots are relative to the target robot, and the robots in the warehouse that are not the target robot are other robots.

Step 102: Determine at least one target to-be-traveled sub-path from at least one to-be-traveled sub-path that the target robot can occupy, and mark each target to-be-traveled sub-path as occupied by the target robot.

In this application, if the number of to-be-traveled sub-paths that the determined target robot can occupy is one, one to-be-traveled sub-path that the determined target robot can occupy is regarded as a target to-be-traveled sub-path.

If the number of sub-paths to be traveled that the determined target robot can occupy is multiple, it can be divided into Do not regard each sub-path to be traveled that can be occupied by the determined target robot as a target sub-path to be traveled.

In this application, after determining at least one target to-be-traveled sub-path from at least one to-be-traveled sub-path that the target robot can occupy, the target robot occupies each target to-be-traveled sub-path in the at least one target to-be-traveled sub-path. .

For any sub-path of any robot's driving path, when the sub-path is marked as occupied by the robot, other robots cannot occupy the sub-path.

For any sub-path of any robot's driving path, when the sub-path is marked as occupied by the robot, the robot can drive on the sub-path. After the robot completes the sub-path, the sub-path is cancelled. The marker occupied by this robot.

In this application, each target to-be-traveled sub-path in the determined at least one target-to-be-traveled sub-path is marked as occupied by the target robot.

For each of the determined at least one target to-be-traveled sub-path, after marking the target to-be-traveled sub-path as occupied by the target robot and after canceling the target to-be-traveled sub-path occupied by the robot. Before marking, the target's to-be-traveled subpath was treated as an occupied area.

In this application, when it is determined that the target robot cannot occupy at least one sub-path to be traveled, if the target robot is in a stationary state, the target robot continues to be in a stationary state. When it is determined that the target robot cannot occupy at least one sub-path to be traveled, if the target robot is traveling on the corresponding sub-path, then when the target robot completes the last sub-path among all the sub-paths it has occupied, the target robot stops traveling, The target robot is at rest.

Step 103: Control the target robot to drive on each target sub-path to be traveled.

In this application, controlling the target robot to drive on each target sub-path to be traveled may include: if a target sub-path to be traveled is determined, when the target robot is in a stationary state or the target robot has finished driving, control the target robot to drive on each target sub-path. When traveling on each previously occupied sub-path on the to-be-traveled sub-path, an instruction for the driving operation corresponding to the target to-be-traveled sub-path is sent to the target robot to trigger the target robot to perform the driving operation corresponding to the target to-be-traveled sub-path. The sub-path to be traveled after completing the target.

Controlling the target robot to drive on each target sub-path to be traveled may include: if multiple target sub-paths to be traveled are determined, according to the starting point of the target sub-path to be traveled and the target robot's The distance between the starting points of the driving path is from small to large. The multiple target sub-paths to be traveled are sorted to obtain the order of the target sub-paths to be traveled. According to the order of the target sub-paths to be traveled, the target robot is controlled to move at each target in turn. Travel on the sub-path to be traveled.

According to the order of the target to-be-traveled sub-paths, controlling the target robot to drive on each target to-be-traveled sub-path in turn may include: the first target to-be-traveled sub-path defined in the order of the target to-be-traveled sub-paths, when the target robot is at rest status or when the target robot has finished driving. When controlling any sub-path occupied by the target robot before driving on the first target sub-path to be traveled, send the driving operation instructions corresponding to the first target sub-path to be traveled to the target robot to Trigger the target robot to perform the driving operation corresponding to the first target sub-path to be traveled, and complete the first target sub-path to be traveled.

It is determined that among the plurality of target to-be-traveled sub-paths, the target to-be-traveled sub-paths after the first target to-be-traveled sub-path defined in the order of the target to-be-traveled sub-paths are other target to-be-traveled sub-paths.

According to the order of the target to-be-traveled sub-paths, controlling the target robot to drive on each target to-be-traveled sub-path in turn may include: for each other target to-be-traveled sub-path, when the target robot finishes traveling on the other target to-be-traveled sub-paths, When the previous target sub-path is to be traveled, the driving operation instructions corresponding to the other target sub-paths to be traveled are sent to the target robot to trigger the target robot to perform the driving operations corresponding to the other target sub-paths to be traveled. Travel sub-path.

In this application, when the target to-be-traveled sub-path of the target robot's traveling path is marked as occupied by the target robot, the target robot is controlled to travel on the target to-be-traveled sub-path. For any target to-be-traveled sub-path, there is no overlap between the target to-be-traveled sub-path and any occupied area. While the target robot is traveling on the target to-be-traveled sub-path, other robots will not be on the target to-be-traveled sub-path. In the driving area, other robots will not collide with the target robot. Therefore, when the target robot travels on any target sub-path to be traveled, there will be no robot collision.

In some embodiments, when multiple target to-be-traveled sub-paths are determined, the occupancy lengths of the multiple target to-be-traveled sub-paths are greater than the minimum occupancy length threshold and the occupancy lengths of the target to-be-traveled sub-paths are less than the maximum occupancy length threshold, multiple The occupied length of the target sub-path to be traveled is the sum of the lengths of the multiple target sub-paths to be traveled.

In this application, multiple to-be-traveled sub-paths that the target robot can occupy can be sorted according to the distance between the starting point of the to-be-traveled sub-path that the target robot can occupy and the starting point of the traveling path, and the multiple to-be-traveled sub-paths that the target robot can occupy can be obtained. The order of sub-paths to be traveled. According to the order of the multiple to-be-traveled sub-paths, the to-be-traveled sub-paths are sequentially selected until the sum of the lengths of all selected to-be-traveled sub-paths is greater than the minimum occupation length threshold and all selected to-be-traveled sub-paths are The length of the sub-path is less than the maximum occupied length threshold. The length of all selected sub-paths to be traveled is the sum of the lengths of each of the selected sub-paths to be traveled. All selected sub-paths to be traveled include the length of the to-be-traveled sub-paths. There are multiple traveling sub-paths, and each selected to-be-traveled sub-path is determined as a target to-be-traveled sub-path.

If the occupied lengths of multiple target sub-paths to be traveled are too small, the target robot can travel a shorter distance to complete each target sub-path to be traveled, and step 101 needs to be performed again, resulting in a reduction in the operating efficiency of the target robot. If the occupied lengths of multiple target sub-paths to be traveled are too large, the target robot will occupy multiple target sub-paths to be traveled for a long time, and other robots will wait for a long time for the target robot to complete each target sub-path to be traveled, resulting in a decrease in overall operating efficiency. reduce.

In this application, when multiple target to-be-traveled sub-paths are determined, the occupied lengths of the multiple target to-be-traveled sub-paths may be greater than the minimum occupied length threshold and the occupied lengths of the target to-be-traveled sub-paths may be less than the maximum occupied length threshold. The occupied length of the sub-path to be traveled by each target will be neither too small nor too large to avoid a reduction in operating efficiency.

In some embodiments, based on the traveling area and at least one occupied area of the to-be-traveled sub-path of the target robot's traveling path, it is determined whether there is at least one to-be-traveled sub-path that the target robot can occupy in the at least one to-be-traveled sub-path. The path includes: determining whether there is an occupied area in at least one occupied area that overlaps with the driving area of the sub-path to be traveled; if not, marking the sub-path to be traveled as to be submitted for occupation by the target robot; determining the sub-path to be traveled. Whether the driving sub-path is marked as being submitted for occupation by other robots; if so, when the target robot is selected from the target robot and the other robots, it is determined that the target robot can occupy the sub-path to be traveled; if not, it is determined that the sub-path to be traveled is The target robot can occupy the sub-path to be traveled.

For any one of the at least one to-be-traveled sub-path of the travel path, determining that the target robot can occupy the to-be-traveled sub-path may include: determining that at least one of the to-be-traveled sub-paths is occupied. Whether there is an occupied area in the area that overlaps with the driving area of the to-be-traveled sub-path; if it is determined that there is no occupied area that overlaps with the traveling area of the to-be-traveled sub-path in at least one occupied area, The to-be-traveled sub-path is marked as being submitted and occupied by the target robot; determine whether the to-be-traveled sub-path is marked as to be submitted and occupied by other robots; if the to-be-traveled sub-path is marked as to be submitted and occupied by other robots, When the target robot is selected from the target robot and the other robots, it is determined that the target robot can occupy the to-be-traveled sub-path; if the to-be-traveled sub-path is not marked as being submitted for occupation by other robots, it is determined that the target robot can occupy the to-be-traveled sub-path. The sub-path to be traveled.

For any to-be-traveled sub-path of at least one to-be-traveled sub-path of the travel path, if it is determined that the to-be-traveled sub-path is marked as being submitted for occupation by other robots, randomly select a robot from the target robot and the other robots. , if the randomly selected robot is the target robot, it is determined that the target robot can occupy the sub-path to be traveled; if the randomly selected robot is another robot, it is determined that other robots can occupy the sub-path to be traveled.

For any one of the at least one to-be-traveled sub-path of the traveling path, the to-be-traveled sub-path is marked as being to be submitted and occupied by other robots, and the to-be-traveled sub-path is marked as to be submitted and occupied by the target robot. Similarly, during a control process for the other robot, it is determined that there is no occupied area in the corresponding at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path, and the to-be-traveled sub-path is marked. It is occupied by the other robot for pending submission.

In this application, for any one of the at least one to-be-traveled sub-path of the travel path, after it is determined that the target robot can occupy the to-be-traveled sub-path or the target robot is unable to occupy the to-be-traveled sub-path, cancel the decision by the target robot. Mark the sub-path to be submitted and occupied. If the sub-path to be traveled is marked as to be occupied by other robots, cancel the mark of the sub-path to be submitted to be occupied by other robots.

In this application, for any sub-path of any robot's driving path, when the sub-path is marked as being submitted for occupation by the corresponding robot, the driving area of the sub-path can be regarded as an occupied area, step 101 At least one occupied area in may include the travel area of the sub-path.

In this application, the problem of two robots seizing the sub-path to be traveled is considered, that is, the two robots determine that they can occupy the same sub-path at the same time or almost at the same time. When two robots are at the same time or almost When it is determined that the same sub-path can be occupied at the same time, only one robot can occupy the same sub-path.

In this application, when it is determined that there is no occupied area in at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path, the to-be-traveled sub-path will be marked as to be submitted for occupation by the target robot, According to whether the sub-path to be traveled is marked as being submitted for occupation by other robots, it is determined that the target robot or other robots can occupy the sub-path to be traveled, without the need for a mutex lock, and the problem of two robots seizing the sub-path to be traveled is efficiently solved. .

In some embodiments, for any one of the at least one to-be-traveled sub-path of the target robot's traveling path, it is determined whether there is an overlapping portion of the at least one occupied area with the traveling area of the to-be-traveled sub-path. The occupied area includes: determining whether there is an occupied area in the at least one occupied area based on the shape information of the traveling area of the to-be-traveled sub-path and the shape information of each occupied area in the at least one occupied area in the shape information database. An occupied area having a shape that intersects the shape of the traveling area of the to-be-traveled sub-path; if yes, it is determined that there is an occupied area in the at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path; if not , determining that there is no occupied area in the at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path.

In this application, the shape information database can be used to store the shape information of each occupied area. For any occupied area, the shape information of the occupied area is used to determine the occupied area. The shape information of the occupied area is It can include the following items or part of the following items: the position of the center point of the shape of the occupied area, the length of each side of the shape of the occupied area, the type of the shape of the occupied area, the method used to obtain the occupied area The position of the point of the shape.

For any one of at least one to-be-traveled sub-path of the target robot's traveling path, the shape information of the traveling area of the to-be-traveled sub-path is used to determine the shape of the traveling area of the to-be-traveled sub-path. The shape information of the travel area of the sub-path may include the following items or a part of the following items: the position of the center point of the shape of the travel area of the sub-path to be traveled, the length of each side of the shape of the travel area of the sub-path to be traveled, The type of the shape of the traveling area of the to-be-traveled sub-path, and the position of the point used to obtain the shape of the traveling area of the to-be-traveled sub-path.

For any two regions, if the shapes of the two regions intersect, then the two regions have overlapping parts. point.

For any one of the at least one to-be-traveled sub-path of the target robot's travel path, the shape of the to-be-traveled sub-path can be determined based on the shape information of the to-be-traveled sub-path. According to the shape of the to-be-traveled sub-path in at least one occupied area The shape information of each occupied area may determine the shape of each occupied area in at least one occupied area.

For any one of the at least one to-be-traveled sub-path of the target robot's traveling path, at least one can be determined based on the shape of the to-be-traveled sub-path and the shape of each of the at least one occupied area. Whether there is an occupied area in the occupied area that has a shape that intersects with the shape of the traveling area of the to-be-traveled sub-path, if there is an occupied area that has a shape that intersects with the shape of the traveling area of the to-be-traveled sub-path. occupied area, it can be determined that there is an occupied area in at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path, if there is no traveling area that overlaps with the to-be-traveled sub-path in the at least one occupied area. If the occupied area of the shape intersects, it proves that there is no occupied area in at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path.

In the present application, when determining whether there is an occupied area in at least one occupied area that overlaps with the traveling area of the sub-path to be traveled, it is only necessary to distinguish the shape of each occupied area in the at least one occupied area. Whether it intersects with the shape of the traveling area of the sub-path to be traveled, to determine whether there is an occupied area in at least one occupied area that overlaps with the traveling area of the sub-path to be traveled, so that at least one occupied area can be quickly determined Whether there is an occupied area that overlaps with the driving area of the sub-path to be traveled.

In some embodiments, the method further includes: for any determined target sub-path to be traveled, when the target robot completes the target sub-path to be traveled and there is a conflicting robot corresponding to the target sub-path to be traveled, moving toward the target corresponding to the target sub-path. The conflicting robot of the sub-path to be traveled sends a wake-up command, where the conflicting robot corresponding to the target sub-path to be traveled has an overlap between the traveling area of the target sub-path and the corresponding sub-paths of other traveling paths of the conflicting robot. Instead of being able to occupy the corresponding sub-path, the wake-up instruction is used to trigger the conflicting robot corresponding to the target sub-path to be traveled to determine whether there is at least one to-be-traveled sub-path of the other travel paths that the conflicting robot can occupy. .

For any determined target sub-path to be traveled, the corresponding target sub-route to be traveled will be The driving path of the conflicting robot is called the other driving path of the conflicting robot corresponding to the target sub-path to be traveled.

For any determined target sub-path to be traveled, the conflicting robots corresponding to the target sub-path to be traveled determine whether there is at least one to-be-traveled sub-path that the conflicting robot can occupy in at least one to-be-traveled sub-path of other travel paths. , it is determined that the driving area of the sub-path to be driven by the target overlaps with the driving area of the corresponding sub-path of other driving paths of the conflicting robots corresponding to the sub-path to be driven by the target, and the conflicting robot corresponding to the sub-path to be driven by the target cannot occupy the corresponding sub-path, then the time period between the time when the conflicting robot corresponding to the target sub-path to be traveled determines that the conflicting robot corresponding to the target sub-path to be traveled cannot occupy the corresponding sub-path and the time when the wake-up instruction is received, The conflicting robot corresponding to the target sub-path to be traveled will not determine whether there is a space that the conflicting robot corresponding to the target to-be-traveled sub-path can occupy in at least one of the other travel paths of the conflicting robot corresponding to the target sub-path to be traveled. At least one sub-path to be traveled.

When the target robot completes the target sub-path to be traveled and there is a conflicting robot corresponding to the target sub-path to be traveled, a wake-up command is sent to the conflicting robot corresponding to the target sub-path to be traveled, and the conflicting robot corresponding to the target sub-path to be traveled is Determine again whether there is at least one to-be-traveled sub-path corresponding to the target to-be-traveled sub-path of the conflicting robot's other traveling paths that the conflicting robot can occupy that corresponds to the target to-be-traveled sub-path.

In this application, when the target robot completes the target to-be-traveled sub-path and there are conflicting robots corresponding to the target to-be-traveled sub-path, a wake-up command is sent to the conflicting robot corresponding to the target to-be-traveled sub-path, triggering the corresponding target to-be-traveled sub-path. The conflicting robot determines whether there is at least one to-be-traveled sub-path that the conflicting robot can occupy in at least one to-be-traveled sub-path of other travel paths, thereby promptly notifying the conflicting robot corresponding to the target to-be-traveled sub-path that it can continue to seize the corresponding target to-be-traveled sub-path. Conflicts of traveling sub-paths Sub-paths to be traveled in other traveling paths of the robot.

In some embodiments, the method further includes: when receiving an instruction from the target robot instructing the target robot to complete each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the target robot's travel path, determining by the target robot that there is Whether there is at least one to-be-traveled sub-path that the target robot can occupy in at least one to-be-traveled sub-path.

When the target robot completes each target sub-path to be traveled, an instruction sent by the target robot instructing the target robot to complete each target sub-path to be traveled can be received.

When the target robot completes each target to-be-traveled sub-path, if there is at least one to-be-traveled sub-path of the target robot's traveling path, the at least one to-be-traveled sub-path of the existing traveling path is within all targets determined in step 102. The last target in the to-be-traveled sub-path is after the to-be-traveled sub-path.

When an instruction is received from the target robot instructing the target robot to complete each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the target robot's travel path, the target robot determines whether there is one of the existing at least one to-be-traveled sub-paths. At least one sub-path to be traveled that the target robot can occupy.

The process of the target robot determining whether there is at least one sub-path to be traveled that the target robot can occupy is the same as the process of step 101. The target robot determines whether there is at least one sub-path to be traveled that the target robot can occupy. If there is at least one to-be-traveled sub-path that the target robot can occupy, refer to the process of step 101 . The existing at least one to-be-traveled sub-path is equivalent to the at least one to-be-traveled sub-path in step 101 .

In this application, when an instruction is received from the target robot instructing the target robot to complete each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the target robot's travel path, the target robot can determine the existence of at least one to-be-traveled sub-path. Whether there is at least one to-be-traveled sub-path that the target robot can occupy in the traveling sub-path. Therefore, when the target robot completes each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the target robot's traveling path, the target robot continues to seize the to-be-traveled sub-path in the target robot's traveling path in time.

In some embodiments, the method further includes: when it is detected that the target robot has completed each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the target robot's travel path, the target robot determines the existence of at least one to-be-traveled sub-path. Whether there is at least one sub-path to be traveled that the target robot can occupy in the path.

When the target robot completes each target to-be-traveled sub-path, if there is at least one to-be-traveled sub-path of the target robot's traveling path, the at least one to-be-traveled sub-path of the existing traveling path is within all targets determined in step 102. After the last to-be-traveled sub-path in the to-be-traveled sub-path.

In this application, starting from the moment when the target robot reaches the starting point of the last target sub-path to be traveled of all the target sub-paths determined in step 102 and starts traveling, it can be detected every preset time interval whether the target robot has completed the drive. The last target sub-path to be traveled, if it is detected that the target robot has completed the last target sub-path to be traveled, then it is detected that the target robot has completed each target sub-path to be traveled.

When it is detected that the target robot has completed each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the target robot's traveling path, the target robot determines whether there is a path that the target robot can occupy in the at least one existing to-be-traveled sub-path. At least one sub-path to be traveled.

In this application, when it is detected that the target robot has completed each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the target robot's traveling path, the target robot can determine whether the existing at least one to-be-traveled sub-path is There is at least one sub-path to be traveled that the target robot can occupy. Therefore, when the target robot completes each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the target robot's traveling path, the target robot continues to seize the to-be-traveled sub-path in the target robot's traveling path in time.

Please refer to FIG. 2 , which shows a structural block diagram of a robot control device provided by an embodiment of the present application. The robot control device includes: a first determination unit 201, a second determination unit 202, and a control unit 203.

The first determination unit 201 is configured to determine, based on the traveling area of at least one to-be-traveled sub-path and at least one occupied area of the target robot's traveling path, whether there is a path that the target robot can occupy in the at least one to-be-traveled sub-path. At least one sub-path to be traveled, wherein the at least one occupied area includes: a travel area marked as the corresponding sub-path occupied by the corresponding robot and/or an area occupied by the corresponding robot when in a stationary state;

The second determination unit 202 is configured to, if so, determine at least one target sub-path to be traveled from the at least one sub-path to be traveled that the target robot can occupy, and mark each target sub-path to be traveled by the target robot. occupy;

The control unit 203 is configured to control the target robot to travel on each of the target to-be-traveled sub-paths.

In some embodiments, when multiple target to-be-traveled sub-paths are determined, the occupancy lengths of the multiple target to-be-traveled sub-paths are greater than the minimum occupancy length threshold and the occupancy length is less than the minimum occupancy length threshold. A large occupied length threshold, where the occupied length is the sum of the lengths of the plurality of target sub-paths to be traveled.

In some embodiments, the first determining unit 201 is configured to, when determining that there is no occupied area in the at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path, determine the to-be-traveled sub-path. The sub-path is marked as being to be submitted and occupied by the target robot; it is determined whether the to-be-traveled sub-path is marked as being to be submitted and occupied by other robots; if so, when all the sub-paths are selected from the target robot and the other robots, When the target robot is mentioned, it is determined that the target robot can occupy the sub-path to be traveled; if not, it is determined that the target robot can occupy the sub-path to be traveled.

In some embodiments, the first determination unit 201 is configured to be based on the shape information of the driving area of the sub-path to be traveled and the shape information of each occupied area in the at least one occupied area in the shape information database. , determine whether there is an occupied area in the at least one occupied area that has a shape that intersects with the shape of the occupied area; if so, determine whether there is an occupied area in the at least one occupied area that is consistent with the driving area of the sub-path to be traveled. The occupied area of the overlapping portion; if not, it is determined that there is no occupied area in the at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path.

In some embodiments, the robot control device further includes:

The first response unit is configured to send a wake-up instruction to the conflicting robot when the target robot completes the target sub-path to be traveled and there is a conflicting robot corresponding to the target sub-path to be traveled, wherein, The conflicting robot is unable to occupy the corresponding sub-path because the driving area of the target sub-path to be traveled overlaps with the driving area of the corresponding sub-path of other traveling paths of the conflicting robot. The wake-up instruction is used to trigger the conflict. The robot determines whether there is at least one to-be-traveled sub-path of the other travel path that the conflicting robot can occupy.

In some embodiments, the robot control device further includes:

The second response unit is configured to receive an instruction from the target robot instructing the target robot to complete each of the target to-be-traveled sub-paths and there is at least one to-be-traveled sub-path of the travel path, by the second response unit. The target robot determines whether there is at least one sub-path to be traveled that the target robot can occupy among the at least one sub-path to be traveled.

In some embodiments, the robot control device further includes:

The third response unit is configured to determine, by the target robot, that at least one sub-path to be traveled exists when it is detected that the target robot has completed each target sub-path to be traveled and there is at least one sub-path to be traveled of the travel path. Whether there is at least one to-be-traveled sub-path that the target robot can occupy in the traveling sub-path.

Each functional module or unit in the image processing device according to the embodiment of the present application is used to execute the steps of the above-mentioned robot control method. For details, please refer to the relevant content of the above-mentioned method.

The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the electronic device according to embodiments of the present application. The present application may also be implemented as an apparatus or device program (eg, computer program and computer program product) for performing part or all of the methods described herein. Such a program for implementing the present application may be stored on a computer-readable storage medium, or may be in the form of one or more signals. Such signals may be downloaded from an Internet website, or provided on a carrier signal, or in any other form.

For example, Figure 3 shows an electronic device that can implement the method according to the present application. The electronic device conventionally includes a processor 310 and a computer program product in the form of a memory 320 or a computer-readable storage medium. Memory 320 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. The memory 320 has a storage space 330 for program code 331 for executing any method steps in the above-described methods. For example, the storage space 330 for program codes may include individual program codes 331 respectively used to implement various steps in the above method. These program codes can be read from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are typically portable or fixed storage units as described with reference to FIG. 4 . The storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 320 in the electronic device of FIG. 3 . The program code may, for example, be compressed in a suitable form. Typically, the storage unit includes computer readable code 331', ie code that can be read by, for example, a processor such as 310, which code, when executed by an electronic device, causes the electronic device to perform each of the methods described above. step.

Other embodiments of the present application will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application that follow the general principles of the application and include common knowledge or customary skill in the technical fields not disclosed in the application. subpath. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

A robot control method, characterized in that the method includes:

Based on the traveling area and at least one occupied area of at least one to-be-traveled sub-path of the target robot's traveling path, it is determined whether there is at least one to-be-traveled sub-path that the target robot can occupy in the at least one to-be-traveled sub-path, wherein , the at least one occupied area includes: a driving area marked as a corresponding sub-path occupied by the corresponding robot and/or an area occupied by the corresponding robot when in a stationary state;

If there is at least one to-be-traveled sub-path that the target robot can occupy in the at least one to-be-traveled sub-path, at least one target to-be-traveled sub-path is determined from the at least one to-be-traveled sub-path that the target robot can occupy, Mark each target sub-path to be traveled as occupied by the target robot;

The target robot is controlled to travel on each target sub-path to be traveled.
The method according to claim 1, characterized in that when multiple target sub-paths to be traveled are determined, the occupancy lengths of the multiple target sub-paths to be traveled are greater than the minimum occupancy length threshold and the occupancy length is less than the maximum occupancy length. Length threshold, the occupied length is the sum of the lengths of the multiple target sub-paths to be traveled.
The method according to claim 1, characterized in that, based on the traveling area of the to-be-traveled sub-path of the target robot's traveling path and at least one occupied area, it is determined whether the at least one to-be-traveled sub-path of the traveling path contains the said At least one sub-path to be traveled that the target robot can occupy includes:

Determine whether there is an occupied area in the at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path;

If there is no occupied area in the at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path, mark the to-be-traveled sub-path to be submitted for occupation by the target robot;

Determine whether the to-be-traveled sub-path is marked as to be submitted and occupied by other robots;

If the sub-path to be traveled is marked as being submitted for occupation by other robots, when the target robot is selected from the target robot and the other robots, it is determined that It is determined that the target robot can occupy the sub-path to be traveled;

If the sub-path to be traveled is not marked as being submitted for occupation by other robots, it is determined that the target robot can occupy the sub-path to be traveled.
The method according to claim 3, wherein determining whether there is an occupied area in the at least one occupied area that overlaps with the traveling area of the to-be-traveled sub-path includes:

Based on the shape information of the traveling area of the to-be-traveled sub-path and the shape information of each occupied area in the at least one occupied area in the shape information database, it is determined whether there is a property in the at least one occupied area with The occupied area of the shape intersecting the shape of the driving area of the sub-path to be traveled;

If there is an occupied area in the at least one occupied area that has a shape that intersects with the shape of the traveling area of the to-be-traveled sub-path, it is determined that there is a travel with the to-be-traveled sub-path in the at least one occupied area. Occupied areas with overlapping areas;

If there is no occupied area in the at least one occupied area that has a shape that intersects with the shape of the traveling area of the to-be-traveled sub-path, it is determined that there is no occupied area in the at least one occupied area that is identical to the to-be-traveled sub-path. The driving area has an overlapping portion of the occupied area.
The method according to any one of claims 1-4, characterized in that the method further includes:

When the target robot completes the target to-be-traveled sub-path and there is a conflicting robot corresponding to the target to-be-traveled sub-path, a wake-up instruction is sent to the conflicting robot, wherein the conflicting robot is The driving area of the sub-path overlaps with the driving area of the corresponding sub-path of other driving paths of the conflicting robot and cannot occupy the corresponding sub-path. The wake-up instruction is used to trigger the conflicting robot to determine the location of the other driving path. Whether there is at least one to-be-traveled sub-path that the conflicting robot can occupy in the at least one to-be-traveled sub-path.
The method of claim 5, further comprising:

When an instruction is received from the target robot instructing the target robot to complete each of the target to-be-traveled sub-paths and there is at least one to-be-traveled sub-path of the travel path, When selecting a path, the target robot determines whether there is at least one sub-path to be traveled that the target robot can occupy among the at least one sub-path to be traveled.
The method of claim 5, further comprising:

When it is detected that the target robot has completed each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the traveling path, the target robot determines whether the existing at least one to-be-traveled sub-path exists. At least one sub-path to be traveled that the target robot can occupy.
An electronic device includes: a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method according to any one of claims 1-7.
A computer-readable storage medium on which a computer program/instruction is stored, characterized in that when the computer program/instruction is executed by a processor, the method of any one of claims 1-7 is implemented.
A computer program product, including a computer program/instruction, characterized in that when the computer program/instruction is executed by a processor, the method according to any one of claims 1-7 is implemented.