CN115357017A - Robot control method, electronic device and storage medium - Google Patents

Abstract

The embodiment of the present application provides a robot control method, an electronic device, and a storage medium. The method includes: based on the driving area and at least one occupied area of at least one sub-path to be driven in the driving path of the target robot, determining the at least one sub-path to be driven Whether there is at least one sub-route to be driven in the path that the target robot can occupy, wherein at least one occupied area includes: the driving area of the corresponding sub-path that is marked as occupied by the corresponding robot and/or the corresponding robot occupies when it is in a stationary state If so, at least one target sub-path to be driven is determined from at least one sub-path to be driven that the target robot can occupy, and each target sub-path to be driven is marked as occupied by the target robot; Drive on the sub-path to be driven.

Description

Robot control method, electronic device and storage medium

technical field

The present application relates to the field of logistics, and specifically relates to a robot control method, electronic equipment and storage media.

Background technique

At present, during the management of the warehouse, the method of controlling the robot is: planning a driving path for each robot, and controlling the robot to drive on the driving path. The current way of controlling the robot does not consider the collision problem, for example, two robots collide due to the overlapping part of the driving paths of the two robots.

Contents of the invention

In order to overcome the problems existing in the related technologies, the present application provides a robot control method, electronic equipment and storage media.

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

Based on the driving area and at least one occupied area of at least one to-be-traveled sub-path of the travel path of the target robot, 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, wherein , the at least one occupied area comprises: the driving area of the corresponding sub-path marked as occupied by the corresponding robot and/or the area occupied by the corresponding robot when it is in a stationary state;

If so, at least one target sub-path to be driven is determined from at least one sub-path to be driven that the target robot can occupy, and each target sub-path to be driven in the at least one target sub-path to be driven is marked as being controlled by the target sub-path to be driven. The target robot occupies;

Controlling the target robot to drive on each target sub-path to be driven.

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

An embodiment of the present application provides a computer-readable storage medium, on which a computer program/instruction is stored, and when the computer program/instruction is executed by a processor, the above robot control method is realized.

An embodiment of the present application provides a computer program product, including a computer program/instruction, and when the computer program/instruction is executed by a processor, the above robot control method is realized.

The robot control method provided in the embodiment of the present application controls the target robot to drive on the target sub-path to be driven when the target to-be-traveled sub-path of the travel path of the target robot is marked as being occupied by the target robot. For any target sub-path to be driven, there is no overlap between the target sub-path to be driven and any occupied area. In the driving area of , there will be no situation where other robots collide with the target robot. Therefore, when the target robot is driving on any sub-path of the target to be driven, there will be no robot collision.

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.

Fig. 1 shows the flowchart of the robot control method provided by the embodiment of the present application;

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

Detailed ways

The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

It should be noted that, in the case of no conflict, the embodiments in the present application and the description information in the embodiments may 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, and intelligent logistics (Intelligent Logistics System) has become a research hotspot in the field of logistics. Smart logistics uses artificial intelligence, big data, 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 logistics such as material transportation, warehousing, distribution, packaging, loading and unloading, and information services. The activity link realizes the intelligent analysis and decision-making, automatic operation and high-efficiency optimized management of the material management process. The Internet of Things technology includes sensing equipment, RFID technology, laser infrared scanning, infrared induction recognition, etc. The Internet of Things can effectively connect the materials in the logistics with the network, monitor the materials in real time, and sense the humidity and temperature of the warehouse. Data, guarantee the storage environment of materials. Through big data technology, all the data in the logistics can be sensed and collected, uploaded to the data layer of the information platform, and the data can be filtered, mined, analyzed and other operations, and finally the business process (such as transportation, storage, access, picking, packaging, distribution Picking, delivery, inventory, distribution and other links) to provide accurate data support. The application direction of artificial intelligence in logistics can be roughly divided into two types: 1) Unmanned trucks, AGVs, AMRs, forklifts, shuttles, stackers, unmanned delivery vehicles, unmanned aerial vehicles, Smart devices such as service robots, robotic arms, and smart terminals replace part of the labor force; 2) Software such as transportation equipment management systems, warehouse management, equipment scheduling systems, and order distribution systems driven by computer vision, machine learning, and operational optimization technologies or algorithms 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.

Fig. 1 shows the flowchart of the robot control method provided by the embodiment of the present application, the method includes:

Step 101, based on the driving area and at least one occupied area of at least one sub-path to be driven in the driving path of the target robot, determine whether there is at least one sub-path to be driven that the target robot can occupy in the at least one sub-path to be driven.

The target robot may be any robot in the warehouse to which the robot control method provided in the embodiment of the present application is applied.

The robot may be an automated guided vehicle (Automated Guided Vehicle, AGV for short), an autonomous mobile robot (Automated Mobile Robot, AMR for short), a forklift, and the like.

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

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

For any sub-path of the driving path of any robot, when the robot travels from the starting point of the sub-path to the end of the sub-path, the robot will finish the sub-path, and the sub-path will no longer be used as the driving path of the robot. The sub-route to be traveled of the route.

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

N is greater than 1, when step 101 is executed for the Nth time, all the sub-paths to be driven of the travel path of the target robot are all sub-paths of the travel path of the target robot except that the target robot has already traveled before step 101 is executed for the Nth time outside of the subpath of the .

The at least one to-be-traveled sub-route of the target robot's travel route in step 101 may refer to: all to-be-traveled sub-paths of the target robot's travel route when step 101 is performed.

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

In this application, the target robot can execute step 101 when one of the following items is satisfied: it is in a static state and there is at least one sub-path to be driven in the travel path of the target robot, and each target to-be-traveled sub-path occupied by the target robot is completed. path and store at least one to-be-traveled sub-path of the travel path of the target robot, and receive an instruction instructing the target robot to execute step 101.

For the travel path of any robot, if the robot travels from the starting point of the travel path to the end point of the travel path, the robot completes the travel path.

For any sub-path of the travel path of any robot, if the robot travels from the starting point of the sub-path to the end of the sub-path, then the robot completes the sub-path.

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

In this application, for any robot, during the period when the robot is driving on the driving path of the robot, the robot executes a plurality of driving operations corresponding to the driving path, and through the multiple driving operations, the robot completes the driving A travel route, that is, the robot travels from the starting point of the travel route to the end point of the travel route.

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 robot’s travel path according to the multiple travel operations corresponding to the robot’s travel path. Each sub-route of the route corresponds to one driving operation in the plurality of driving operations. For each sub-path of the driving path, the robot completes the driving of the sub-path by performing 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, and the distance between the starting point of the driving path of the robot can be obtained. The order of sub-paths, the number of sub-paths of the robot’s travel path is denoted as n, the order of the sub-paths of the robot’s travel path defines the first sub-path of the robot’s travel path, the second sub-path of the robot’s travel path path...the nth subpath of the robot's travel path.

For any robot, during the period when the robot is traveling on the robot’s travel path, the robot starts to travel from the first sub-path of the robot’s travel path, and when the robot finishes driving the last sub-path of the robot’s travel path, The robot travels to the end of the robot's travel path.

In this application, the robot drives on the ground of the warehouse where the robot control method provided in the embodiment of this 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 All are on the plane where the ground is located, the X-axis of the coordinate system is the coordinate axis in the horizontal direction, and the Y-axis of the coordinate system is the coordinate axis in the vertical direction.

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

The long-distance moving operation can be: the robot travels in the horizontal direction or in the vertical direction. The rotation operation may be: the robot rotates at a rotation position corresponding to the rotation driving operation.

In the present application, for any sub-path of any robot's driving path, the shape of the driving 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 moving operation and the end point corresponding to the long straight moving 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 traveling operation is the starting point of the sub-path corresponding to the long-straight traveling operation, and the end point corresponding to the long-straight traveling operation is the end point of the sub-path corresponding to the long-straight traveling operation.

The shape of the driving area of the sub-route corresponding to the long straight moving driving 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 moving operation performed by a robot, the shape of the driving area of the sub-path can be a rectangle. 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 value in 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 travels in the vertical direction when the robot is 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 The width of the rectangle is: the distance between the starting point of the sub-path and the end point of the sub-path, and the length of the rectangle is: the X-axis coordinate value on the X-axis of the coordinate system when the robot is driving on the sub-path is the largest The X-axis coordinate value of the point is subtracted from 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 is driving 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 this rotation driving operation, the driving direction of the robot can be changed from the horizontal direction to the vertical direction. One is transformed 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 warehouse management system of the warehouse where the robot control method provided by the embodiment of the present application is applied.

The shape of a sub-path corresponding to a rotation driving operation performed by a robot can be a circle, and 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, and the most edge points on the robot in all directions are on the corresponding sides of the rectangle surrounding the robot superior.

In this application, for any robot, when the robot is in a static state, the rectangle surrounding the robot and the circle related to the rectangle surrounding the robot can be determined, and the most edge points on the robot in all directions are on the corresponding side of the rectangle enclosing 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 in a stationary state.

The at least one occupied area in step 101 includes: the driving area of the corresponding sub-route marked as occupied by the corresponding robot and/or the area occupied by the corresponding robot when it is in a stationary state.

Each driving area of the corresponding sub-path marked as occupied by the corresponding robot is taken as the occupied area, and the area occupied by each corresponding robot when it is at rest is taken as the occupied area.

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

In the present application, based on the driving area and at least one occupied area of at least one to-be-traveled sub-path of the travel path of the target robot, 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 .

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

For any two areas, if the two areas have an overlapping portion, the overlapping portion of the two areas refers to the portion that belongs to either one of the two areas or the other of the two areas.

In the present application, if step 101 is executed, the number of sub-paths to be driven in the travel route of the target robot is one, then it is determined whether the target robot can occupy one sub-path to be driven.

If step 101 is executed, and the number of sub-paths to be driven in the travel path of the target robot is multiple, then the distance between the starting point of the to-be-traveled sub-path and the starting point of the travel path of the robot’s travel path can be increased from small to large, for Multiple to-be-traveled sub-paths of the driving path of the robot, and the order of the multiple to-be-traveled sub-paths.

According to the order of the plurality of sub-paths to be driven, it is sequentially determined whether the sub-paths to be driven in the plurality of sub-paths to be driven can be occupied by the target robot until it is determined that the target robot cannot occupy a corresponding sub-route to be driven. First determine whether the target robot can occupy the first sub-path to be driven defined by the sequence of multiple sub-paths to be driven, when it is determined that the target robot can occupy the first sub-path to be driven defined by the sequence of multiple sub-paths to be driven, Determine whether the target robot can occupy the second sub-path to be driven defined by the order of multiple sub-paths to be driven, and so on.

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

The target robot may be any robot in the warehouse to which the robot control method provided in 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 sub-route to be driven from at least one sub-path to be driven that the target robot can occupy, and mark each target sub-path to be driven as occupied by the target robot.

In this application, if the determined sub-route to be driven that the target robot can occupy is one, the determined sub-route to be driven that the target robot can occupy is taken as a target sub-route to be driven.

If the number of sub-paths to be driven that can be occupied by the determined target robot is multiple, each sub-path to be driven that can be occupied by the determined target robot can be used as a target sub-path to be driven.

In the present application, after at least one target sub-path to be driven is determined from at least one sub-path to be driven that the target robot can occupy, the target robot occupies each target sub-path to be driven in the at least one target sub-path to be driven .

For any sub-path of any robot's travel 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, and cancel the sub-path after the robot has driven the sub-path The markers occupied by this bot.

In the present application, each target sub-route to be driven in the determined at least one target sub-path to be driven is marked as being occupied by the target robot.

For each target sub-path to be driven in the determined at least one target sub-path to be driven, after marking the target sub-path to be driven as occupied by the target robot and canceling the target sub-path to be driven occupied by the robot Before marking, the target to-be-traveled sub-path is regarded as an occupied area.

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

Step 103, controlling the target robot to drive on each target sub-path to be driven.

In the present application, controlling the target robot to travel on each target sub-path to be driven may include: if a target to-be-traveled sub-path is determined, when the target robot is in a static state or the target robot has finished driving, control the target robot to travel on each target sub-path When each sub-path occupied before driving on the sub-path to be driven, send the instruction of the driving operation corresponding to the target sub-path to be driven to the target robot, so as to trigger the target robot to perform the driving operation corresponding to the target sub-path to be driven, and drive Complete the target sub-path to be driven.

Controlling the target robot to drive on each target sub-path to be driven may include: if multiple target sub-paths to be driven are determined, according to the distance between the starting point of the target to-be-driven sub-path and the starting point of the target robot's driving path from small to large , the multiple target sub-paths to be driven are sorted to obtain the order of the target sub-paths to be driven; according to the order of the target sub-paths to be driven, the target robot is controlled to drive on each target sub-path to be driven in sequence.

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

The target to-be-traveled sub-route after the first target to-be-traveled sub-route defined in the order of the target to-be-traveled sub-paths among the plurality of target to-be-traveled sub-paths is determined as 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-paths, When the previous target is to be driven on the sub-path, send an instruction of the driving operation corresponding to the other target to be driven sub-path to the target robot, so as to trigger the target robot to perform the driving operation corresponding to the other target to be driven sub-path, and after driving the other target to be driven Travel subpaths.

In the present application, when the target to-be-traveled sub-path of the target robot's travel path is marked as being occupied by the target robot, the target robot is controlled to travel on the target to-be-traveled sub-path. For any target sub-path to be driven, there is no overlap between the target sub-path to be driven and any occupied area. In the driving area of , there will be no situation where other robots collide with the target robot. Therefore, when the target robot is driving on any sub-path of the target to be driven, there will be no robot collision.

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

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

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

In the present application, when multiple target sub-paths to be driven are determined, the occupied lengths of the multiple target sub-paths to be driven may be greater than the minimum occupied length threshold and the occupied length of the target to-be-traveled sub-paths may be less than the maximum occupied length threshold. The occupation length of each target sub-path to be driven is neither too small nor too large, so as to avoid the reduction of operating efficiency.

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

For any sub-path to be driven in at least one sub-path to be driven of the driving route, determining that the target robot can occupy the sub-path to be driven may include: determining whether there is a driving area related to the sub-path to be driven in at least one occupied area Occupied areas with overlapping parts; if it is determined that at least one occupied area does not have an occupied area that overlaps with the driving area of the sub-path to be driven, mark the sub-path to be driven as being submitted by the target robot Occupation; determine whether the sub-path to be driven is marked as being occupied by other robots; if the sub-path to be driven is marked as being 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 sub-path to be driven; if the sub-path to be driven is not marked as being submitted for occupancy by other robots, it is determined that the target robot can occupy the sub-path to be driven.

For any sub-path to be driven in at least one sub-path to be driven in the driving route, if it is determined that the sub-path to be driven is marked as being occupied by other robots, a robot is randomly selected 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 driven; if the randomly selected robot is the other robot, it is determined that other robots can occupy the sub-path to be driven.

For any sub-path to be driven in at least one sub-path to be driven of the driving route, the sub-path to be driven is marked as being occupied by other robots and the sub-path to be driven is marked as being submitted by the target robot In the same way, in a control process for the other robot, it is determined that there is no occupied area with an overlapping area with the driving area of the sub-path to be driven in the corresponding at least one occupied area, and the sub-path to be driven Marked as occupied by this other robot for pending submission.

In this application, for any sub-path to be driven in at least one sub-path to be driven of the driving route, after it is determined that the target robot can occupy the sub-path to be driven or the target robot cannot occupy the sub-path to be driven, cancel the Mark the sub-path to be submitted for occupancy. If the sub-path to be driven is marked as being occupied by other robots, cancel the mark that the sub-path to be driven is 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 occupied by the corresponding robot, the driving area of the sub-path can be regarded as the occupied area, step 101 At least one of the occupied areas may include the travel area of the sub-route.

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

In the present application, when it is determined that there is no occupied area overlapping with the driving area of the sub-path to be driven in at least one occupied area, the sub-path to be driven is marked as being occupied by the target robot to be submitted, According to whether the sub-path to be driven is marked as being occupied by other robots, it is determined that the target robot or other robots can occupy the sub-path to be driven, and the problem of two robots preempting the sub-path to be driven is efficiently solved without using a mutex .

In some embodiments, for any sub-path to be driven in at least one sub-path to be driven of the travel path of the target robot, it is determined whether there is an overlapping portion with the driving area of the to-be-traveled sub-path in at least one occupied area The occupied area includes: based on the shape information of the driving area of the sub-route to be driven and the shape information of each occupied area in the at least one occupied area in the shape information database, determine whether there is There is an occupied area of a shape intersecting with the shape of the travel area of the to-be-traveled sub-path; if so, determining that there is an occupied area that overlaps with the travel area of the to-be-traveled sub-path in the at least one occupied area; if not , it is determined that there is no occupied area overlapping with the driving area of the to-be-traveled sub-route in the at least one occupied area.

In this application, the shape information database can be used to store the shape information of the shape 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 The following items or part of the following items may be included: 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 The position of the point of the shape.

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

For any two regions, if the shapes of the two regions intersect, then the two regions overlap.

For any sub-path to be driven in at least one sub-path to be driven in the driving path of the target robot, according to the shape information of the sub-path to be driven, the shape of the sub-path to be driven can be determined, and according to the shape information of the sub-path to be driven, at least one occupied area The shape information of each occupied area may determine the shape of each of the at least one occupied area.

For any sub-path to be driven in at least one sub-path to be driven of the travel path of the target robot, according to the shape of the sub-path to be driven and the shape of each occupied area in at least one occupied area, at least one Whether there is an occupied area with a shape intersecting with the shape of the travel area of the sub-path to be driven in the occupied area, if at least one of the occupied areas has a shape intersected with the shape of the travel area of the to-be-traveled sub-path Occupied area, then it can be determined that there is an occupied area that overlaps with the driving area of the sub-path to be driven in at least one occupied area, if there is no driving area with the sub-path to be driven in at least one occupied area If the occupied area of the shapes intersected by the shape of , it proves that there is no occupied area overlapping with the driving area of the to-be-traveled sub-path in at least one occupied area.

In the present application, when determining whether there is an occupied area that overlaps with the driving area of the to-be-traveled sub-route in at least one occupied area, only the shape of each occupied area in the at least one occupied area may be required Whether it intersects with the shape of the driving area of the sub-path to be driven to determine whether there is an occupied area that overlaps with the driving area of the sub-path to be driven in at least one occupied area, 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 to-be-traveled sub-route.

In some embodiments, it also includes: for any determined sub-path of the target to be driven, when the target robot has driven the sub-path of the target to be driven and there is a conflicting robot corresponding to the sub-path of the target to be driven, send the robot to the corresponding target sub-path. The conflicting robot of the to-be-traveled sub-path sends a wake-up command, wherein the conflicting robot corresponding to the target to-be-traveled sub-path overlaps the driving area of the target to-be-traveled sub-path with the corresponding sub-paths of other driving paths of the conflicting robot If the corresponding sub-path cannot be occupied, the wake-up instruction is used to trigger the conflicting robot corresponding to the target sub-path to determine whether there is at least one sub-path to be driven that the conflicting robot can occupy in at least one sub-path to be driven of the other driving path .

For any determined target sub-path to be driven, the running path of the conflicting robot corresponding to the target to-be-traveled sub-path is referred to as other running paths of the conflicting robot corresponding to the target to-be-traveled sub-path.

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

When the target robot completes the target sub-path to be driven and there is a conflicting robot corresponding to the target to-be-traveled sub-path, it sends a wake-up command to the conflicting robot corresponding to the target to-be-traveled sub-path, and the conflicting robot corresponding to the target to-be-traveled sub-path Determine again whether there is at least one to-be-traveled sub-path that can be occupied by the conflicting robot corresponding to the target to-be-traveled sub-path in at least one to-be-traveled sub-path of the conflicting robot's other travel paths corresponding 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 is a conflicting robot corresponding to the target to-be-traveled sub-path, a wake-up instruction 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 sub-path to be driven that the conflicting robot can occupy in at least one sub-path to be driven of other driving paths, so that the conflicting robot that is in the sub-path to be driven corresponding to the target is notified in time that it can continue to seize the target to be driven. The sub-path to be driven in the other driving paths of the conflicting robot driving the sub-path.

In some embodiments, it also includes: when receiving an instruction from the target robot indicating that the target robot has driven through each target sub-path to be driven and there is at least one sub-path to be driven in the travel path of the target robot, determining the existing sub-path by the target robot Whether there is at least one sub-path to be driven that the target robot can occupy in the at least one sub-path to be driven.

When the target robot finishes driving each target sub-path to be driven, it may receive an instruction from the target robot instructing the target robot to drive each target to-be-run sub-path.

When the target robot has driven each target sub-path to be driven, if there is at least one sub-path to be driven of the travel path of the target robot, at least one sub-path to be driven of the existing travel path is all within the range of all targets determined in step 102. The last target in the to-go sub-path is after the to-go sub-path.

When receiving an instruction from the target robot indicating that the target robot has driven through each target sub-path to be driven and there is at least one sub-path to be driven in the travel path of the target robot, it is determined by the target robot whether there is At least one sub-path to be driven that the target robot can occupy.

The process of determining whether there is at least one sub-path to be driven that the target robot can occupy in the at least one sub-path to be driven by the target robot is the same as the process of step 101, and the target robot determines whether there is at least one sub-path to be driven that exists There is at least one sub-route to be driven that the target robot can occupy. Referring to the process of step 101 , the existing at least one sub-route to be driven is equivalent to the at least one sub-route to be driven in step 101 .

In the present application, when receiving an instruction from the target robot indicating that the target robot has completed each target sub-path to be driven and there is at least one sub-path to be driven on the travel path of the target robot, the target robot may determine that there is at least one sub-path to be driven. Whether there is at least one sub-path to be driven that the target robot can occupy in the driving sub-path. Therefore, when the target robot finishes driving each target sub-route to be driven and there is at least one sub-path to be driven in the target robot's travel path, the target robot continues to seize the to-be-traveled sub-path in the target robot's travel path in a timely manner.

In some embodiments, it also includes: when it is detected that the target robot has driven each target sub-path to be driven and there is at least one sub-path to be driven in the driving path of the target robot, determining the existence of at least one sub-path to be driven by the target robot Whether there is at least one sub-path to be driven that the target robot can occupy in the path.

When the target robot has driven each target sub-path to be driven, if there is at least one sub-path to be driven of the travel path of the target robot, at least one sub-path to be driven of the existing travel path is all within the range of all targets determined in step 102. After the last to-be-traveled subroute in the to-be-traveled subroute.

In this application, from the moment when the target robot arrives at the starting point of the last target sub-path to be driven of all the target to-be-run sub-paths determined in step 102, it is possible to detect whether the target robot has driven the target robot every preset time interval. The last target sub-path to be driven, if it is detected that the target robot has driven the last target to-be-run sub-path, it is detected that the target robot has driven each target to-be-run sub-path.

When it is detected that the target robot has driven through each target sub-path to be driven and there is at least one sub-path to be driven in the travel path of the target robot, the target robot determines whether there is a space that the target robot can occupy in the at least one sub-path to be driven that exists. At least one sub-route to be traveled.

In the present application, when it is detected that the target robot has driven each target sub-path to be driven and there is at least one sub-path to be driven in the travel path of the target robot, the target robot may determine whether the existing at least one sub-path to be driven is There is at least one to-be-traveled subpath that the target robot can occupy. Therefore, when the target robot finishes driving each target sub-route to be driven and there is at least one sub-path to be driven in the target robot's travel path, the target robot continues to seize the to-be-traveled sub-path in the target robot's travel path in a timely manner.

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 determining unit 201 is configured to determine whether there is a space that the target robot can occupy in the at least one sub-path to be driven based on the driving area and at least one occupied area of at least one sub-path to be driven in the driving path of the target robot. at least one sub-route to be driven, wherein the at least one occupied area comprises: the driving area of the corresponding sub-path marked as occupied by the corresponding robot and/or the area occupied by the corresponding robot when in a stationary state;

The second determination unit 202 is configured to, if yes, determine at least one target sub-path to be driven from at least one sub-path to be driven that the target robot can occupy, and mark each target sub-path to be driven as being used by the target robot occupy;

The control unit 203 is configured to control the target robot to drive on each target sub-route to be driven.

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

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

In some embodiments, the first determining unit 201 is configured to be based on the shape information of the driving area of the to-be-traveled sub-route and the shape information of each occupied area in the at least one occupied area in the shape information database , determining whether there is an occupied area having a shape intersecting with the shape of the occupied area in the at least one occupied area; An occupied area of the overlapping part; if not, it is determined that there is no occupied area overlapping with the driving area of the to-be-traveled sub-route in the at least one occupied area.

In some embodiments, the robotic control device also includes:

The first response unit is configured to send a wake-up instruction to the conflicting robot when the target robot has driven the target to-be-traveled sub-path and there is a conflicting robot corresponding to the target to-be-traveled sub-path, wherein the The conflicting robot cannot occupy the corresponding sub-path because the driving area of the target to-be-traveled sub-path overlaps with the corresponding sub-path driving areas of other driving paths of the conflicting robot, and the wake-up instruction is used to trigger the conflict The robot determines whether there is at least one sub-route to be driven that can be occupied by the conflicting robot in at least one sub-route to be driven of the other driving route.

In some embodiments, the robotic control device also includes:

The second response unit is configured to, when receiving an instruction from the target robot indicating that the target robot has traveled through each of the target sub-paths to be driven and there is at least one sub-path to be driven of the travel path, by the target robot The target robot determines whether there is at least one sub-route to be driven that the target robot can occupy in the existing at least one sub-path to be driven.

In some embodiments, the robotic control device also includes:

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

Each functional module or unit in the image processing device of the embodiment of the present application is used to execute the steps of the above-mentioned robot control method, and for details, reference may be made to relevant content of the above-mentioned method.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program/instruction is stored, and when the computer program/instruction is executed by a processor, the above robot control method is implemented.

The embodiment of the present application also provides a computer program product, including a computer program/instruction, and when the computer program/instruction is executed by a processor, the above robot control method is realized.

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 modification, use or adaptation of the application, which follow the general principles of the application and include common knowledge or common technical skills in the technical field not disclosed in the application. subpath. The specification and examples are to be considered exemplary only, with a true scope and spirit of the application indicated by the following claims.

It should be understood that the present application is not limited to the precise constructions which have been described above and shown in the accompanying drawings, and 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 (10)

1. A robot control method, characterized in that the method comprises:

determining whether there is at least one sub-path to be traveled that the target robot can occupy in the at least one sub-path to be traveled based on a travel area and at least one occupied area of at least one sub-path to be traveled of a travel path of the target robot, wherein the at least one occupied area includes: a travel area marked as a respective sub-path occupied by the respective robot and/or an area occupied by the respective robot when in a stationary state;

if yes, determining at least one target sub-path to be traveled from 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;

and controlling the target robot to run on each target sub-path to be run.

2. The method according to claim 1, characterized in that when a plurality of target sub-paths to be traveled are determined, the occupied lengths of the plurality of target sub-paths to be traveled are greater than a minimum occupied length threshold value and less than a maximum occupied length threshold value, the occupied length being the sum of the lengths of the plurality of target sub-paths to be traveled.

3. The method according to claim 1, wherein determining whether at least one to-be-traveled sub-path of the travel path of the target robot exists at least one to-be-traveled sub-path that the target robot can occupy based on the travel area and the at least one occupied area of the to-be-traveled sub-path comprises:

determining whether an occupied area having an overlapping portion with a driving area of the sub-path to be driven exists in the at least one occupied area;

if not, marking the sub-path to be traveled as occupied by the target robot to be submitted;

determining whether the sub-path to be traveled is marked as occupied by other robots for submission;

if yes, when the target robot is selected from the target robot and the other robots, determining that the target robot can occupy the sub-path to be traveled;

if not, determining that the target robot can occupy the sub-path to be traveled.

4. The method of claim 3, wherein determining whether there is an occupied zone of the at least one occupied zone that has an overlapping portion with a travel zone of the sub-path to be traveled comprises:

determining whether there is an occupied area having a shape intersecting the shape of the driving area of the to-be-driven sub route among the at least one occupied area based on the shape information of the driving area of the to-be-driven sub route and the shape information of each of the at least one occupied area in the shape information database;

if so, determining that an occupied area with an overlapping part with the driving area of the sub-path to be driven exists in the at least one occupied area;

if not, determining that the occupied area which has the overlapped part with the driving area of the sub-path to be driven does not exist in the at least one occupied area.

5. The method according to any one of claims 1-4, further comprising:

when the target robot finishes driving the target sub-path to be driven and a conflict robot corresponding to the target sub-path to be driven exists, sending a wake-up instruction to the conflict robot, wherein the conflict robot cannot occupy the corresponding sub-path due to the fact that the driving area of the target sub-path to be driven and the driving area of the corresponding sub-path of the other driving path of the conflict robot are overlapped, and the wake-up instruction is used for triggering the conflict robot to determine whether at least one sub-path to be driven, which can be occupied by the conflict robot, exists in at least one sub-path to be driven of the other driving path.

6. The method of claim 5, further comprising:

when an instruction indicating that the target robot has traveled the each target sub-path to be traveled is received from the target robot and at least one sub-path to be traveled of the travel path exists, determining, by the target robot, whether at least one sub-path to be traveled that the target robot can occupy exists among the at least one sub-path to be traveled that exists.

7. The method of claim 5, further comprising:

when it is detected that the target robot has finished driving each target sub-path to be driven and at least one sub-path to be driven of the driving path exists, determining, by the target robot, whether at least one sub-path to be driven that the target robot can occupy exists in the at least one sub-path to be driven that exists.

8. An electronic device, comprising: memory, processor and computer program stored on the memory, characterized in that the processor executes the computer program to implement the method of any of claims 1-7.

9. A computer-readable storage medium, on which a computer program/instructions is stored, characterized in that the computer program/instructions, when executed by a processor, implement the method of any one of claims 1-7.

10. A computer program product comprising computer programs/instructions, characterized in that the computer programs/instructions, when executed by a processor, implement the method of any of claims 1-7.

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