CN111272186A - Robot path configuration method and device and readable storage medium - Google Patents
Robot path configuration method and device and readable storage medium Download PDFInfo
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- CN111272186A CN111272186A CN202010142537.7A CN202010142537A CN111272186A CN 111272186 A CN111272186 A CN 111272186A CN 202010142537 A CN202010142537 A CN 202010142537A CN 111272186 A CN111272186 A CN 111272186A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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Abstract
The application provides a robot path configuration method and device and a readable storage medium. The robot path configuration method comprises the following steps: acquiring path configuration information of the robot input by a user; wherein the path configuration information includes a defined area traveled by the robot and a defined rule of the defined area; determining a new travel path of the robot according to the current travel path of the robot, the defined area and the defined rule of the defined area; sending the new travel path to the robot. The method improves the convenience of the traffic control management of the robot.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot path configuration method and device and a readable storage medium.
Background
As more and more construction robots are slowly applied to a construction site, the robots operated at the construction site generally plan a path in advance and then automatically travel according to the planned path.
In order to ensure the normal operation of the robot, the path planning of the robot is very important. In the prior art, a path is usually planned in advance, but the influence of various external factors can be inevitably generated in the working process of the robot, and the prior art does not consider the influence of the external factors and is inconvenient for the traffic control and management of the robot.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for configuring a robot path, and a readable storage medium, so as to improve convenience of traffic control management of a robot.
In a first aspect, an embodiment of the present application provides a robot path configuration method, including: acquiring path configuration information of the robot input by a user; wherein the path configuration information includes a defined area traveled by the robot and a defined rule of the defined area; determining a new travel path of the robot according to the current travel path of the robot, the defined area and the defined rule of the defined area; sending the new travel path to the robot.
In the embodiment of the application, the path configuration information of the robot input by the user includes a defined area where the robot travels and a defined rule of the defined area. The new travel path can be determined for the robot through the defined area and the corresponding defined rule, and it can be understood that the new travel path is determined based on the defined area and the defined rule, so that reasonable and real-time planning of the travel path of the robot can be realized. In addition, when various emergencies occur, the user can update the traveling path of the robot by inputting the path configuration information, and the convenience of the traffic control management of the robot is further improved.
As a possible implementation manner, the path configuration information further includes: the limiting time corresponding to the limiting area; the limit time comprises a start time and an end time, and after the sending the new travel path to the robot, the method further comprises: detecting whether the current time coincides with the end time; if the current time is coincident with the end time, determining a new traveling path for the robot again; transmitting the re-determined new travel path to the robot.
In the embodiment of the application, for the limited area, the corresponding limit time can be configured, and when the limit time is reached, a new travel path can be planned for the robot again, so that the convenience of traffic control management of the robot is improved.
As a possible implementation manner, the path configuration information further includes: constraint conditions of the robot; before the determining a new travel path of the robot according to the current travel path of the robot, the defined area, and the defined rule of the defined area, the method further includes: determining a target robot corresponding to the path configuration information according to the constraint conditions of the robot; correspondingly, the determining a new travel path of the robot according to the current travel path of the robot, the defined area and the defined rule of the defined area includes: determining a new travel path of the target robot according to the current travel path of the target robot, the defined area and the definition rules of the defined area; the sending the new travel path to the robot, comprising: transmitting the new travel path to the target robot.
In the embodiment of the application, the path configuration information may further include constraint conditions of the robot, which is equivalent to that the limited area is only for the target robot, so that real-time updating of the traveling paths of different robots can be realized, and convenience of traffic control management of the robots is improved.
As a possible implementation manner, the defining rule of the defined area is to prohibit the robot from entering the defined area, and the determining a new travel path of the robot according to the current travel path of the robot, the defined area, and the defining rule of the defined area includes: and determining the new travel path according to the position of the limited area relative to the current travel path, so that the limited area is not contained in the new travel path.
In the embodiment of the application, when the definition rule is that the robot is prohibited from entering the defined area, the defined area can be understood as a prohibited area of the robot, and a new travel path can be quickly determined by the position of the defined area relative to the current travel path, so that the new travel path does not contain the defined area, and the planning efficiency of the path is improved.
As a possible implementation manner, the defining rule of the defined area is to require the robot to enter the defined area, and the determining a new travel path of the robot according to the current travel path of the robot, the defined area and the defining rule of the defined area includes: and determining the new traveling path according to the current position of the robot and the position of the limited area so as to enable the robot to travel into the limited area.
In the embodiment of the application, when the robot is required to enter the defined area, the defined area can be understood as the designated work area of the robot, and a new travel path can be quickly determined according to the current position of the robot and the position of the defined area, so that the robot travels into the defined area, and the path planning efficiency is improved.
As a possible implementation manner, the acquiring path configuration information of the robot input by the user includes: receiving the path configuration information sent by a client, wherein the user inputs the path configuration information through the client; after the sending the new travel path to the robot, the method further comprises: and sending the new traveling path to the client for display.
In the embodiment of the application, a user can input path configuration information through the client, and further after a new traveling path is determined, the new traveling path can be fed back to the client for display, so that the user can monitor the traveling path of the robot in real time.
In a second aspect, an embodiment of the present application provides a robot path configuration apparatus, where the robot path configuration apparatus includes functional modules for implementing the method according to the first aspect and any one of the possible implementation manners of the first aspect.
In a third aspect, the present embodiments provide a readable storage medium, on which a computer program is stored, where the computer program is executed by a computer to perform the steps of the method as described in the first aspect and any possible implementation manner of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a traffic management system according to an embodiment of the present application;
fig. 2 is a flowchart of a robot path configuration method provided in an embodiment of the present application;
fig. 3 is a functional block diagram of a robot path configuration apparatus according to an embodiment of the present disclosure.
Icon: 10-a traffic management system; 11-a client; 12-a server side; 120-a front-end server; 122-a traffic control server; 300-configuration means of the robot path; 301-an obtaining module; 302-a determination module; 303-transmitting module.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The robot path configuration method provided by the embodiment of the application can be applied to the configuration of the path of the robot on a construction site, such as the configuration of the path of a construction robot; and the arrangement of the path of the transfer robot in the factory. Since the possibility of an emergency occurring at a construction site is high, the need for real-time updating of the travel path of the robot is high, and therefore, when the configuration method is applied to the configuration of the path of the robot at the construction site, the effect is more remarkable.
Based on the application scenario, a hardware implementation environment of the configuration method is introduced next. Referring to fig. 1, a schematic structural diagram of a traffic management system 10 according to an embodiment of the present disclosure is shown, where the traffic management system 10 includes a client 11 and a server 12. The server 12 includes a front-end server 120 and a traffic control server 122, the front-end server 120 is in communication connection with the client 11, and the traffic control server 122 is in communication connection with the front-end server 120 and the robot respectively.
For the client 11, as a terminal for a user to perform human-computer interaction, the user may interact with the front-end server 120 through the client 11, for example, send data, send a request, and the like. The front-end server 120 processes the data or the request after receiving the data or the request and the like sent by the client 11, then the traffic control server 122 further processes the processed data or the request to finally obtain a processing result, and the processing result is fed back to the front-end server 120, and the front-end server 120 is fed back to the client 11, so as to realize the traffic management function of the traffic management system 10. It should be noted that the traffic management here refers to the traffic management of the robot, for example, the management of the traffic operation condition of each robot on a certain construction site.
The client 11 may be a hardware terminal such as a computer or a mobile phone; or software installed on a hardware terminal and may have different forms of presentation, such as a website or an application program, etc.
Referring to fig. 2, a flowchart of a robot path configuration method provided in an embodiment of the present application is shown, where the robot path configuration method is applied to the server 12, and the robot path configuration method includes:
step 201: and acquiring path configuration information of the robot input by a user. Wherein the path configuration information includes a defined area where the robot travels and a defined rule of the defined area.
Step 202: and determining a new travel path of the robot according to the current travel path of the robot, the defined area and the defined rule of the defined area.
Step 203: the new travel path is sent to the robot.
In the embodiment of the application, the path configuration information of the robot input by the user includes a defined area where the robot travels and a defined rule of the defined area. The new travel path can be determined for the robot through the defined area and the corresponding defined rule, and it can be understood that the new travel path is determined based on the defined area and the defined rule, so that reasonable and real-time planning of the travel path of the robot can be realized. In addition, when various emergencies occur, the user can update the traveling path of the robot by inputting the path configuration information, and the convenience of the traffic control management of the robot is further improved.
The detailed implementation flow of step 201-step 203 will be described next. Wherein step 201 may be performed by the front end server 120, and step 202 and step 203 may be performed by the traffic control server 122.
As an alternative embodiment, step 201 includes: the front-end server 120 receives the path configuration information sent by the client 11. In this embodiment, the acquisition of the path configuration information is achieved through interaction between the front-end server 120 and the client 11. Next, how the front-end server 120 and the client 11 obtain the path configuration information will be described.
Since the client 11 has different expressions, in the embodiment of the present application, the expression that the client 11 is a website loaded by a browser is described as an example. In order to enable the user to input the defined area and the defined rule of the defined area on the client 11, the path configuration information may be developed by a developer for the purpose of: and presenting the visual map to a user, and then marking the limited area on the visual map by the user to realize the input of the limited area. The visual map may be a map of a working environment where the robot is located, for example, a map of a certain construction site.
When the page is developed, static page development can be performed by using HTML (Hyper Text Markup Language), CSS (Cascading Style Sheets), js (javascript). The method specifically comprises four processes of constructing a DOM tree, constructing a rendering tree, laying out the rendering tree and drawing the rendering tree, then loading an external script and a style sheet file, and finally presenting the view to a user. And, integrating a third-party rendering engine plug-in of WeBgl (Web graphics library) and Canvas in the developed page. A Canvas is a graphics container used to define graphics. WebGL is a 3D mapping protocol.
For the map presented to the user, different dimensions, such as two-dimensional and three-dimensional, are possible, so the developer can generate the map with different dimensions on the weibgl by Canvas with data in different formats corresponding to different dimensions. WebGL can provide hardware 3D accelerated rendering for an HTML5 Canvas, so that a Web developer can more smoothly display 3D scenes and models in a browser, and complex navigation and visualization data can be created.
Further, after the previous developer completes the development, in use, the generated map may be directly presented on a browser, and the user may select a defined area on the map, for example, by using a mouse to draw an outline of the selected defined area. After the defined area is selected, area data corresponding to the defined area is acquired for the browser, and the area data may include each coordinate point data in the defined area.
The method comprises the steps of defining various definition rules according to actual application scenes except for a definition area, displaying the various predefined definition rules after a user selects the definition area, selecting the definition rules by the user, and acquiring the definition rules.
After the user finishes inputting the defined area and the corresponding defined rule on the client 11, the defined area and the corresponding defined rule are sent to the front-end server 120, and after the user receives the defined area and the corresponding defined rule, the front-end server 120 can store the defined area and the corresponding defined rule for the requirements of future inquiry and the like; on the other hand, the route is transmitted to the traffic control server 122, and the traffic control server plans the route.
Further, in step 202, the traffic control server 122 determines a new travel path of the robot according to the current travel path of the robot, the defined area, and the defined rule of the defined area.
Wherein the defined region and the defined rule may have different embodiments, and the step 202 may also have different embodiments based on the different embodiments of the defined region and the defined rule.
In a first alternative embodiment, the rule for defining the defined area is to prohibit the robot from entering the defined area, and step 202 includes: and determining a new travel path according to the position of the defined area relative to the current travel path, so that the defined area is not contained in the new travel path.
In a first alternative embodiment, the definition rule is to prohibit the robot from entering the defined area, and the defined area may be understood as a no-entry area. For example: in a construction site, when an emergency occurs in a certain area and needs to be closed, the area can be marked as a forbidden area, and a robot is prevented from traveling into the forbidden area.
When determining a new travel path, this may be determined by defining the location of the area relative to the current travel path. As described in the foregoing embodiment, the representation of the limited area in the front-end server 120 and the traffic control server 122 is in the form of area data in which the position data of a plurality of coordinate points is also composed of a plurality of position data per se for the current travel path. When a new travel path is planned, if the current travel path in the defined area exists, each coordinate point in the defined area can be regarded as an obstacle, and the planned new travel path only needs to not pass through the coordinate points (obstacles). If the defined area is not in the current travel path, the current travel path may be treated as a new travel path, i.e., the current travel path may be left unchanged. Whether the limited area is in the current travel path or not can be judged by judging whether a coordinate point which is coincident with a coordinate point in the current travel path exists in all coordinate points in the limited area or not, and if so, the limited area is represented in the current travel path; if not, the representative limited area is not in the current travel path.
Specifically, the path planning may be implemented by a traffic control algorithm, for example: the fuzzy control algorithm utilizes a fuzzy control model, data can be input into the fuzzy control model during planning, and the fuzzy control model outputs a planned path through calculation. For example: when the limited area is in the current travel route, assuming that the limited area is a set including the position a, the starting point of the current travel route is the position B, and the end point of the current travel route is the position C, the position a may be input into the fuzzy control model as the obstacle point, the position B, and the position C as the starting point and the end point, respectively, and a new travel route from the position B to the position C that can avoid the position a is finally obtained.
In the embodiment of the application, when the limiting rule is that the robot is prohibited from entering the limited area, the new travel path can be quickly determined through the position of the limited area relative to the current travel path, so that the new travel path does not contain the limited area, and the planning efficiency of the path is improved.
In a second alternative embodiment, the rule is defined as requiring the robot to enter a defined area, and step 202 includes: and determining a new travel path according to the current position of the robot and the position of the limited area so as to enable the robot to travel into the limited area.
In a second alternative embodiment, the definition rule is that the robot is required to enter a defined area, and the defined area may be understood as a designated work area of the robot. For example: in a construction site, a plurality of construction projects are arranged at different positions, the robot is required to work at a position corresponding to a certain construction project at present, and at the moment, the robot can be marked as a limited area, so that the robot can move to the limited area to work.
When planning a new travel path, if the current position of the robot is not at the position of the defined area, a path from the current position to a position in the defined area (which may be an edge or an inner position of the defined area) needs to be planned as the new travel path. If the current position of the robot is in the defined area (e.g. in the defined area), the current travel path may be regarded as a new travel path at this time, i.e. the current travel path is kept unchanged. Whether the current position of the robot is in the limited area or not can be judged by judging whether a coordinate point which is coincident with the coordinate point of the current position of the robot exists in all coordinate points (including an inner coordinate point and an edge coordinate point) in the limited area or not, and if so, the robot is represented in the position of the limited area; if not, the robot is not in the position of the limited area.
Specifically, the path planning may be implemented by a traffic control algorithm, for example: the fuzzy control algorithm utilizes a fuzzy control model, data can be input into the fuzzy control model during planning, and the fuzzy control model outputs a planned path through calculation. For example: when the current position of the robot is not in the position of the defined area, assuming that the defined area is a set including the position a and the current position of the robot is the position B, the position a may be used as an end point and the position B may be used as a starting point, and the fuzzy control model may be input with the position a as an end point, and a new travel path from the position B to the position a is finally obtained.
In the embodiment of the application, when the robot is required to enter the limited area, a new travel path can be quickly determined according to the current position of the robot and the position of the limited area, so that the robot travels into the limited area, and the path planning efficiency is improved.
Further, after step 202, the traffic control server 122 executes step 203 to transmit the new travel path to the robot, so that the robot can travel along the new travel path, thereby updating the travel path of the robot. In addition, after the traffic control server 122 executes step 203, the new travel path may also be synchronized to the front-end server 120, and the front-end server 120 sends the new travel path to the client 11 for display, so as to be viewed by the user who inputs the path configuration information.
In the embodiment of the application, a user can input path configuration information through the client 11, and further after a new traveling path is determined, the new traveling path can be fed back to the client 11 for display, so that the user can monitor the traveling path of the robot in real time.
In the embodiment of the application, the path configuration information may include other information besides the defined area and the defined rule, so as to realize more convenient traffic management.
Therefore, as an optional implementation manner, the path configuration information further includes: limiting time corresponding to the limited area; the limit time includes a start time and an end time. In this embodiment, after step 203, the configuration method further includes: detecting whether the current time is coincident with the end time; if the current time and the end time are coincident, determining a new traveling path for the robot again; the newly determined travel path is transmitted to the robot.
When a new travel path is determined for the robot again, a previously stored travel path of the robot may be acquired, and the stored travel path may be determined as the new travel path, and the stored travel path may be a travel path in a case where the robot is operating normally.
In addition, for the limit time, after the user marks the limit area and selects the limit rule, the client 11 pops up a corresponding prompt, for example, first selects the start time, then selects the end time, and then may obtain the limit time.
In the embodiment of the application, for the limited area, the corresponding limit time can be configured, and when the limit time is reached, a new travel path can be planned for the robot again, so that the convenience of traffic control management of the robot is improved.
As an optional implementation manner, the path configuration information further includes: constraints of the robot. In this embodiment, before step 202, the configuration method further comprises: and determining a target robot corresponding to the path configuration information according to the constraint conditions of the robot. Correspondingly, step 202 includes: and determining a new traveling path of the target robot according to the current traveling path of the target robot, the defined area and the defined rule of the defined area. Correspondingly, step 203 comprises: the new travel path is sent to the target robot.
In this embodiment, the constraint condition of the robot may be various constraint conditions such as the type, weight, shape, and the like of the robot. The constraint can be used to limit the object (target robot) for which the new path of travel is configured. For example, it is assumed that the restricted area is a forbidden area, but the forbidden area only needs to be forbidden for a specific robot, and then the specific robot is the target robot.
In addition, for the constraint condition, after the user marks the defined area and selects the defined rule, the client 11 may pop up a corresponding prompt, for example: selecting a robot type number; robot weight selection, etc., and the user can determine the constraint conditions according to the corresponding prompts.
Correspondingly, in step 202 and step 203, the implementation of determining a new travel path or sending a new travel path is the same as that of the previous embodiment without constraints, and only the object is different. For example: in step 202, when planning a new traveling path, planning is performed only according to the current traveling path of the target robot; in step 203, only the target robot needs to be sent when sending the new travel path.
In the embodiment of the application, the path configuration information may further include constraint conditions of the robot, which is equivalent to that the limited area is only for the target robot, so that real-time updating of the traveling paths of different robots can be realized, and convenience of traffic control management of the robots is improved.
Besides the restriction time and the constraint conditions of the robot, the path configuration information can also include more restriction conditions, and the restriction conditions can be dynamically set according to the actual application scenarios, so that the whole traffic route map can be managed better. As more constraints are imposed, the less equipment that is moved or operated in a defined area, the more accurate the path can be planned.
Based on the same inventive concept, referring to fig. 3, an embodiment of the present application further provides a robot path configuration apparatus 300, including: an acquisition module 301, a determination module 302, and a transmission module 303.
The obtaining module 301 is configured to obtain path configuration information of the robot input by a user; wherein the path configuration information includes a defined area traveled by the robot and a defined rule of the defined area. The determination module 302 is configured to: determining a new travel path of the robot according to the current travel path of the robot, the defined area and the defined rule of the defined area; the sending module 303 is configured to send the new travel path to the robot.
Optionally, the path configuration information further includes: the limiting time corresponding to the limiting area; the limit time includes a start time and an end time. The determination module 302 is further configured to: detecting whether the current time coincides with the end time; and if the current time is coincident with the end time, determining a new traveling path for the robot again. The sending module 303 is further configured to: transmitting the re-determined new travel path to the robot.
Optionally, the path configuration information further includes: constraints of the robot. The determination module 302 is further configured to: and determining a target robot corresponding to the path configuration information according to the constraint conditions of the robot. The determining module 302 is specifically configured to: and determining a new traveling path of the target robot according to the current traveling path of the target robot, the defined area and the definition rule of the defined area. The sending module 303 is specifically configured to: transmitting the new travel path to the target robot.
Optionally, the definition rule of the defined area is to prohibit the robot from entering the defined area. The determining module 302 is further specifically configured to: and determining the new travel path according to the position of the limited area relative to the current travel path, so that the limited area is not contained in the new travel path.
Optionally, the defined area is defined by a rule that requires the robot to enter the defined area. The determining module 302 is further specifically configured to: and determining the new traveling path according to the current position of the robot and the position of the limited area so as to enable the robot to travel into the limited area.
Optionally, the obtaining module 301 is specifically configured to: and receiving the path configuration information sent by a client, and inputting the path configuration information by the user through the client. The sending module 303 is further configured to: and sending the new traveling path to the client for display.
The embodiments and specific examples in the method for configuring a robot path in the foregoing embodiments are also applicable to the modules in the apparatus 300 for configuring a robot path, and the detailed description of the method for configuring a robot path is given to make the skilled person clearly know the embodiments of the modules, so the detailed description is omitted here for the brevity of the description.
Based on the same inventive concept, the present application further provides a readable storage medium, where a computer program is stored on the readable storage medium, and when the computer program is executed by a computer, the method for configuring a robot path according to any of the above embodiments is performed.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method of configuring a robot path, comprising:
acquiring path configuration information of the robot input by a user; wherein the path configuration information includes a defined area traveled by the robot and a defined rule of the defined area;
determining a new travel path of the robot according to the current travel path of the robot, the defined area and the defined rule of the defined area;
sending the new travel path to the robot.
2. The method of claim 1, wherein the path configuration information further comprises: the limiting time corresponding to the limiting area; the limit time comprises a start time and an end time, and after the sending the new travel path to the robot, the method further comprises:
detecting whether the current time coincides with the end time;
if the current time is coincident with the end time, determining a new traveling path for the robot again;
transmitting the re-determined new travel path to the robot.
3. The method of claim 1, wherein the path configuration information further comprises: constraint conditions of the robot; before the determining a new travel path of the robot according to the current travel path of the robot, the defined area, and the defined rule of the defined area, the method further includes:
determining a target robot corresponding to the path configuration information according to the constraint conditions of the robot;
correspondingly, the determining a new travel path of the robot according to the current travel path of the robot, the defined area and the defined rule of the defined area includes:
determining a new travel path of the target robot according to the current travel path of the target robot, the defined area and the definition rules of the defined area;
the sending the new travel path to the robot, comprising:
transmitting the new travel path to the target robot.
4. The method of claim 1, wherein the defining rule of the defined area is to prohibit the robot from entering the defined area, and the determining a new travel path of the robot according to the current travel path of the robot, the defined area, and the defining rule of the defined area comprises:
and determining the new travel path according to the position of the limited area relative to the current travel path, so that the limited area is not contained in the new travel path.
5. The method of claim 1, wherein the defining rule of the defined area is to require the robot to enter the defined area, and the determining a new travel path of the robot according to the current travel path of the robot, the defined area, and the defining rule of the defined area comprises:
and determining the new traveling path according to the current position of the robot and the position of the limited area so as to enable the robot to travel into the limited area.
6. The configuration method according to claim 1, wherein the acquiring path configuration information of the robot input by the user comprises:
receiving the path configuration information sent by a client, wherein the user inputs the path configuration information through the client;
after the sending the new travel path to the robot, the method further comprises:
and sending the new traveling path to the client for display.
7. An apparatus for configuring a robot path, comprising:
the acquisition module is used for acquiring the path configuration information of the robot input by a user; wherein the path configuration information includes a defined area traveled by the robot and a defined rule of the defined area;
the determining module is used for determining a new travel path of the robot according to the current travel path of the robot, the limited area and the limited rule of the limited area;
a sending module for sending the new travel path to the robot.
8. The apparatus according to claim 7, wherein the path configuration information further comprises: the limiting time corresponding to the limiting area; the limit time includes a start time and an end time, and the determining module is further configured to:
detecting whether the current time coincides with the end time;
if the current time is coincident with the end time, determining a new traveling path for the robot again;
the sending module is further configured to: transmitting the re-determined new travel path to the robot.
9. The apparatus according to claim 7, wherein the path configuration information further comprises: constraint conditions of the robot; the determination module is further to:
determining a target robot corresponding to the path configuration information according to the constraint conditions of the robot;
the determining module is specifically configured to: determining a new travel path of the target robot according to the current travel path of the target robot, the defined area and the definition rules of the defined area;
the sending module is specifically configured to: transmitting the new travel path to the target robot.
10. A readable storage medium, having stored thereon a computer program which, when executed by a computer, performs the method of any one of claims 1-6.
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