CN112437403A - Self-control operation method and device of robot - Google Patents
Self-control operation method and device of robot Download PDFInfo
- Publication number
- CN112437403A CN112437403A CN202011229300.9A CN202011229300A CN112437403A CN 112437403 A CN112437403 A CN 112437403A CN 202011229300 A CN202011229300 A CN 202011229300A CN 112437403 A CN112437403 A CN 112437403A
- Authority
- CN
- China
- Prior art keywords
- robot
- journey
- robots
- destination
- trip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W28/00—Network traffic management; Network resource management
- H04W28/02—Traffic management, e.g. flow control or congestion control
- H04W28/0294—Traffic management, e.g. flow control or congestion control forcing collision
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/08—Access restriction or access information delivery, e.g. discovery data delivery
- H04W48/10—Access restriction or access information delivery, e.g. discovery data delivery using broadcasted information
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Security & Cryptography (AREA)
- Manipulator (AREA)
Abstract
The present disclosure provides a self-control operation method and device of a robot, the method includes: continuously broadcasting wireless signals to be detected by other robots and continuously detecting the wireless signals broadcasted by the other robots in the process of going to a first destination according to a preset first journey, wherein the first journey is used for describing the corresponding relation between the position and the time in the process of going to the first destination; acquiring a second position of the other robot and a second destination of the other robot from the detected wireless signal; and updating the first journey based on the second position and the second destination, and continuing to go to the first destination according to the updated first journey. The embodiment of the disclosure can improve the stability of the robot operation scheduling.
Description
Technical Field
The disclosure relates to the field of robots, in particular to a self-control operation method and a self-control operation device of a robot.
Background
With the rapid development of robot control technology, scheduling problems of multiple robots need to be considered simultaneously in many application scenarios, such as: in a logistics transportation scene, a plurality of robots in a limited area respectively need to execute respective transportation tasks, and in such a case, in order to avoid collision or road blockage of the robots when the robots execute the tasks, scheduling is needed to ensure that the robots operate smoothly.
In the prior art, a mode of centrally controlling a plurality of robots by a cloud server is adopted for scheduling. In this case, once a communication network between the cloud server and the robot fails or fluctuates, all the robots cannot be effectively scheduled, so that the stability of the robot operation scheduling is low.
Disclosure of Invention
An object of the present disclosure is to provide a method and an apparatus for self-control operation of a robot, which can improve stability of operation scheduling of the robot.
According to an aspect of an embodiment of the present disclosure, a self-control operation method of a robot is disclosed, the method including:
continuously broadcasting wireless signals to be detected by other robots and continuously detecting the wireless signals broadcasted by the other robots in the process of going to a first destination according to a preset first journey, wherein the first journey is used for describing the corresponding relation between the position and the time in the process of going to the first destination;
acquiring a second position of the other robot and a second destination of the other robot from the detected wireless signal;
and updating the first journey based on the second position and the second destination, and continuing to go to the first destination according to the updated first journey.
According to an aspect of an embodiment of the present disclosure, there is disclosed a self-control operation apparatus of a robot, the apparatus including:
the communication module is configured to continuously broadcast wireless signals to be detected by other robots and continuously detect the wireless signals broadcast by the other robots in the process of going to a first destination according to a preset first journey, wherein the first journey is used for describing the corresponding relation between the position and the time in the process of going to the first destination;
an acquisition module configured to acquire a second position of the other robot and a second destination of the other robot from the detected wireless signal;
and the updating module is configured to update the first journey based on the second position and the second destination, and continue to go to the first destination according to the updated first journey.
In an exemplary embodiment of the disclosure, the apparatus is configured to: continuously broadcasting wireless signals through Bluetooth so as to continuously detect the wireless signals broadcast by other robots while the other robots detect the wireless signals.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
acquiring a second journey of the other robot based on the second position and the second destination, wherein the second journey is used for describing the corresponding relation between the position and the time in the process that the other robot goes to the second destination;
determining whether the first journey conflicts with the second journey or not to obtain a conflict determination result;
updating the first trip based on the conflict determination result.
In an exemplary embodiment of the disclosure, each robot adopts the same stroke planning algorithm to plan respective strokes, and the apparatus is configured to: planning the second trip based on the second location, the second destination, and the trip planning algorithm.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
acquiring algorithm identification of the other robots from the detected wireless signals;
acquiring the travel planning algorithms of the other robots based on a preset algorithm comparison table and the algorithm identifications of the other robots, wherein the algorithm comparison table is used for describing the travel planning algorithms corresponding to the algorithm identifications respectively;
planning the second trip based on the second location, the second destination, and a trip planning algorithm of the other robot.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
determining a local area where the other robot is located simultaneously based on the first and second strokes;
and if the total number of the robots of the other robots exceeds the number of the robots which can be accommodated in the local area, determining that the first journey conflicts with the second journey.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
if the conflict determination result determines that the first journey conflicts with the second journey, acquiring a first task priority of the executed task and a second task priority of the executed task of the other robot;
postponing the first trip if the first task priority is lower than the second task priority.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
if the conflict determination result determines that the first journey conflicts with the second journey, acquiring first task initiation time of the executed task and second task initiation time of the executed task of the other robot;
and if the first task initiating time is later than the second task initiating time, postponing the first journey.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
the first journey is moved to and parked in a preset parking area, and the first journey is paused;
and when the suspended first stroke and the second stroke do not conflict any more, continuing the first stroke from the stopping area.
In the embodiment of the disclosure, each robot independently operates by self-control without depending on external control; during the self-control operation process, each robot continuously broadcasts wireless signals to the outside for other robots to detect, and meanwhile, continuously broadcasts wireless signals to the outside for other robots to receive. And in the running process of each robot to the destination, when the wireless signals broadcast by other robots are detected, updating the journey according to the position information of other robots in the wireless signals and the destination information of other robots, and further continuing to go to the destination according to the updated journey. By the method, each robot is independently controlled, an operation system formed by the robots together does not depend on the control of a central network, operation faults of the operation system cannot be caused even if the central network does not exist or even if the central network fluctuates, and the stability of operation scheduling of the robots is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 shows a flow chart of a method of self-controlling operation of a robot according to one embodiment of the present disclosure.
Fig. 2 illustrates a map of an activity area of a robot according to one embodiment of the present disclosure.
Fig. 3 shows a schematic diagram of one of two robots postponing a trip after a conflict between the trips of the robots, according to one embodiment of the present disclosure.
Fig. 4 shows a block diagram of a self-controlling operation device of a robot according to one embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, steps, and so forth. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The disclosure provides a self-control operation method of a robot, which is used for improving the stability of operation scheduling of the robot. Each robot in the system independently runs under self-control without depending on the control of the outside (such as a cloud server); each robot locates the current position of the robot in the active area in real time in the self-control operation process; during the self-control operation process, each robot continuously broadcasts wireless signals to the outside for other robots to detect, and simultaneously, continuously detects the wireless signals to the outside to receive the wireless signals broadcast by other robots. The wireless signal broadcasted by the robot to the outside at least comprises the current position information and the destination information of the robot.
It should be noted that broadcasting in this disclosure refers to a broad sense, and the wireless signal transmitted by each robot may be received by any other robot.
In one embodiment, the wireless signals are continuously broadcast through bluetooth for detection by other robots while the wireless signals broadcast by the other robots are continuously detected.
In this embodiment, each robot has a bluetooth module built therein, and the bluetooth module is continuously in a search state. When the distance between the two robots is within the communication range of the Bluetooth module, the two robots send and receive wireless signals to each other.
In one embodiment, the wireless signal is continuously broadcast by the 433M wireless module for detection by other robots while the wireless signal broadcast by the other robots is continuously detected.
In this embodiment, each robot has a built-in 433M wireless module. When the distance between two robots is within the communication range of the 433M module, the two robots send and receive wireless signals to each other.
Fig. 1 shows a flowchart of a self-control operation method of a robot according to an embodiment of the present disclosure, the method including:
step S110, continuously broadcasting wireless signals to be detected by other robots and continuously detecting the wireless signals broadcasted by the other robots in the process of going to a first destination according to a preset first journey, wherein the first journey is used for describing the corresponding relation between the position and the time in the process of going to the first destination;
step S120, acquiring a second position of the other robot and a second destination of the other robot from the detected wireless signal;
step S130, updating the first trip based on the second position and the second destination, and continuing to go to the first destination according to the updated first trip.
In the embodiment of the disclosure, each robot independently operates by self-control without depending on external control; during the self-control operation process, each robot continuously broadcasts wireless signals to the outside for other robots to detect, and meanwhile, continuously broadcasts wireless signals to the outside for other robots to receive. And in the running process of each robot to the destination, when the wireless signals broadcast by other robots are detected, updating the journey according to the position information of other robots in the wireless signals and the destination information of other robots, and further continuing to go to the destination according to the updated journey. By the method, each robot is independently controlled, an operation system formed by the robots together does not depend on the control of a central network, operation faults of the operation system cannot be caused even if the central network does not exist or even if the central network fluctuates, and the stability of operation scheduling of the robots is improved.
It should be noted that in the embodiment of the present disclosure, at least two robots are present, and each robot is peer-to-peer, so in the embodiment of the present disclosure, an optional robot is denoted as a first robot, and the first robot is exemplarily used as an execution subject. Wherein the other robot means a robot other than the first robot.
Correspondingly, the first stroke refers to the stroke of the first robot; the first destination refers to a destination of the first robot; the first task priority refers to a priority of tasks performed by the first robot; the first task launch time refers to a launch time of a task performed by the first robot.
The second stroke refers to the stroke of the other robot; the second destination refers to a destination of the other robot; the second position refers to the position of the other robot; the second task priority refers to the priority of tasks executed by other robots; the second task initiation time refers to the initiation time of the tasks performed by the other robots.
The travel mainly describes the corresponding relation between the position and the time. Specifically, the first journey describes the corresponding relationship between the position and the time in the process of the first robot going to the first destination, and the second journey describes the corresponding relationship between the position and the time in the process of the other robots going to the second destination. For example: the destination of the robot 1 is position D and the journey of the robot 1 describes the robot 1 arriving at position a at 00:00:00, position B at 00:01:00, position C at 00:02:00 and position D at 00:03: 00.
In the embodiment of the disclosure, the first robot continuously broadcasts the wireless signal to be detected by other robots and continuously detects the wireless signal broadcast by other robots in the process of going to the first destination according to the preset first trip. Specifically, a map of an activity area and a trip planning algorithm may be built in the first robot in advance, so that each time a task is executed, the first robot may plan a first trip to a first destination indicated by the task according to the trip planning algorithm and by combining the map and a current location.
For example: a plurality of robots are arranged on the four floors of a hospital. A map of four floors and a trip planning algorithm are built in each robot in advance. Therefore, each robot can plan the route to the specific department on the fourth floor indicated by the task according to the route planning algorithm and by combining the map of the fourth floor and the current position.
Fig. 2 illustrates a map of an activity area of a robot of an embodiment of the present disclosure.
In this embodiment, the robot arrangement performs transportation-related tasks on the hospital floor shown on the map, such as: transporting drugs, transporting medical devices. The robot positions the current position of the robot in the hospital floor in real time according to a built-in positioning device.
The position and the range of the respective location of the hospital floor are indicated in the map, for example: the location and extent of the discharge checkout room, the location and extent of the pharmacy room. Therefore, after each robot receives the task instruction, according to a built-in journey planning algorithm, the journey to the destination indicated by the task instruction can be planned by combining the map and the current position.
It should be noted that how to plan the trip according to the trip planning algorithm is not what needs to be improved when solving the found technical problem in the embodiments of the present disclosure, and therefore, details of how to plan the trip according to the trip planning algorithm are not described herein.
In the embodiment of the disclosure, when the first robot approaches to the detection range and the broadcast range of the wireless signal with other robots, the first robot may detect the wireless signal broadcast by other robots. And the first robot acquires the second positions of the other robots and the second destinations of the other robots from the detected wireless signals.
In the embodiment of the disclosure, the first robot updates the first trip based on the second position and the second destination, and continues to go to the first destination according to the updated first trip. The updating of the first trip may be to maintain the first trip unchanged or to postpone the first trip.
In one embodiment, updating the first itinerary based on the second location and the second destination includes:
acquiring a second journey of the other robot based on the second position and the second destination, wherein the second journey is used for describing the corresponding relation between the position and the time in the process that the other robot goes to the second destination;
determining whether the first journey conflicts with the second journey to obtain a conflict determination result;
the first trip is updated based on the conflict determination result.
In this embodiment, the first robot acquires the second trips of the other robots based on the second position and the second destination, determines whether the first trip and the second trip conflict with each other, and updates the first trip based on the obtained conflict determination result.
It can be understood that if the first journey and the second journey do not conflict, the first robot continues to maintain the first journey unchanged; if the first journey conflicts with the second journey, the first robot can continuously maintain the first journey unchanged or postpone the first journey according to specific conflict conditions.
In an embodiment, each robot adopts the same journey planning algorithm to plan respective journeys, and obtains second journeys of the other robots based on the second position and the second destination, including: planning the second trip based on the second location, the second destination, and the trip planning algorithm.
In this embodiment, the journey planning algorithms adopted by all robots in planning a journey are consistent.
Specifically, the same route planning algorithm is used for planning the respective routes of the first robot and the other robots. Therefore, after the first robot acquires the second positions and the second destinations of other robots, the travel planning algorithm can be adopted to plan the travel from the second positions to the second destinations, and the second travel of other robots is obtained.
The embodiment has the advantages that the uniform travel planning algorithm is adopted to control the travel planning of each robot, and the management difficulty of the travel planning algorithm is reduced.
In one embodiment, obtaining a second trip of the other robot based on the second location and the second destination comprises:
acquiring the algorithm identification of the other robot from the detected wireless signal;
acquiring the travel planning algorithm of the other robot based on a preset algorithm comparison table and the algorithm identification of the other robot, wherein the algorithm comparison table is used for describing the travel planning algorithm corresponding to each algorithm identification;
planning the second journey based on the second location, the second destination and a journey planning algorithm of the other robot.
In this embodiment, the journey planning algorithm adopted by different robots in planning a journey may be different. Mainly, different stroke planning algorithms are allocated according to different types of tasks executed by the robot, namely the stroke planning algorithm with high stroke efficiency is allocated to the robot executing the task with the stroke efficiency emphasis, and the stroke planning algorithm with high stroke stability is allocated to the robot executing the task with the stroke stability emphasis.
Specifically, different algorithm identifications correspond to different trip planning algorithms; each robot is prestored with an algorithm comparison table used for describing the travel planning algorithm respectively corresponding to each algorithm identification; the wireless signal broadcast by each robot comprises position information and destination information, and also comprises algorithm identification of a route planning algorithm adopted by the robot. And the first robot acquires the second positions and the second destinations of other robots, and acquires the travel planning algorithms of the other robots by contrasting the algorithm comparison table according to the acquired algorithm identifications, so that the travel from the second positions to the second destinations can be planned by adopting the travel planning algorithms of the other robots, and the second travel of the other robots is acquired.
The embodiment has the advantages that different robots can adopt different journey planning algorithms, and the flexibility of robot scheduling is improved.
In one embodiment, determining whether the first trip conflicts with the second trip comprises:
determining a local area where the other robot is located simultaneously based on the first stroke and the second stroke;
and if the total number of the robots of the other robots exceeds the number of the robots which can be accommodated in the local area, determining that the first journey conflicts with the second journey.
In this embodiment, the active area of the robot is divided into at least two partial areas in advance, and the number of robots that can be accommodated simultaneously in each partial area is specified in advance.
And after the first robot acquires the second travel of other robots, determining whether the first robot and the other robots are in the same local area at the same time based on the comparison between the first travel and the second travel.
And if the first stroke and the second stroke are compared, determining that the first stroke and the second stroke are not in the same local area with the other robots all the time, and determining that the first stroke and the second stroke are not in conflict.
If the first travel and the second travel are compared, and then the first travel and the second travel are determined to be in a local area together with the other robots, whether the total number of the robots of the first robot and the other robots exceeds the number of the robots capable of being accommodated in the local area is further determined. If the total number of the robots does not exceed the number of the robots which can be accommodated in the local area, determining that the first journey and the second journey do not conflict; and if the total number of the robots exceeds the number of the robots which can be accommodated in the local area, determining that the first journey and the second journey conflict.
For example: the active area of the robot is divided in advance into a local area a capable of accommodating at most two robots to pass through at the same time, a local area B capable of accommodating at most three robots to pass through at the same time, and a local area C capable of accommodating at most one robot to pass through at the same time.
The robot 1 detects the wireless signal of the robot 2 during operation, thereby determining the travel of the robot 2. According to the comparison between the travel of the robot 1 and the travel of the robot 2, the robot 1 is determined at the time point when the wireless signal of the robot 2 is detected, and after 10 seconds from the current time point, the robot 1 and the robot 2 enter the local area B simultaneously. Since the total number of robots of the robot 1 and the robot 2 is two and is smaller than the number of robots that can be accommodated in the local area B, the robot 1 determines that the travel of the robot 1 does not conflict with the travel of the robot 2.
The robot continues to operate, and in the following operation process, the wireless signal of the robot 3 is detected again, so that the travel of the robot 3 is determined. According to the comparison between the travel of the robot 1 and the travel of the robot 3, the robot 1 is determined at the time point when the wireless signal of the robot 3 is detected, and after 5 seconds from the current time point, the robot 1 and the robot 3 enter the local area C at the same time. Since the total number of robots of the robot 1 and the robot 3 is two and is greater than the number of robots that can be accommodated in the local area C by one, the robot 1 determines that the stroke of the robot 1 conflicts with the stroke of the robot 3.
In one embodiment, updating the first itinerary based on the conflict determination includes:
if the conflict determination result determines that the first journey conflicts with the second journey, acquiring a first task priority of the executed task and a second task priority of the executed task of the other robot;
postponing the first trip if the first task priority is lower than the second task priority.
In this embodiment, each robot broadcasts a wireless signal that includes task priority information for the task being performed. And the first robot updates the first journey according to the task priority.
Specifically, after determining that the first journey conflicts with the second journey, the first robot acquires a first task priority of a task executed by the first robot and a second task priority of a task executed by the other robot.
If the first task priority is lower than the second task priority, the tasks executed by the other robots are more important, and the second journey should be preferentially ensured to be carried out, the first journey is postponed by the first robot, and meanwhile, the other robots keep the second journey unchanged; if the first task priority is higher than the second task priority, which indicates that the task executed by the first robot is more important, and the first journey should be guaranteed preferentially, the first robot maintains the first journey, and meanwhile, the other robots defer the second journey.
This embodiment has the advantage that the robot schedule is made to preferentially fulfill the completion of tasks of high importance by updating the first itinerary according to the level of the task priority.
In one embodiment, updating the first itinerary based on the conflict determination includes:
if the conflict determination result determines that the first journey conflicts with the second journey, acquiring first task initiation time of the executed task and second task initiation time of the tasks executed by the other robots;
and if the first task initiating time is later than the second task initiating time, postponing the first journey.
In this embodiment, each robot broadcasts a wireless signal that includes information about the time at which the task was initiated. The first robot updates the first itinerary according to the morning and evening of the task launch time.
Specifically, after determining that the first journey conflicts with the second journey, the first robot acquires the first task initiation time of the task executed by the first robot and the second task initiation time of the task executed by the other robot.
If the first task initiation time is later than the second task initiation time, which indicates that the tasks executed by the other robots are earlier, the execution of a second journey should be preferentially ensured, the first robot postpones the first journey, and meanwhile, the other robots maintain the second journey unchanged; if the first task initiation time is earlier than the second task initiation time, which indicates that the task executed by the first robot is earlier, the first travel should be preferentially guaranteed to be performed, and the first robot maintains the first travel, and meanwhile, the other robots postpone the second travel.
An advantage of this embodiment is that by updating the first itinerary in terms of the morning and evening of the task launch time, the overall time consumption of robot scheduling is reduced.
In one embodiment, postponing the first trip comprises:
the first journey is moved to and parked in a preset parking area, and the first journey is paused;
when the suspended first journey and the second journey do not conflict any more, the first journey is continued from the stopping area.
In this embodiment, a parking area for temporary parking is preset in the movement area of the robot.
Specifically, when the first robot determines that the first trip should be postponed, the first robot goes to and stops at the stop area, and the first trip is paused.
During the parking, the first robot may still continuously receive the wireless signals of the other robots, so as to monitor in real time whether the suspended first journey and the suspended second journey still conflict or not according to the wireless signals of the other robots. When the first journey after the pause is detected to be not conflicted with the second journey any more, the first robot continues the first journey from the parking area.
The first robot may also predict a target delay period for which the suspended first trip and the second trip do not conflict any more, according to a comparison between the first trip and the second trip, where the target delay period refers to a specific period for which the first trip needs to be delayed. The first robot thus starts timing from the time of pausing the first journey, and can determine that the paused first journey is no longer in conflict with the second journey until the target delay time is reached, and the first robot continues the first journey from the parking area.
The advantage of this embodiment is that the travel is postponed by means of docking, which avoids to the greatest extent the extent of the influence on the operation of other robots.
In one embodiment, postponing the first trip comprises: by reducing the speed of movement to enter the local area after the other robot has passed the local area.
In this embodiment, the first robot delays the first trip by slowing down.
Specifically, the first robot should operate according to the movement speed V1 according to the plan of the first journey, and when the first robot determines that the first journey should be postponed, the time of other robots passing through the local area where the conflict originally exists is estimated, and the movement speed is reduced to V2 (V1 > V2) on the basis, so that the other robots already pass through the local area when the first robot operating at the movement speed V2 enters the local area, and the conflict with the other robots is avoided.
The embodiment has the advantages that the route of the first robot is prevented from being changed in the running process by slowing down and delaying the travel, and the complexity of route planning of the first robot is reduced.
Fig. 3 shows a schematic diagram of one of the two robots postponing a trip after the trips of the two robots conflict according to an embodiment of the disclosure.
In this embodiment, a narrow area (for example, a walkway having a width smaller than a certain value) is defined as an area through which only one robot can pass at the same time. The robots 1 and 2 perform their tasks according to their planned routes, respectively, so that the robots 1 and 2 need to pass through the narrow area at the same time.
Therefore, when the robot 1 and the robot 2 detect each other's wireless signals, it is determined that the travel of the two conflicts and that the robot 1 should postpone the travel (for example, the task priority of the robot 1 is lower than that of the robot 2). The robot 1 searches for the nearest stop point 1 and goes to the stop point 1 to stop and pause its course, while the robot 2 maintains its course through the narrow area.
It should be noted that this embodiment is only an exemplary illustration of the process of delaying the travel of the robot after the collision occurs, and should not limit the function and the application range of the present disclosure.
Fig. 4 illustrates a self-controlling operation apparatus of a robot according to an embodiment of the present disclosure, the apparatus including:
the communication module 210 is configured to continuously broadcast a wireless signal for other robots to detect while continuously detecting the wireless signal broadcast by the other robots in the process of going to a first destination according to a preset first trip, where the first trip is used for describing a corresponding relationship between a position and time in the process of going to the first destination;
an obtaining module 220 configured to obtain a second position of the other robot and a second destination of the other robot from the detected wireless signal;
an update module 230 configured to update the first itinerary based on the second location and the second destination, and continue to travel to the first destination according to the updated first itinerary.
In an exemplary embodiment of the disclosure, the apparatus is configured to: the wireless signals are continuously broadcast through Bluetooth so as to be detected by other robots and simultaneously continuously detect the wireless signals broadcast by the other robots.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
acquiring a second journey of the other robot based on the second position and the second destination, wherein the second journey is used for describing the corresponding relation between the position and the time in the process that the other robot goes to the second destination;
determining whether the first journey conflicts with the second journey to obtain a conflict determination result;
the first trip is updated based on the conflict determination result.
In an exemplary embodiment of the disclosure, each robot adopts the same journey planning algorithm to plan respective journeys, and obtains second journeys of the other robots based on the second position and the second destination, and the apparatus is configured to: planning the second trip based on the second location, the second destination, and the trip planning algorithm.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
acquiring the algorithm identification of the other robot from the detected wireless signal;
acquiring the travel planning algorithm of the other robot based on a preset algorithm comparison table and the algorithm identification of the other robot, wherein the algorithm comparison table is used for describing the travel planning algorithm corresponding to each algorithm identification;
planning the second journey based on the second location, the second destination and a journey planning algorithm of the other robot.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
determining a local area where the other robot is located simultaneously based on the first stroke and the second stroke;
and if the total number of the robots of the other robots exceeds the number of the robots which can be accommodated in the local area, determining that the first journey conflicts with the second journey.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
if the conflict determination result determines that the first journey conflicts with the second journey, acquiring a first task priority of the executed task and a second task priority of the executed task of the other robot;
postponing the first trip if the first task priority is lower than the second task priority.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
if the conflict determination result determines that the first journey conflicts with the second journey, acquiring first task initiation time of the executed task and second task initiation time of the tasks executed by the other robots;
and if the first task initiating time is later than the second task initiating time, postponing the first journey.
In an exemplary embodiment of the disclosure, the apparatus is configured to:
the first journey is moved to and parked in a preset parking area, and the first journey is paused;
when the suspended first journey and the second journey do not conflict any more, the first journey is continued from the stopping area.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. A method of self-controlling operation of a robot, the method comprising:
continuously broadcasting wireless signals to be detected by other robots and continuously detecting the wireless signals broadcasted by the other robots in the process of going to a first destination according to a preset first journey, wherein the first journey is used for describing the corresponding relation between the position and the time in the process of going to the first destination;
acquiring a second position of the other robot and a second destination of the other robot from the detected wireless signal;
and updating the first journey based on the second position and the second destination, and continuing to go to the first destination according to the updated first journey.
2. The method of claim 1, wherein continuously broadcasting wireless signals for detection by other robots while continuously detecting wireless signals broadcast by the other robots comprises: continuously broadcasting wireless signals through Bluetooth so as to continuously detect the wireless signals broadcast by other robots while the other robots detect the wireless signals.
3. The method of claim 1, wherein updating the first itinerary based on the second location and the second destination comprises:
acquiring a second journey of the other robot based on the second position and the second destination, wherein the second journey is used for describing the corresponding relation between the position and the time in the process that the other robot goes to the second destination;
determining whether the first journey conflicts with the second journey or not to obtain a conflict determination result;
updating the first trip based on the conflict determination result.
4. The method of claim 3, wherein each robot employs the same trip planning algorithm to plan respective trips, and wherein obtaining second trips of the other robots based on the second locations and the second destinations comprises: planning the second trip based on the second location, the second destination, and the trip planning algorithm.
5. The method of claim 3, wherein obtaining a second trip of the other robot based on the second location and the second destination comprises:
acquiring algorithm identification of the other robots from the detected wireless signals;
acquiring the travel planning algorithms of the other robots based on a preset algorithm comparison table and the algorithm identifications of the other robots, wherein the algorithm comparison table is used for describing the travel planning algorithms corresponding to the algorithm identifications respectively;
planning the second trip based on the second location, the second destination, and a trip planning algorithm of the other robot.
6. The method of claim 3, wherein determining whether the first trip conflicts with the second trip comprises:
determining a local area where the other robot is located simultaneously based on the first and second strokes;
and if the total number of the robots of the other robots exceeds the number of the robots which can be accommodated in the local area, determining that the first journey conflicts with the second journey.
7. The method of claim 3, wherein updating the first itinerary based on the conflict determination result comprises:
if the conflict determination result determines that the first journey conflicts with the second journey, acquiring a first task priority of the executed task and a second task priority of the executed task of the other robot;
postponing the first trip if the first task priority is lower than the second task priority.
8. The method of claim 3, wherein updating the first itinerary based on the conflict determination result comprises:
if the conflict determination result determines that the first journey conflicts with the second journey, acquiring first task initiation time of the executed task and second task initiation time of the executed task of the other robot;
and if the first task initiating time is later than the second task initiating time, postponing the first journey.
9. The method of claim 7 or 8, wherein deferring the first trip comprises:
the first journey is moved to and parked in a preset parking area, and the first journey is paused;
and when the suspended first stroke and the second stroke do not conflict any more, continuing the first stroke from the stopping area.
10. A self-controlling operation apparatus of a robot, the apparatus comprising:
the communication module is configured to continuously broadcast wireless signals to be detected by other robots and continuously detect the wireless signals broadcast by the other robots in the process of going to a first destination according to a preset first journey, wherein the first journey is used for describing the corresponding relation between the position and the time in the process of going to the first destination;
an acquisition module configured to acquire a second position of the other robot and a second destination of the other robot from the detected wireless signal;
and the updating module is configured to update the first journey based on the second position and the second destination, and continue to go to the first destination according to the updated first journey.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011229300.9A CN112437403A (en) | 2020-11-06 | 2020-11-06 | Self-control operation method and device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011229300.9A CN112437403A (en) | 2020-11-06 | 2020-11-06 | Self-control operation method and device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112437403A true CN112437403A (en) | 2021-03-02 |
Family
ID=74695408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011229300.9A Pending CN112437403A (en) | 2020-11-06 | 2020-11-06 | Self-control operation method and device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112437403A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179084A (en) * | 2021-12-14 | 2022-03-15 | 孙弋 | Method for rapidly establishing emergency rescue support system by adopting group robots |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030028323A1 (en) * | 2001-08-02 | 2003-02-06 | Zeitler David W. | Material handling systems with high frequency radio location devices |
| CN103558856A (en) * | 2013-11-21 | 2014-02-05 | 东南大学 | Service mobile robot navigation method in dynamic environment |
| CN107179078A (en) * | 2017-05-24 | 2017-09-19 | 合肥工业大学(马鞍山)高新技术研究院 | A kind of AGV paths planning methods optimized based on time window |
| US20170345328A1 (en) * | 2016-05-27 | 2017-11-30 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methodologies for providing training on warnings in a vehicle |
| CN108427412A (en) * | 2018-03-21 | 2018-08-21 | 广州市申迪计算机***有限公司 | AGV dispatching methods, device, computer equipment and storage medium |
| CN109104729A (en) * | 2018-09-28 | 2018-12-28 | 易普森智慧健康科技（深圳）有限公司 | A kind of network overlay system of merchandising machine people running environment |
| CN109543872A (en) * | 2018-09-19 | 2019-03-29 | 北京科技大学 | Multirobot is without parking maneuver method and system |
| CN110632918A (en) * | 2019-07-30 | 2019-12-31 | 深圳市普渡科技有限公司 | Distributed scheduling method and system |
| CN111633655A (en) * | 2020-06-06 | 2020-09-08 | 杭州电子科技大学 | Traffic scheduling method for distributed autonomous mobile robot |
-
2020
- 2020-11-06 CN CN202011229300.9A patent/CN112437403A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030028323A1 (en) * | 2001-08-02 | 2003-02-06 | Zeitler David W. | Material handling systems with high frequency radio location devices |
| CN103558856A (en) * | 2013-11-21 | 2014-02-05 | 东南大学 | Service mobile robot navigation method in dynamic environment |
| US20170345328A1 (en) * | 2016-05-27 | 2017-11-30 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methodologies for providing training on warnings in a vehicle |
| CN107179078A (en) * | 2017-05-24 | 2017-09-19 | 合肥工业大学(马鞍山)高新技术研究院 | A kind of AGV paths planning methods optimized based on time window |
| CN108427412A (en) * | 2018-03-21 | 2018-08-21 | 广州市申迪计算机***有限公司 | AGV dispatching methods, device, computer equipment and storage medium |
| CN109543872A (en) * | 2018-09-19 | 2019-03-29 | 北京科技大学 | Multirobot is without parking maneuver method and system |
| CN109104729A (en) * | 2018-09-28 | 2018-12-28 | 易普森智慧健康科技（深圳）有限公司 | A kind of network overlay system of merchandising machine people running environment |
| CN110632918A (en) * | 2019-07-30 | 2019-12-31 | 深圳市普渡科技有限公司 | Distributed scheduling method and system |
| CN111633655A (en) * | 2020-06-06 | 2020-09-08 | 杭州电子科技大学 | Traffic scheduling method for distributed autonomous mobile robot |
Non-Patent Citations (2)
| Title |
|---|
| 刘纪红等: "物联网技术在公路智能交通上的应用", 《物联网技术及应用》 * |
| 杜恒: "基于足球比赛路径规划的农用无人机定位和导航研究", 《农机化研究》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179084A (en) * | 2021-12-14 | 2022-03-15 | 孙弋 | Method for rapidly establishing emergency rescue support system by adopting group robots |
| CN114179084B (en) * | 2021-12-14 | 2024-04-26 | 孙弋 | Method for quickly establishing emergency rescue support system by adopting group robots |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11397442B2 (en) | Travel planning system, travel planning method, and non-transitory computer readable medium | |
| US10401190B2 (en) | Vehicle control method and apparatus, and storage medium | |
| CN109991977B (en) | Path planning method and device for robot | |
| CN106647734B (en) | Automatic guided vehicle, path planning method and device | |
| US9904285B2 (en) | Movement control method for autonomous mobile robot | |
| CN107074282B (en) | Method and apparatus for running vehicle | |
| US9744981B2 (en) | Operation management device, operation management method, vehicle, vehicular traffic system, and program | |
| US9783214B2 (en) | Operation management device, operation management method, vehicle, vehicular traffic system, and program | |
| WO2019141217A1 (en) | Conflict management method and system for multiple mobile robots | |
| US11860621B2 (en) | Travel control device, travel control method, travel control system and computer program | |
| CN109901578B (en) | Method and device for controlling multiple robots and terminal equipment | |
| WO2019141221A1 (en) | Conflict management method and system for multiple mobile robots | |
| WO2019141224A1 (en) | Conflict management method and system for multiple mobile robots | |
| CN108291811A (en) | Switch the method and apparatus of trackside navigation elements in navigation system | |
| WO2018132088A1 (en) | Picking up and dropping off passengers at an airport using an autonomous vehicle | |
| US20220180749A1 (en) | Mobile object control apparatus, mobile object control method, and computer readable recording medium | |
| CN113406951A (en) | Travel control device, travel control method, and computer program | |
| CN112388624A (en) | Robot control method and apparatus, storage medium, and electronic apparatus | |
| JP2022122909A (en) | Management device | |
| CN112437403A (en) | Self-control operation method and device of robot | |
| CN108287546A (en) | The method for collision management and system of multiple mobile robot | |
| KR101401311B1 (en) | Apparatus and method of path planning for a plurality of moving bodies | |
| JP2021174277A (en) | Control device, information processing device, and information processing method | |
| US20230131581A1 (en) | Automated valet parking system, control method for automated valet parking system, and non-transitory storage medium | |
| JP7120066B2 (en) | Information processing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210302 |