CN114115292B

CN114115292B - Driving control method, driving control system, storage medium, and computer device

Info

Publication number: CN114115292B
Application number: CN202111572240.5A
Authority: CN
Inventors: 张海涛
Original assignee: Shanghai Zhihuilin Medical Technology Co ltd
Current assignee: Shanghai Zhihuilin Medical Technology Co ltd
Filing date: 2021-12-21
Publication date: 2024-06-21
Anticipated expiration: 2041-12-21

Abstract

The invention discloses a driving control method, a driving control system, a storage medium and computer equipment, wherein the driving control method comprises the following steps: if a conflict area exists in a second channel of the unilateral passing channel, comparing and predicting the passing priority of the two robots meeting in the conflict area, and obtaining a comparison result; searching a target waiting area from a first channel of the unilateral traffic channel according to the environment map and the comparison result; and controlling the robots with high traffic priority to run according to a preset movement strategy, and controlling the robots with low traffic priority to stop in the target waiting area until the meeting is finished and then returning to the second channel to continue running. The invention reduces the waiting time of multi-vehicle parking and obviously improves the task execution efficiency of the robot.

Description

Driving control method, driving control system, storage medium, and computer device

Technical Field

The present invention relates to the field of motion control technology, and further relates to a travel control method, a travel control system, a storage medium, and a computer device.

Background

With the development and innovation of the technology, the robot has been applied to many scenes, such as delivering medical articles by using the robot in hospitals, delivering meals by using the robot in restaurants, and the like. Among them, a mobile robot, an unmanned vehicle or an AGV is a more common type of robot.

If the robot needs to pass on one side of some channels, the other side of the channel normally prohibits the robot from passing for pedestrians or temporarily placing objects, but under this condition, the channel is more spacious but the space left for the robot to move is limited. If two robots travel in opposite directions in the channel at the same time, the robots travelling in opposite directions can be blocked at the meeting place, and the phenomenon of traffic blocking caused by the abnormal passing of the robots can not be avoided, so that the channel can not support the robots to pass in two directions at the same time. And when two robots are required to travel in opposite directions at the same time, the solution is as follows: if a robot is already running in the channel, the opposite running robot waits for the other party to pass through the outside of the channel and then runs, the scheme is simpler and easier to realize, but if the channel is longer or the robot in the channel also waits for unloading at the delivery point in the channel, the opposite robot needs to wait for a long time outside, and the transportation efficiency is greatly reduced.

Disclosure of Invention

The invention aims to solve the technical problems that robots running in opposite directions block each other, so that the robots stop and wait at a place where channel resources compete, and traffic jam is caused, and the distribution efficiency is reduced.

In order to achieve the above object, the present invention provides a travel control method comprising the steps of:

If a conflict area exists in a second channel of the unilateral passing channel, comparing and predicting the passing priority of the two robots meeting in the conflict area, and obtaining a comparison result;

Searching a target waiting area from a first channel of the unilateral passing channel according to an environment map and the comparison result;

controlling robots with high traffic priority to run according to a preset movement strategy, and controlling robots with low traffic priority to go to the target waiting area to stop until the meeting is finished and then returning to the second channel to continue running;

the single-side passage comprises a second passage for the robot to pass through and a first passage which is parallel to the second passage and used for the pedestrian to pass through, wherein the widths of the first passage and the second passage are respectively used for the robot to pass through smoothly.

In some embodiments, if there is a collision area on the second channel of the single-side traffic channel, the step before comparing the traffic priority levels of the two robots predicted to meet in the collision area and obtaining the comparison result includes:

Acquiring motion state information of all robots on the second channel;

and judging whether the conflict area exists on the second channel according to the environment map and the motion state information.

In some embodiments, the movement state information includes a movement speed and a preset movement route; the step of judging whether the conflict area exists on the second channel according to the environment map and the motion state information comprises the following steps:

acquiring the relative distance and the relative direction type between the front robot and the rear robot on the second channel according to the movement speed and a preset movement route;

If the relative direction type is opposite movement, determining that the conflict area exists on the second channel;

and if the relative direction type is the same-direction movement and the relative distance is smaller than a preset distance threshold value, determining that the conflict area exists on the second channel.

In some embodiments, the searching the target waiting area from the first passage of the single-side passage according to the environment map and the comparison result includes the steps of:

searching a candidate waiting area on the first channel from an environment map;

Generating a dangerous range according to a preset safety distance and the current position of the robot with low passing priority;

and searching a candidate waiting area closest to the current position from the dangerous range to serve as the target waiting area.

According to another aspect of the present invention, there is further provided a travel control system including:

The processing module is used for comparing and predicting the passing priority of the two robots meeting in the conflict area and obtaining a comparison result if the conflict area exists in the second channel of the unilateral passing channel;

The searching module is used for searching a target waiting area from the first channel of the unilateral passing channel according to the environment map and the comparison result;

The control module is used for controlling the robots with high traffic priority to run according to a preset movement strategy and controlling the robots with low traffic priority to go to the target waiting area to stop until the vehicle meeting is finished and then return to the second channel to continue running;

In some embodiments, further comprising:

the acquisition module is used for acquiring the motion state information of all robots on the second channel;

And the judging module is used for judging whether the conflict area exists on the second channel according to the environment map and the motion state information.

In some embodiments, the movement state information includes a movement speed and a preset movement route; the judging module comprises:

the calculation unit is used for acquiring the relative distance and the relative direction type between the front robot and the rear robot on the second channel according to the movement speed and a preset movement route;

the judging unit is used for determining that the conflict area exists on the second channel if the relative direction type is opposite movement;

and the processing unit is used for determining that the conflict area exists on the second channel if the relative direction type is the same-direction movement and the relative distance is smaller than a preset distance threshold value.

In some embodiments, the lookup module comprises:

the searching unit is used for searching the candidate waiting area on the first channel from the environment map;

And the selection unit is used for generating a dangerous range according to a preset safety distance and the current position of the robot with low traffic priority, and searching a candidate waiting area closest to the current position from the outside of the dangerous range as the target waiting area.

According to another aspect of the present invention, there is further provided a computer device including a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor being configured to execute the computer program stored in the memory to implement operations performed by the running control method.

According to another aspect of the present invention, there is further provided a storage medium having at least one instruction stored therein, the instruction being loaded and executed by a processor to implement the operation performed by the travel control method.

Compared with the prior art, the driving control method, the driving control system, the storage medium and the computer equipment dynamically select the cooperative avoidance driving mode of the target waiting area based on the conflict area, so that the robots avoid timely and reliable, the problems of opposite collision, rear-end collision, intersection collision, deadlock and the like are effectively avoided among multiple robots, the reliability avoidance among the robots is realized, the collision and deadlock are prevented, the coupling of multiple paths is avoided, the parking waiting time of multiple vehicles is reduced, and the task execution efficiency of the robots is obviously improved.

Drawings

The above features, technical features, advantages and implementation of the present invention will be further described in the following description of preferred embodiments with reference to the accompanying drawings in a clear and easily understood manner.

FIG. 1 is a flow chart of one embodiment of a travel control method of the present invention;

FIG. 2 is a schematic view of a scenario of a co-directional driving of a driving control method of the present invention;

FIG. 3 is a flow chart of another embodiment of a travel control method of the present invention;

fig. 4 is a schematic view of a scenario of opposite traveling of a traveling control method of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.

It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.

Referring to fig. 1 of the specification, a running control method includes the steps of:

S100, if a conflict area exists on a second channel of the unilateral traffic channel, comparing and predicting the traffic priority of two robots meeting in the conflict area, and obtaining a comparison result;

Specifically, the collision area refers to an area where robots stick to one's stand on a single-side passage do not descend or collide with each other, for example, a corridor of a warehouse leading to a shelf, and the robots meet in the running process of the corridor to cause stagnation waiting problem, which is a scene of the collision area. As shown in fig. 2, the unilateral passage includes a second passage L2 for passing a robot, a first passage L1 parallel to the second passage L2 for passing a pedestrian, and widths of the first and second passages for smooth passing of a robot, that is, widths of the first and second passages are slightly larger than a size of the robot, so that the robot can get in and out normally. The manner of obtaining the comparison result in the running control flow includes the following two ways:

The first way is: and each robot is provided with a corresponding close range communication module. The robots can communicate with each other through a short-range communication mode, and the short-range communication mode comprises but is not limited to ZIGBEE, UWB, infrared and Bluetooth. The robots on the unilateral passing channel share information through the near field communication mode, namely, the robots share respective motion state information and task information, so that the current robot can analyze and obtain the passing priority of the robot and the opponent robot according to the motion state information and the task information of the robot and the motion state information and the task information of the opponent robot, and obtain a comparison result. The opponent robot is a robot predicted to collide with the current robot, that is, the opponent robot collides with the current robot at a future time. After the current robot obtains the comparison result, the robot with the higher pass priority is selected as the avoided robot according to the comparison result, and the robot with the lower pass priority is selected as the avoided robot. It should be noted that after the current robot shares information with the other robot, both robots respectively judge the traffic priority levels of the current robot and the other robot, and the robots which have compared the traffic priority levels first transmit the comparison result to the robots which have not compared the traffic priority levels yet.

For example, as shown in fig. 2, the robot M1 and the robot M2 establish a communication connection therebetween so as to share respective motion state information and task information, and the robot M1 compares and determines a traffic priority level between itself and the robot M2, and at this time, the identity of the robot M2 is the other robot of the robot M1. Of course, the robot M2 also compares and determines the traffic priority between itself and the robot M1, and at this time, the identity of the robot M1 is the other robot of the robot M2.

Of course, the pass priority of the robot is determined according to the task information of each robot, that is, the pass priority of the robot is proportional to the task priority of the robot, and the higher the task priority of the robot is, the higher the pass priority of the robot is. Generally, the order of task priority of the robot is set by a user (a hospital, a bookstore, a mall, etc.) according to own business requirements and use requirements. For example, in a hospital setting, the medical instruments required for the operating room have the highest priority for transportation tasks, the specimen has the highest priority for transportation tasks, and the medical waste has the lowest priority for transportation tasks.

The second way is: and each robot is provided with a corresponding remote communication module. The robots may communicate between the two robots via a long-range communication means including, but not limited to, WIFI, 4G, 5G. The robot on the unilateral passing channel and the server report information through the remote communication mode, namely, the robot can upload respective motion state information to the server, so that the server can analyze and obtain the passing priority of the current robot and the passing priority of the opposite robot according to the task information of the current robot and the opposite robot and the passing priority of the current robot and the opposite robot and obtain a comparison result. The opponent robot is a robot predicted to collide with the current robot, that is, the opponent robot collides with the current robot at a future time. After the server obtains the comparison result, the robot with the higher pass priority is selected as the avoided robot according to the comparison result, and the robot with the lower pass priority is selected as the avoided robot. It should be noted that when one robot fails to communicate with the server, the robot which communicates with the server normally is detected by the close-range communication module, and the connection with the server is reestablished by the agent of the robot, so that the information transmission interaction is completed, and the normal operation of the dispatching system is ensured.

For example, as shown in fig. 2, the robot M1 is disconnected from the server due to a failure, and then the robot M1 and the robot M2 establish a communication connection with each other so that the robot M2 reports the movement state information of the robot M1 to the server instead of the robot M1. If the server compares and judges the traffic priority between the robot M1 and the robot M2. When the robot M1 is the current robot, the identity of the robot M2 is the opponent robot of the robot M1, and of course, when the robot M2 is the current robot, the identity of the robot M1 is the opponent robot of the robot M2.

S200, searching a target waiting area from a first channel of the unilateral traffic channel according to the environment map and the comparison result;

And S300, controlling the robots with high traffic priority to run according to a preset movement strategy, and controlling the robots with low traffic priority to stop to the target waiting area until the meeting is finished, and returning to the second channel to continue running.

Specifically, after the comparison result is obtained in the first mode, the robot with low traffic priority is selected as the avoidance robot according to the comparison result, and the robots running on the second channel store respective preset moving routes in advance, so that the avoidance robot searches for the target waiting area from the second channel according to the current position of the avoidance robot and the environment map. Then, the avoidance robot moves according to an avoidance starting point and an avoidance route planned by a target waiting area for an avoidance end point according to the current position, so that the avoidance robot stops after moving to the target waiting area, and the avoidance robot moves according to a preset movement strategy set in advance. The avoidance robot can acquire a regression route taking the target waiting area as a regression starting point and any node on a preset moving route of the avoidance robot as a regression end point in the period of stopping and waiting in the target waiting area, so that the avoidance robot can move back to the second channel according to the regression route after the avoidance robot leaves the conflict area.

Similarly, after the comparison result is obtained in the second mode, the robot with low traffic priority is selected as the avoidance robot according to the comparison result, so that the server searches the target waiting area from the second channel according to the current position of the avoidance robot and the environment map. Then, the server plans to generate an avoidance route for the avoidance end point according to the current position of the avoidance robot as an avoidance start point, the avoidance route is sent to the avoidance robot so that the avoidance robot stops after moving to the target waiting area according to the avoidance route, and the server sends a preset movement strategy set in advance to the avoidance robot so that the avoidance robot moves according to the preset movement strategy. During the period that the avoidance robot stops and waits in the target waiting area, the server takes the target waiting area as a regression starting point, any one node on a preset moving route of the avoidance robot is taken as a regression end point to generate a corresponding regression route, then the server sends the regression route to the avoidance robot, and the avoidance robot can move back to the second channel according to the regression route after the avoided robot leaves the conflict area. In one embodiment, the regression endpoint is preferably a node closest to the target waiting area on the preset moving route.

According to the invention, the cooperative avoidance driving mode of the target waiting area is dynamically selected based on the conflict area, so that the avoidance of the robots is timely and reliable, the problems of opposite collision, rear-end collision, intersection collision, deadlock and the like among multiple robots are effectively avoided, the reliable avoidance among the robots is realized, the collision and the deadlock are prevented, the coupling of multiple paths is avoided, the parking waiting time of multiple vehicles is reduced, and the task execution efficiency of the robots is obviously improved.

In one embodiment, referring to fig. 3 of the specification, the movement state information includes a movement speed and a preset movement path, and a driving control method includes the steps of:

s010 obtains the motion state information of all robots on the second channel;

S020, judging whether a conflict area exists on the second channel according to the environment map and the motion state information;

Specifically, the movement state information includes an identification ID of the robot, a movement speed, a movement route, and the like. With reference to the above embodiment, the current robot may directly perform information sharing with other robots to obtain motion state information of all robots on the second channel. Then, the current robot judges whether a conflict area exists on the second channel according to the local environment map and the acquired motion state information.

In addition, the server can directly communicate with all robots on the second channel, so that the server can acquire the motion state information of all robots on the second channel. Then, the server judges whether a conflict area exists on the second channel according to the local environment map and the received motion state information.

S210, searching a candidate waiting area on a first channel from an environment map;

S220, generating a dangerous range according to a preset safety distance and the current position of the robot with low traffic priority;

S230, searching a candidate waiting area closest to the current position from the outside of the dangerous range as a target waiting area;

Specifically, since the environment map includes obstacle attribute information, obstacle position information, road section information, and the like, the avoidance robot may find at least one candidate waiting area from the first channel according to the environment map, where the candidate waiting area is an area where the robot may temporarily stop on the first channel. Then, the avoidance robot draws a circle with a preset safety distance as a radius according to the current position as an origin, the dangerous range of the current robot which is likely to be blocked or trapped is in the circle area, the avoidance robot matches all candidate waiting areas with the dangerous range, the candidate waiting areas outside the dangerous range are found out, the distance value calculation is carried out on the current position and the candidate waiting areas outside the dangerous range, and the candidate waiting area with the minimum distance value and outside the dangerous range is selected as a target waiting area.

The preset safety distance is set in advance according to experience, and is generally slightly larger than the contour radius of the avoidance robot, and the contour radius is half of the length of the whole contour of the avoidance robot.

S300, controlling the robots with high traffic priority to run according to a preset movement strategy, and controlling the robots with low traffic priority to stop to a target waiting area until the meeting is finished, and returning to the second channel to continue running;

The single-side passage comprises a second passage for the robot to pass through and a first passage which is arranged in parallel with the second passage and used for the pedestrian to pass through, wherein the widths of the first passage and the second passage are respectively used for the robot to pass through smoothly.

The invention monitors whether the robot needing to avoid exists in front (namely, the robot to be avoided) in real time. Therefore, the current robot serving as the avoidance party can dynamically select the target waiting area to carry out timing avoidance based on the collision area, so that the problems of opposite collision, rear-end collision, intersection collision, deadlock and the like among multiple robots are effectively avoided, the reliability avoidance among the robots is realized, the collision and the deadlock are prevented, the coupling of multiple paths is avoided, the parking waiting time of multiple vehicles is reduced, and the task execution efficiency of the robot is obviously improved.

In addition, the invention preferably enables a plurality of robots to share the respective motion state information in real time through the near field communication module, thereby reducing the detection dead angle of the perception sensor, greatly increasing the monitoring range and reducing the dead zone of the dynamic control robot. The probability of stagnation waiting of the robot at the place where channel resources compete is greatly reduced. Preferably, the robots share information through the local area network, and the robots in the area covered by the local wireless network can better know the paths to be driven by other robots due to higher real-time communication of the local area network, so that the multi-machine distribution efficiency can be improved.

In one embodiment, the movement state information includes a movement speed and a preset movement route, and a driving control method includes the steps of:

s010 obtains the motion state information of all robots on the second channel;

S021 obtains the relative distance and the relative direction type between the front robot and the rear robot on the second channel according to the movement speed and a preset movement route;

s022, if the relative direction type is opposite movement, determining that a conflict area exists on the second channel;

S023, if the relative direction type is the same direction movement and the relative distance is smaller than a preset distance threshold value, determining that a conflict area exists on the second channel;

specifically, in one embodiment, the motion state information further includes an identity of the robot, and the server or the robot may determine, according to the number of identities, whether the number of robots on the second channel at the current moment is at least two. If the number of robots on the second channel at the current moment is not at least two, the number of robots on the second channel at the current moment on the surface is zero or one, so that no conflict area exists on the second channel at the moment. However, if the number of robots on the second channel at the current moment is at least two, judging the relative direction types of the current robot and the opposite robot according to the preset moving route and the preset moving speed.

If the relative direction types of the current robot and the counterpart robot are moving toward each other, it can be directly determined that there is a collision area between the current robot and the counterpart robot, i.e., the front and rear robots, moving on the second path.

Of course, if the relative direction types of the current robot and the opposite robot are in the same direction movement, the relative distance between the front robot and the rear robot on the second channel is obtained through presumption calculation according to the preset movement route and the movement speed, the relative distance between the front robot and the rear robot at each moment in the future and the preset distance threshold value are judged, if the relative distance is larger than the preset distance threshold value, the fact that a conflict area does not exist on the second channel is determined, and if the relative distance is smaller than the preset distance threshold value, the fact that a conflict area exists on the second channel is determined;

Illustratively, in a hospital environment, a patio often requires a logistic robot to pass only on one side of some long channels (i.e., the single-sided pass channel of the present invention) (i.e., the second channel of the present invention), and the other side of the channel (i.e., the first channel of the present invention) prohibits the robot from passing for pedestrian passage or temporary placement of items. Under the condition, although the channel is quite spacious, the space reserved for the movement of the logistics robots is limited, if two robots simultaneously travel in the channel in opposite directions, the situation that the robots are blocked and cannot normally pass through can occur at the meeting place, and therefore the channel cannot support the robots to pass through in two directions simultaneously. However, if the aisle is longer or the robots in the aisle are waiting for unloading at the delivery point in the aisle, the opposite robots need to wait for a long time outside, which reduces the transportation efficiency.

In order to solve the problems, the invention allows robots to pass oppositely at the same time, when two robots meet at a place close to a passage, the robot with low task priority temporarily avoids a place where the passage is forbidden but can stop in the passage until the robot with high task priority passes through the meeting point and then returns to the passable area to continue to run. That is, the present invention searches the area where the robot is allowed to stop temporarily (i.e. the target waiting area of the first channel of the present invention) on the side where the robot is prohibited from passing through the channel (i.e. the first channel of the present invention), and as the robots on the second channel share their own motion state information and task information through the network, all robots can know the information of the positions, tasks, etc. of other robots. When the current robot judges that other robots generate conflict with the current robot, namely a conflict area exists on the second channel, if the task priority of the current robot is high, the current robot decelerates and advances, and if the task priority of the current robot is low, the current robot goes to a temporary stop area (namely a target waiting area of the first channel) to avoid until the opposite robot which generates conflict with the current robot passes over the position of the current robot and returns to the second channel to continue to pass according to the preset moving route of the opposite robot. For example, as shown in fig. 4, the front and rear robots travel relatively in the second lane L2, the dotted line frame is a place where the yard side prohibits the robot from traveling, that is, the first lane L1 of the present invention, and the circular area is a temporary stop area (that is, the target waiting area Qi of the present invention) where the robot finds. The current robot M2 considers that the opponent robot M1 needs to be avoided, the current robot M2 moves to the circular area in an ultra-direction, and the opponent robot M1 runs at a reduced speed. After the current robot M2 waits for the opposite robot M1 to travel over the normal line of the position where the opposite robot M1 is located in the circular area (the normal line is a line segment generated by the position where the current robot M2 is located and is perpendicular to the second channel L2), the current robot M2 returns to the channel allowing the robot to pass through (i.e. the second channel L2 of the present invention) and continues to advance according to the preset moving route of the current robot M2, so as to realize that the two robots meet and advance smoothly.

According to the method, whether the robots are in opposite moving scenes or in the same-direction moving scenes, the avoidance robot and the avoidance robot are determined from the front and rear robots according to the task priority, the avoidance robot is controlled to move to the searched target waiting area for avoidance, the deadlock and time waste on a narrow channel when the robots autonomously plan paths are avoided, the determined avoidance robot meets the requirements of actual moving scenes more, the avoidance robot is enabled to reasonably avoid, the problems of opposite collision, rear collision, intersection collision, deadlock and the like are effectively guaranteed among multiple robots, the reliable avoidance among the robots is achieved, the collision and deadlock are prevented, the coupling of multiple paths is avoided, the multiple-vehicle parking waiting time is shortened, and the task execution efficiency of the robots is obviously improved.

In one embodiment, according to another aspect of the present invention, the present invention further provides a travel control system including:

the searching module is used for searching a target waiting area from a first channel of the unilateral passing channel according to the environment map and the comparison result;

The control module is used for controlling the robots with high traffic priority to run according to a preset movement strategy and controlling the robots with low traffic priority to go to a target waiting area to stop until the meeting is finished and then return to the second channel to continue running;

Specifically, the present embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described herein in detail.

In one embodiment, a travel control system further comprises:

The judging module is used for judging whether a conflict area exists on the second channel according to the environment map and the motion state information.

In one embodiment, the movement state information includes a movement speed and a preset movement route; the judging module comprises:

The computing unit is used for acquiring the relative distance and the relative direction type between the front robot and the rear robot on the second channel according to the movement speed and a preset movement route;

the judging unit is used for determining that a conflict area exists on the second channel if the relative direction type is opposite movement;

And the processing unit is used for determining that a conflict area exists on the second channel if the relative direction type is the same-direction movement and the relative distance is smaller than a preset distance threshold value.

In one embodiment, the lookup module includes:

And the selection unit is used for generating a dangerous range according to the preset safety distance and the current position of the robot with low traffic priority, and searching a candidate waiting area closest to the current position from the outside of the dangerous range as a target waiting area.

It will be apparent to those skilled in the art that the above-described program modules are only illustrated in the division of the above-described program modules for convenience and brevity, and that in practical applications, the above-described functional allocation may be performed by different program modules, i.e., the internal structure of the apparatus is divided into different program units or modules, to perform all or part of the above-described functions. The program modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one processing unit, where the integrated units may be implemented in a form of hardware or in a form of a software program unit. In addition, the specific names of the program modules are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.

One embodiment of the invention is a computer device comprising a processor, a memory, wherein the memory is used for storing a computer program; and the processor is used for executing the computer program stored in the memory to realize the running control method in the corresponding method embodiment.

The computer equipment can be desktop computers, notebooks, palm computers, tablet computers, mobile phones, man-machine interaction screens and other equipment. The computer device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the foregoing is merely an example of a computer device and is not limiting of a computer device, and may include more or fewer components than shown, or may combine certain components, or different components, such as: the computer device may also include input/output interfaces, display devices, network access devices, communication buses, communication interfaces, and the like. The communication interface and the communication bus may further comprise an input/output interface, wherein the processor, the memory, the input/output interface and the communication interface complete communication with each other through the communication bus. The memory stores a computer program, and the processor is configured to execute the computer program stored in the memory, to implement the driving control method in the corresponding method embodiment.

The Processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory may be an internal storage unit of the computer device, for example: hard disk or memory of a computer device. The memory may also be an external storage device of the computer device, such as: a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) and the like which are arranged on the computer device. Further, the memory may also include both internal storage units and external storage devices of the computer device. The memory is used for storing the computer program and other programs and data required by the computer device. The memory may also be used to temporarily store data that has been output or is to be output.

A communication bus is a circuit that connects the elements described and enables transmission between these elements. For example, the processor receives commands from other elements through the communication bus, decrypts the received commands, and performs calculations or data processing based on the decrypted commands. The memory may include program modules such as a kernel (kernel), middleware (middleware), application programming interfaces (Application Programming Interface, APIs), and applications. The program modules may be comprised of software, firmware, or hardware, or at least two of them. The input/output interface forwards commands or data entered by a user through the input/output interface (e.g., sensor, keyboard, touch screen). The communication interface connects the computer device with other network devices, user devices, networks. For example, the communication interface may be connected to a network by wire or wirelessly to connect to external other network devices or user devices. The wireless communication may include at least one of: wireless fidelity (WiFi), bluetooth (BT), near field wireless communication technology (NFC), global Positioning System (GPS) and cellular communications, among others. The wired communication may include at least one of: universal Serial Bus (USB), high Definition Multimedia Interface (HDMI), asynchronous transfer standard interface (RS-232), and the like. The network may be a telecommunications network or a communication network. The communication network may be a computer network, the internet of things, a telephone network. The computer device may be connected to the network through a communication interface, and protocols used by the computer device to communicate with other network devices may be supported by at least one of an application, an Application Programming Interface (API), middleware, a kernel, and a communication interface.

In one embodiment of the present invention, a storage medium has at least one instruction stored therein, and the instruction is loaded and executed by a processor to implement the operations performed by the corresponding embodiments of the above-described driving control method. For example, the storage medium may be read-only memory (ROM), random-access memory (RAM), compact disk read-only (CD-ROM), magnetic tape, floppy disk, optical data storage device, etc.

They may be implemented in program code that is executable by a computing device such that they may be stored in a memory device for execution by the computing device, or they may be separately fabricated into individual integrated circuit modules, or a plurality of modules or steps in them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/computer device and method may be implemented in other manners. For example, the apparatus/computer device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units may be stored in a storage medium if implemented in the form of software functional units and sold or used as stand-alone products. Based on this understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by sending instructions to related hardware by a computer program, where the computer program may be stored in a storage medium, and the computer program may implement the steps of each method embodiment described above when executed by a processor. Wherein the computer program may be in source code form, object code form, executable file or some intermediate form, etc. The storage medium may include: any entity or device capable of carrying the computer program, a recording medium, a USB flash disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that, the content contained in the storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example: in some jurisdictions, computer-readable storage media do not include electrical carrier signals and telecommunication signals, in accordance with legislation and patent practice.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.

It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims

1. A running control method characterized by comprising the steps of:

The single-side passage comprises a second passage for passing the robot and a first passage which is arranged in parallel with the second passage and used for passing the pedestrian, wherein the widths of the first passage and the second passage are respectively used for the smooth passing of one robot;

the step of finding out a target waiting area from the first channel of the unilateral traffic channel according to the environment map and the comparison result comprises the following steps:

2. The travel control method according to claim 1, wherein if there is a collision area on the second passage of the one-side passage, the step of comparing the pass priorities of the two robots predicted to meet in the collision area and obtaining the comparison result is preceded by:

Acquiring motion state information of all robots on the second channel;

3. The running control method according to claim 2, wherein the movement state information includes a movement speed and a preset movement route; the step of judging whether the conflict area exists on the second channel according to the environment map and the motion state information comprises the following steps:

4. A travel control system, characterized by comprising:

The control module is used for controlling the robots with high traffic priority to run according to a preset movement strategy and controlling the robots with low traffic priority to go to the target waiting area to stop until the vehicle meeting is finished and then return to the second channel to continue running; the single-side passage comprises a second passage for passing the robot and a first passage which is arranged in parallel with the second passage and used for passing the pedestrian, wherein the widths of the first passage and the second passage are respectively used for the smooth passing of one robot;

the searching module comprises: the searching unit is used for searching the candidate waiting area on the first channel from the environment map;

5. The travel control system according to claim 4, characterized by further comprising:

6. The travel control system according to claim 5, wherein the movement state information includes a movement speed and a preset movement route; the judging module comprises:

7. A computer device comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor being adapted to execute the computer program stored on the memory to carry out the operations performed by the travel control method according to any one of claims 1 to 3.

8. A storage medium having stored therein at least one instruction loaded and executed by a processor to implement the operations performed by the travel control method of any one of claims 1 to 3.