CN115357017A - Robot control method, electronic device, and storage medium - Google Patents
Robot control method, electronic device, and storage medium Download PDFInfo
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Abstract
The embodiment of the application provides a robot control method, electronic equipment and a storage medium, wherein the method comprises the following steps: determining whether at least one sub-path to be traveled that can be occupied by the target robot exists in at least one sub-path to be traveled of the travel path of the target robot based on a travel area and at least one occupied area of the at least one sub-path to be traveled of the travel path of the target robot, wherein the at least one occupied area includes: a travel area marked as a respective sub-path occupied by the respective robot and/or an area occupied by the respective robot when in a stationary state; if yes, determining at least one target sub-path to be driven from at least one sub-path to be driven which can be occupied by the target robot, and marking each target sub-path to be driven as being occupied by the target robot; and controlling the target robot to run on each target sub-path to be run.
Description
Technical Field
The application relates to the field of logistics, in particular to a robot control method, electronic equipment and a storage medium.
Background
Currently, during the management of the warehouse, the control robot is used in the following manner: and planning a travel path for each robot, and controlling the robot to travel on the travel path. Current ways of controlling robots do not take into account collision problems, such as two robot collision situations, which occur due to overlapping parts of the travel paths of the two robots.
Disclosure of Invention
To overcome the problems in the related art, the present application provides a robot control method, an electronic device, and a storage medium.
The embodiment of the application provides a robot control method, which comprises the following steps:
determining whether at least one sub-path to be traveled that can be occupied by a target robot exists in at least one sub-path to be traveled of a travel path of the target robot based on a travel area and at least one occupied area of the at least one sub-path to be traveled of the travel path of the target robot, wherein the at least one occupied area includes: a travel area marked as a respective sub-path occupied by the respective robot and/or an area occupied by the respective robot when in a stationary state;
if yes, determining at least one target subpath to be driven from at least one subpath to be driven which can be occupied by the target robot, and marking each target subpath to be driven in the at least one target subpath to be driven as being occupied by the target robot;
and controlling the target robot to travel on each target sub-path to be traveled.
An embodiment of the present application provides an electronic device, including: a memory, a processor and a computer program stored on the memory, the processor executing the computer program to implement the robot control method described above.
An embodiment of the present application provides a computer-readable storage medium, on which a computer program/instruction is stored, which, when executed by a processor, implements the robot control method described above.
An embodiment of the present application provides a computer program product, which includes a computer program/instruction, and when the computer program/instruction is executed by a processor, the computer program/instruction implements the robot control method described above.
According to the robot control method provided by the embodiment of the application, when the target to-be-driven subpath of the driving path of the target robot is marked to be occupied by the target robot, the target robot is controlled to drive on the target to-be-driven subpath. For any one target to-be-driven subpath, the target to-be-driven subpath and any one occupied area have no overlapped part, and during the target robot drives on the target to-be-driven subpath, other robots cannot be in the driving area of the target to-be-driven subpath, and the situation that other robots collide with the target robot cannot occur. Therefore, when the target robot runs on any target sub-path to be driven, the robot does not collide.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 shows a flowchart of a robot control method provided in an embodiment of the present application;
fig. 2 shows a block diagram of a robot control device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that, in the present application, the embodiments and the description information in the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
With the development of Intelligent technologies such as internet of things, artificial intelligence and big data, the requirement of transforming and upgrading the traditional Logistics industry by using the Intelligent technologies is stronger, and Intelligent Logistics (Intelligent Logistics System) becomes a research hotspot in the Logistics field. The intelligent logistics system is widely applied to basic activity links of material transportation, storage, delivery, packaging, loading and unloading, information service and the like by using artificial intelligence, big data, various information sensors, radio frequency identification technology, global Positioning System (GPS) and other Internet of things devices and technologies, and realizes intelligent analysis and decision, automatic operation and high-efficiency optimization management in the material management process. The internet of things technology comprises sensing equipment, an RFID technology, laser infrared scanning, infrared induction identification and the like, the internet of things can effectively connect materials in logistics with a network, the materials can be monitored in real time, environmental data such as humidity and temperature of a warehouse can be sensed, and the storage environment of the materials is guaranteed. All data in logistics can be sensed and collected through a big data technology, the data are uploaded to an information platform data layer, operations such as filtering, mining and analyzing are carried out on the data, and finally accurate data support is provided for business processes (such as links of transportation, warehousing, storing and taking, sorting, packaging, sorting, ex-warehouse, checking, distribution and the like). The application direction of artificial intelligence in logistics can be roughly divided into two types: 1) The AI technology is used for endowing intelligent equipment such as an unmanned truck, an AGV, an AMR, a forklift, a shuttle, a stacker, an unmanned distribution vehicle, an unmanned aerial vehicle, a service robot, a mechanical arm, an intelligent terminal and the like to replace part of manpower; 2) The labor efficiency is improved through software systems such as a transportation equipment management system, a storage management system, an equipment scheduling system, an order distribution system and the like driven by technologies or algorithms such as computer vision, machine learning, operation optimization and the like. With the research and progress of intelligent logistics, the technology is applied to a plurality of fields, such as retail and electric commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothes, textile, food and the like.
Fig. 1 shows a flowchart of a robot control method provided in an embodiment of the present application, where the method includes:
The target robot may be any robot in a warehouse to which the robot control method provided in the embodiment of the present application is applied.
The Robot may be an Automated Guided Vehicle (AGV), an Autonomous Mobile Robot (AMR), a forklift, or the like.
In the present application, for any one robot, a sub-path of a travel path of the robot is a part of the travel path of the robot, and the sub-path of the travel path of the robot is obtained by dividing the travel path of the robot.
For any sub-path of the travel path of any robot, before the robot travels on the sub-path, the sub-path is a sub-path to be traveled of the travel path of the robot.
For any sub-path of the traveling path of any robot, when the robot travels from the starting point of the sub-path to the end point of the sub-path, the robot finishes traveling the sub-path, and the sub-path is no longer used as the sub-path to be traveled of the traveling path of the robot.
When step 101 is performed for the first time, each sub-path of the travel path of the target robot is a sub-path to be traveled of the travel path of the target robot.
N is greater than 1, and when the nth time step 101 is performed, all the subpaths to be traveled of the travel path of the target robot are portions of all the subpaths of the travel path of the target robot except for the subpaths that the target robot has traveled before the nth time step 101 is performed.
The at least one sub-path to be traveled of the travel path of the target robot in step 101 may refer to: all the sub-paths to be traveled of the travel path of the target robot when step 101 is performed.
Steps 101-103 are performed at least once during the travel of the target robot on the travel path of the target robot. The target robot may be a time period between a time when the target robot starts traveling from a start point of the traveling path and a time when the target robot reaches an end point of the traveling path during traveling of the traveling path of the target robot.
In the present application, the target robot may perform step 101 when one of the following is satisfied: in a stationary state and storing at least one sub-path to be traveled of the travel path of the target robot, each sub-path to be traveled of the target robot occupied by the travel of the target robot and storing at least one sub-path to be traveled of the travel path of the target robot, receiving an instruction instructing the target robot to perform step 101.
And for the running path of any one robot, the robot runs from the starting point of the running path to the end point of the running path, and the robot finishes running the running path.
For any sub-path of the traveling path of any robot, the robot travels from the starting point of the sub-path to the end point of the sub-path, and then the robot finishes traveling the sub-path.
In the present application, the active area of the robot may be divided into a preset number of grids, each of which has the same size. The starting point of the corresponding path in the present application may be a corresponding mesh, and the ending point of the corresponding path in the present application may be a corresponding mesh.
In the present application, for any one robot, while the robot travels on the travel path of the robot, the robot performs a plurality of travel operations corresponding to the travel path, by which the robot travels the travel path of the robot, that is, the robot travels from the start point of the travel path to the end point of the travel path.
For any one robot, before the robot travels on the travel path of the robot, the travel path of the robot may be divided into a plurality of sub-paths of the travel path according to a plurality of travel operations corresponding to the travel path of the robot, each sub-path of the travel path corresponding to one travel operation of the plurality of travel operations. For each sub-path of the travel path, the robot finishes traveling the sub-path by executing the travel operation corresponding to the sub-path.
For any one robot, sorting all sub-paths of the travel path of the robot according to the distance between the starting point of the sub-path of the travel path of the robot and the starting point of the travel path from small to large to obtain the sequence of the sub-paths of the travel path of the robot, wherein the number of the sub-paths of the travel path of the robot is denoted as n, and the sequence of the sub-paths of the travel path of the robot defines the 1 st sub-path of the travel path of the robot and the 2 nd sub-path of the travel path of the robot.
For any one robot, the robot starts traveling from the 1 st sub-path of the travel path of the robot during the travel of the robot on the travel path of the robot, and when the robot finishes traveling the last sub-path of the travel path of the robot, the robot finishes traveling the travel path of the robot.
In the present application, when the robot travels on the ground of the warehouse to which the robot control method provided in the embodiment of the present application is applied, a coordinate system may be established, where an origin of the coordinate system is on a plane where the ground is located, X and Y axes of the coordinate system are both on the plane where the ground is located, the X axis of the coordinate system is a coordinate axis in a horizontal direction, and the Y axis of the coordinate system is a coordinate axis in a vertical direction.
In the present application, for any one robot, the type of travel operation performed by the robot may include, but is not limited to, a translational travel operation, a rotational operation.
The long straight travel operation may be: the robot travels in a horizontal direction or in a vertical direction. The rotation operation may be: the robot is rotated at a rotation position corresponding to the rotational travel operation.
In the present application, for any sub-path of the travel path of any robot, the shape of the travel area of the sub-path is a polygon.
In the present application, for a long straight movement running operation performed by one robot, the robot runs from a starting point corresponding to the long straight movement running operation to an end point corresponding to the long straight movement running operation through the long straight movement running operation, and the starting point corresponding to the long straight movement running operation and the end point corresponding to the long straight movement running operation are provided by a warehouse management system of a warehouse to which the robot control method provided in the embodiment of the present application is applied. The starting point corresponding to the long straight movement running operation is the starting point of the sub-path corresponding to the long straight movement running operation, and the end point corresponding to the long straight movement running operation is the end point of the sub-path corresponding to the long straight movement running operation.
The shape of the travel region of the sub-path corresponding to the long straight movement travel operation may be a rectangle whose horizontal side is parallel to the X-axis of the coordinate system and whose vertical side is parallel to the Y-axis of the coordinate system.
For a sub-path corresponding to a long straight movement travel operation performed by a robot, the travel area of the sub-path may be shaped as a rectangle, if the travel direction of the robot when the robot travels on the sub-path is a horizontal direction, the start point of the sub-path is on one vertical side of the rectangle, the end point of the sub-path is on the other vertical side of the rectangle, the length of the rectangle is the distance between the start point of the sub-path and the end point of the sub-path, and the width of the rectangle is: the Y-coordinate value of the point having the largest Y-coordinate value on the Y-axis of the coordinate system when the robot travels on the sub-path is subtracted from the Y-coordinate value of the point having the smallest Y-coordinate value on the Y-axis of the coordinate system when the robot travels on the sub-path.
If the traveling direction of the robot is vertical when the robot travels on the sub-path, the starting point of the sub-path is on one horizontal side of the rectangle, the ending point of the sub-path is on the other horizontal side of the rectangle, and the width of the rectangle is: the distance between the starting point of the sub-path and the end point of the sub-path, the length of the rectangle is: the X-axis coordinate value of the point having the largest X-axis coordinate value on the X-axis of the coordinate system when the robot travels on the sub-path is subtracted from the X-axis coordinate value of the point having the smallest X-axis coordinate value on the X-axis of the coordinate system when the robot travels on the sub-path.
In the present application, for a rotational travel operation performed by one robot, which rotates at a rotational position corresponding to the rotational travel operation, by which the travel direction of the robot can be switched from one of the horizontal direction and the vertical direction to the other of the horizontal direction and the vertical direction, the rotational position corresponding to the rotational travel operation is provided by the warehouse management system of the warehouse to which the robot control method provided in the embodiment of the present application is applied.
A sub-path corresponding to a rotational travel operation performed by a robot may be in the shape of a circle, the rotational travel operation being: the robot rotates at a rotation position corresponding to the rotation driving operation, the center of the circle may be the rotation position corresponding to the rotation driving operation, and the diameter of the circle may be: the length of the diagonal of the rectangle surrounding the robot, the edgemost points on the robot in each direction are on the respective sides of the rectangle surrounding the robot.
In this application, for any one robot, when the robot is in a stationary state, a rectangle surrounding the robot, a circle associated with the rectangle surrounding the robot, and the edgemost points in each direction on the robot are on the respective sides of the rectangle surrounding the robot, may be determined. The center point of the circle associated with the rectangle surrounding the robot is the center point of the rectangle surrounding the robot, and the diameter of the circle associated with the rectangle surrounding the robot may be the length of the rectangle surrounding the robot. 6 points where the rectangle intersects the circle are determined, and the 6 points are connected to obtain a hexagon, wherein the hexagon is the shape of the occupied area when the robot is in a static state.
The at least one occupied zone in step 101 comprises: the travel area marked as the respective sub-path occupied by the respective robot and/or the area occupied by the respective robot when in a stationary state.
The travel area of each respective sub-path marked as occupied by the respective robot is taken as an occupied area, and the area occupied by each respective robot when in a stationary state is taken as an occupied area.
The at least one occupied area in step 101 may refer to: all occupied zones when step 101 is performed.
In the present application, it is determined whether there is at least one sub-path to be traveled that the target robot can occupy in the at least one sub-path to be traveled based on the travel area and the at least one occupied area of the at least one sub-path to be traveled of the travel path of the target robot.
For any one of the paths to be traveled that can be occupied by the target robot, there is no overlapping portion of the path to be traveled that can be occupied by the target robot and any one of the occupied areas.
For any two regions, if the two regions have an overlapping portion, the overlapping portion of the two regions refers to a portion that belongs to both one of the two regions and the other of the two regions.
In the present application, if the number of subpaths to be traveled of the travel path of the target robot is one when step 101 is performed, it is determined whether the target robot can occupy one subpath to be traveled.
If step 101 is executed, and the number of the subpaths to be traveled of the travel route of the target robot is plural, the order of the plurality of subpaths to be traveled of the travel route of the robot may be changed from small to large according to the distance between the starting point of the subpath to be traveled of the travel route of the robot and the starting point of the travel route.
And sequentially determining whether the sub-path to be traveled in the plurality of sub-paths to be traveled can be occupied by the target robot according to the sequence of the plurality of sub-paths to be traveled until the target robot is determined not to be capable of occupying the corresponding sub-path to be traveled. Firstly, whether the target robot can occupy the 1 st to-be-driven subpath defined by the sequence of the plurality of to-be-driven subpaths is determined, when the target robot is determined to be capable of occupying the 1 st to-be-driven subpath defined by the sequence of the plurality of to-be-driven subpaths, whether the target robot can occupy the 2 nd to-be-driven subpath defined by the sequence of the plurality of to-be-driven subpaths is determined, and the like.
In the present application, for any one to-be-traveled subpath of the travel path of the target robot, determining whether the target robot can occupy the to-be-traveled subpath may include: determining whether the sub-path to be traveled is marked as occupied by other robots; if the subpath to be driven is marked to be occupied by other robots, determining that the target robot cannot occupy the subpath to be driven; if the sub-path to be traveled is not marked as being occupied by other robots, respectively determining whether each occupied area in at least one occupied area has an overlapping part with the travel area of the sub-path to be traveled; and if the occupied area with the part overlapped with the subpath to be driven exists, determining that the target robot cannot occupy the subpath to be driven.
The target robot may be any one of robots in a warehouse to which the robot control method provided in the embodiment of the present application is applied, and the other robots are opposite to the target robot, and the robot in the warehouse that is not the target robot is the other robot.
And 102, determining at least one target subpath to be traveled from the at least one subpath to be traveled which can be occupied by the target robot, and marking each target subpath to be traveled as being occupied by the target robot.
In the present application, if the number of the subpaths to be traveled that can be occupied by the determined target robot is one, one subpath to be traveled that can be occupied by the determined target robot is taken as one target subpath to be traveled.
If the number of the subpaths to be traveled that can be occupied by the determined target robot is plural, each subpath to be traveled that can be occupied by the determined target robot may be respectively taken as one target subpath to be traveled.
In the present application, after determining at least one target subpath to be traveled from among the at least one subpath to be traveled that the target robot can occupy, the target robot occupies each of the at least one subpath to be traveled.
For any sub-path of the travel path of any one robot, when the sub-path is marked as occupied by the robot, other robots cannot occupy the sub-path.
For any sub-path of the travel path of any robot, the robot may travel on the sub-path when the sub-path is marked as occupied by the robot, and after the robot has traveled the sub-path, the marking of the sub-path occupied by the robot is cancelled.
In the present application, each of the determined at least one target subpaths to be traveled is marked as occupied by a target robot.
For each of the determined at least one target sub-path to be traveled, the target sub-path to be traveled serves as an occupied area after marking the target sub-path to be traveled as occupied by the target robot and before canceling the marking of the target sub-path to be traveled as occupied by the robot.
In the present application, when it is determined that the target robot cannot occupy at least one subpath to be traveled, if the target robot is in a stationary state, the target robot continues to be in the stationary state. When it is determined that the target robot cannot occupy at least one sub-path to be traveled, if the target robot travels on the corresponding sub-path, the target robot stops traveling when the target robot finishes traveling the last sub-path among all the sub-paths already occupied, and the target robot is in a stationary state.
And 103, controlling the target robot to run on each target sub-path to be run.
In the present application, controlling the target robot to travel on each of the target to-be-traveled sub-paths may include: if a target to-be-driven subpath is determined, when the target robot is in a static state or the target robot finishes driving each subpath occupied before the target robot is controlled to drive on each target to-be-driven subpath, sending a driving operation instruction corresponding to the target to-be-driven subpath to the target robot so as to trigger the target robot to execute the driving operation corresponding to the target to-be-driven subpath, and finishing driving the target to-be-driven subpath.
Controlling the target robot to travel on each target to-be-traveled sub-path may include: if a plurality of target sub paths to be driven are determined, sequencing the plurality of target sub paths to be driven according to the distance between the starting point of the target sub paths to be driven and the starting point of the driving path of the target robot from small to large to obtain the sequence of the target sub paths to be driven; and controlling the target robot to sequentially drive on each target sub-path to be driven according to the sequence of the target sub-paths to be driven.
Controlling the target robot to travel on each of the target to-be-traveled sub-paths in turn in the order of the target to-be-traveled sub-paths may include: and for the 1 st target to-be-driven subpath defined by the sequence of the target to-be-driven subpaths, when the target robot is in a static state or the target robot runs through any subpath occupied before the target robot is controlled to drive on the 1 st target to-be-driven subpath, sending a driving operation instruction corresponding to the 1 st target to-be-driven subpath to the target robot so as to trigger the target robot to execute the driving operation corresponding to the 1 st target to-be-driven subpath and run through the 1 st target to-be-driven subpath.
And determining the target sub-path to be traveled behind the 1 st target sub-path to be traveled defined by the sequence of the target sub-paths to be traveled in the plurality of target sub-paths to be traveled as other target sub-paths to be traveled.
Controlling the target robot to travel on each of the target to-be-traveled sub-paths in turn in the order of the target to-be-traveled sub-paths may include: and for each other target sub-path to be traveled, when the target robot finishes traveling the sub-path to be traveled of the previous target of the other target sub-path to be traveled, sending a traveling operation instruction corresponding to the other target sub-path to be traveled to the target robot so as to trigger the target robot to execute the traveling operation corresponding to the other target sub-path to be traveled, and finishing traveling the other target sub-path to be traveled.
In the present application, when a target to-be-traveled subpath of a travel path of a target robot is marked as occupied by the target robot, the target robot is controlled to travel on the target to-be-traveled subpath. For any one target to-be-driven subpath, the target to-be-driven subpath and any one occupied area have no overlapped part, other robots cannot be in the driving area of the target to-be-driven subpath during the target robot drives on the target to-be-driven subpath, and the situation that other robots collide with the target robot cannot occur. Therefore, when the target robot runs on any target sub-path to be driven, the robot does not collide.
In some embodiments, when a plurality of target to-be-traveled sub-paths are determined, the occupied lengths of the plurality of target to-be-traveled sub-paths are greater than a minimum occupied length threshold value and the occupied length of the target to-be-traveled sub-path is less than a maximum occupied length threshold value, and the occupied lengths of the plurality of target to-be-traveled sub-paths are the sum of the lengths of the plurality of target to-be-traveled sub-paths.
In the present application, the plurality of subpaths to be traveled that can be occupied by the target robot may be ranked according to the distance between the starting point of the subpath to be traveled that can be occupied by the target robot and the starting point of the travel route from small to large, and the order of the plurality of subpaths to be traveled may be obtained. Sequentially selecting the sub-paths to be traveled in the plurality of sub-paths to be traveled according to the sequence of the plurality of sub-paths to be traveled until the sum of the lengths of all selected sub-paths to be traveled is greater than a minimum occupied length threshold value and the lengths of all selected sub-paths to be traveled are less than a maximum occupied length threshold value, wherein the length of all selected sub-paths to be traveled is the sum of the lengths of each sub-path to be traveled in all selected sub-paths to be traveled, the number of the sub-paths to be traveled in all selected sub-paths to be traveled is multiple, and each selected sub-path to be traveled is determined as a target sub-path to be traveled.
If the occupied length of the plurality of target to-be-traveled subpaths is too small, the target robot travels a short distance, that is, each target to-be-traveled subpath can be traveled, and step 101 needs to be performed again, resulting in a reduction in the work efficiency of the target robot. If the occupied lengths of the target sub-paths to be traveled are too large, the target robot occupies the target sub-paths to be traveled for a long time, and other robots wait for the target robot to travel the target sub-paths to be traveled for a long time, so that the overall working efficiency is reduced.
In the application, when the plurality of target to-be-driven sub-paths are determined, the occupied lengths of the plurality of target to-be-driven sub-paths can be larger than the minimum occupied length threshold value, and the occupied lengths of the target to-be-driven sub-paths can be smaller than the maximum occupied length threshold value, so that the occupied lengths of the plurality of target to-be-driven sub-paths are not too small or too large, and the reduction of the operation efficiency is avoided.
In some embodiments, determining whether there is at least one to-be-traveled sub-path of the travel path that the target robot can occupy based on the travel area and the at least one occupied area of the to-be-traveled sub-path of the travel path of the target robot comprises: determining whether an occupied area having an overlapping portion with a driving area of the sub-path to be driven exists in the at least one occupied area; if not, marking the sub-path to be driven as occupied by the target robot to be submitted; determining whether the sub-path to be traveled is marked as occupied by other robots for submission; if so, when the target robot is selected from the target robot and the other robots, determining that the target robot can occupy the sub-path to be traveled; if not, determining that the target robot can occupy the path to be traveled.
For any one of the at least one subpaths to be traveled of the travel path, determining that the target robot can occupy the subpath to be traveled may include: determining whether an occupied area having an overlapping portion with a driving area of the sub-path to be driven exists in at least one occupied area; if it is determined that there is no occupied area in the at least one occupied area that has an overlapping portion with the travel area of the subpath to be traveled, marking the subpath to be traveled as occupied by the target robot to be submitted; determining whether the sub-path to be traveled is marked as occupied by other robots for submission; if the to-be-traveled sub-path is marked to be occupied by other robots for submission, determining that the target robot can occupy the to-be-traveled sub-path when the target robot is selected from the target robot and the other robots; and if the sub-path to be traveled is not marked to be occupied by other robots for submission, determining that the target robot can occupy the sub-path to be traveled.
For any one to-be-driven sub-path in at least one to-be-driven sub-path of the driving path, if the to-be-driven sub-path is determined to be marked to be occupied by other robots to be submitted, one robot is randomly selected from the target robot and the other robots, if the randomly selected robot is the target robot, the target robot is determined to be capable of occupying the to-be-driven sub-path, and if the randomly selected robot is the other robots, the to-be-driven sub-path is determined to be capable of being occupied by the other robots.
For any one to-be-driven sub-path in at least one to-be-driven sub-path of the driving path, the to-be-driven sub-path is marked to be subjected to submission to be occupied by other robots in the same way as the to-be-driven sub-path is marked to be subjected to submission to be occupied by the target robot, in the primary control process for the other robots, it is determined that an occupied area with an overlapping area with the driving area of the to-be-driven sub-path does not exist in the corresponding at least one occupied area, and the to-be-driven sub-path is marked to be subjected to submission to be occupied by the other robots.
In the application, for any one to-be-driven subpath in at least one to-be-driven subpath of the driving path, after the target robot is determined to be capable of occupying the to-be-driven subpath or the target robot is determined not to be capable of occupying the to-be-driven subpath, the mark occupied by the target robot to be submitted is cancelled, and if the to-be-driven subpath is marked to be occupied by other robots to be submitted, the mark occupied by the other robots to be submitted is cancelled.
In this application, for any sub-path of the travel path of any robot, when the sub-path is marked to be occupied by the corresponding robot for submission, the travel area of the sub-path may be regarded as an occupied area, and the at least one occupied area in step 101 may include the travel area of the sub-path.
In the application, the problem that two robots occupy the sub-path to be traveled is considered, namely the two robots can occupy the same sub-path at the same time or almost at the same time. When two robots are simultaneously or almost simultaneously determined to be able to occupy the same sub-path, only one robot may occupy the same sub-path.
In the method, when it is determined that at least one occupied area does not have an occupied area with an overlapping part with a driving area of the subpath to be driven, the subpath to be driven is marked to be occupied by a target robot for submission, and according to whether the subpath to be driven is marked to be occupied by other robots for submission or not, the target robot or other robots are determined to be capable of occupying the subpath to be driven, and the problem that two robots occupy the subpath to be driven is solved efficiently without mutual exclusion.
In some embodiments, for any one of the at least one to-be-traveled sub-path of the travel path of the target robot, determining whether there is an occupied area of the at least one occupied area that has an overlapping portion with the travel area of the to-be-traveled sub-path includes: determining whether an occupied area having a shape intersecting the shape of the traveling area of the sub route to be traveled exists in the at least one occupied area based on the shape information of the traveling area of the sub route to be traveled and the shape information of each of the at least one occupied area in the shape information database; if yes, determining that an occupied area with an overlapping part with the driving area of the sub-path to be driven exists in the at least one occupied area; if not, determining that the occupied area which has the overlapped part with the driving area of the sub-path to be driven does not exist in the at least one occupied area.
In the present application, the shape information of the shape of each occupied area may be stored using a shape information database, and for any one occupied area, the shape information of the occupied area is used to determine the occupied area, and the shape information of the occupied area may include the following items or a part of the following items: a location of a center point of the shape of the occupied area, lengths of respective sides of the shape of the occupied area, a type of the shape of the occupied area, a location of a point for obtaining the shape of the occupied area.
For any one of the at least one sub-path to be traveled of the travel path of the target robot, the shape information of the travel area of the sub-path to be traveled is used to determine the shape of the travel area of the sub-path to be traveled, and the shape information of the travel area of the sub-path to be traveled may include the following or a part of the following: the position of the center point of the shape of the travel area of the sub-route to be traveled, the length of each side of the shape of the travel area of the sub-route to be traveled, the type of the shape of the travel area of the sub-route to be traveled, the position of the point for obtaining the shape of the travel area of the sub-route to be traveled.
For any two regions, if the shapes of the two regions intersect, there is an overlap between the two regions.
For any one of at least one to-be-traveled subpath of the travel path of the target robot, the shape of the to-be-traveled subpath may be determined based on the shape information of the to-be-traveled subpath, and the shape of each of the at least one occupied area may be determined based on the shape information of each of the at least one occupied area.
For any one of at least one to-be-traveled sub-route of the travel route of the target robot, it may be determined whether an occupied area having a shape intersecting the shape of the travel area of the to-be-traveled sub-route exists in the at least one occupied area, based on the shape of the to-be-traveled sub-route and the shape of each of the at least one occupied area, if an occupied area having a shape intersecting the shape of the travel area of the to-be-traveled sub-route exists in the at least one occupied area, it may be determined that an occupied area having an overlapping portion with the travel area of the to-be-traveled sub-route exists in the at least one occupied area, and if an occupied area having a shape intersecting the shape of the travel area of the to-be-traveled sub-route does not exist in the at least one occupied area, it may be verified that an occupied area having an overlapping portion with the travel area of the to-route does not exist in the at least one occupied area.
In the present application, when it is determined whether or not there is an occupied area having an overlapping portion with the travel area of the sub-route to be traveled among the at least one occupied area, it may be determined whether or not there is an occupied area having an overlapping portion with the travel area of the sub-route to be traveled among the at least one occupied area only if the shape of each of the at least one occupied area intersects the shape of the travel area of the sub-route to be traveled, respectively, and thus, it may be quickly determined whether or not there is an occupied area having an overlapping portion with the travel area of the sub-route to be traveled among the at least one occupied area.
In some embodiments, further comprising: and for any determined target sub-path to be traveled, when the target robot finishes traveling the target sub-path to be traveled and a conflict robot corresponding to the target sub-path to be traveled exists, sending a wake-up instruction to the conflict robot corresponding to the target sub-path to be traveled, wherein the conflict robot corresponding to the target sub-path to be traveled cannot occupy the corresponding sub-path due to the fact that a traveling area of the target sub-path to be traveled and a traveling area of a corresponding sub-path of other traveling paths of the conflict robot overlap, and the wake-up instruction is used for triggering the conflict robot corresponding to the target sub-path to be traveled to determine whether at least one sub-path to be traveled, which can be occupied by the conflict robot, exists in at least one sub-path to be traveled of the other traveling paths.
And for any determined target sub-path to be traveled, referring the travel path of the conflict robot corresponding to the target sub-path to be traveled as the other travel path of the conflict robot corresponding to the target sub-path to be traveled.
For any determined target sub-path to be traveled, determining whether a traveling area of the sub-path to be traveled by a conflict robot corresponding to the target sub-path to be traveled has an overlapping portion with a traveling area of a corresponding sub-path of other traveling paths of the conflict robot corresponding to the target sub-path to be traveled, and determining whether at least one path to be traveled which the conflict robot corresponding to the target sub-path to be traveled can occupy exists in at least one sub-path to be traveled which the conflict robot corresponding to the target sub-path to be traveled can occupy, wherein the overlapping portion is determined by the traveling area of the sub-path to be traveled by the conflict robot corresponding to the target sub-path to be traveled and the traveling area of the corresponding sub-path of the other traveling paths of the conflict robot corresponding to the target sub-path to be traveled.
When the target robot finishes driving the target sub-path to be driven and the conflict robot corresponding to the target sub-path to be driven exists, sending a wakeup instruction to the conflict robot corresponding to the target sub-path to be driven, and determining again by the conflict robot corresponding to the target sub-path to be driven whether at least one sub-path to be driven which can be occupied by the conflict robot corresponding to the target sub-path to be driven exists in at least one sub-path to be driven of other driving paths of the conflict robot corresponding to the target sub-path to be driven.
In the application, when the target robot finishes driving the target sub-path to be driven and the conflict robot corresponding to the target sub-path to be driven exists, a wakeup instruction is sent to the conflict robot corresponding to the target sub-path to be driven, the conflict robot corresponding to the target sub-path to be driven is triggered to determine whether at least one sub-path to be driven, which can be occupied by the conflict robot, exists in at least one sub-path to be driven of the other driving paths, and therefore the conflict robot corresponding to the target sub-path to be driven is timely informed that the conflict robot can continuously occupy the sub-path to be driven in the other driving paths of the conflict robot corresponding to the target sub-path to be driven.
In some embodiments, further comprising: when an instruction indicating that the target robot has traveled each target sub-path to be traveled is received from the target robot and at least one sub-path to be traveled of the travel path of the target robot exists, it is determined by the target robot whether at least one sub-path to be traveled that the target robot can occupy exists among the at least one sub-path to be traveled that exists.
When the target robot finishes driving each target to-be-driven sub-path, an instruction sent by the target robot to instruct the target robot to finish driving each target to-be-driven sub-path can be received.
When the target robot finishes driving each target sub-path to be driven, if at least one sub-path to be driven of the driving path of the target robot exists, the at least one sub-path to be driven of the existing driving path is behind the last sub-path to be driven of all the target sub-paths to be driven determined in the step 102.
When an instruction indicating that the target robot has finished traveling each of the target paths to be traveled is received from the target robot and at least one path to be traveled of the traveling path of the target robot exists, it is determined by the target robot whether there is at least one path to be traveled that the target robot can occupy among the at least one path to be traveled that exists.
The process of determining whether at least one subpath to be traveled, which can be occupied by the target robot, exists in the at least one subpath to be traveled, which exists by the target robot, is the same as the process of step 101, and the process of determining whether at least one subpath to be traveled, which can be occupied by the target robot, exists in the at least one subpath to be traveled, which corresponds to the at least one subpath to be traveled in step 101, by the target robot refers to the process of step 101.
In the present application, it may be determined by the target robot whether or not there is at least one to-be-traveled sub-path that the target robot can occupy among the at least one to-be-traveled sub-path existing when an instruction indicating that the target robot has traveled each of the target to-be-traveled sub-paths is received from the target robot and the at least one to-be-traveled sub-path of the travel path of the target robot exists. Thus, when the target robot finishes traveling each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the travel path of the target robot, the target robot continues to seize the to-be-traveled sub-path in the travel path of the target robot in time.
In some embodiments, further comprising: when it is detected that the target robot has finished traveling each of the target subpaths to be traveled and at least one subpath to be traveled of the traveling path of the target robot exists, it is determined by the target robot whether at least one subpath to be traveled that the target robot can occupy exists among the at least one subpath to be traveled that exists.
When the target robot finishes driving each target sub-path to be driven, if at least one sub-path to be driven of the driving path of the target robot exists, the at least one sub-path to be driven of the existing driving path is behind the last sub-path to be driven in all the target sub-paths to be driven determined in the step 102.
In this application, it may be detected whether the target robot has finished driving the last target sub-path to be driven at preset time intervals from the time when the target robot starts driving to the start point of the last target sub-path to be driven of all the target sub-paths to be driven determined in step 102, and if it is detected that the target robot has finished driving the last target sub-path to be driven, it is detected that the target robot has finished driving each target sub-path to be driven.
When it is detected that the target robot has finished traveling each of the target subpaths to be traveled and at least one subpath to be traveled of the traveling path of the target robot exists, it is determined by the target robot whether at least one subpath to be traveled that the target robot can occupy exists among the at least one subpath to be traveled that exists.
In the present application, it may be determined by the target robot whether there is at least one to-be-traveled sub-path that the target robot can occupy among the at least one to-be-traveled sub-path existing when it is detected that the target robot has traveled through each of the target to-be-traveled sub-paths and there is at least one to-be-traveled sub-path of the travel path of the target robot. Thus, when the target robot finishes traveling each target to-be-traveled sub-path and there is at least one to-be-traveled sub-path of the travel path of the target robot, the target robot continues to seize the to-be-traveled sub-path in the travel path of the target robot in time.
Referring to fig. 2, a block diagram of a robot control device according to an embodiment of the present disclosure is shown. The robot control device includes: a first determining unit 201, a second determining unit 202, a control unit 203.
The first determination unit 201 is configured to determine whether at least one to-be-traveled sub-route that can be occupied by the target robot exists in at least one to-be-traveled sub-route based on a travel area and at least one occupied area of at least one to-be-traveled sub-route of a travel route of the target robot, wherein the at least one occupied area includes: a travel area marked as a respective sub-path occupied by the respective robot and/or an area occupied by the respective robot when in a stationary state;
the second determining unit 202 is configured to determine at least one target sub-path to be traveled from at least one sub-path to be traveled that the target robot can occupy if yes, and mark each target sub-path to be traveled as occupied by the target robot;
the control unit 203 is configured to control the target robot to travel on each of the target to-be-traveled sub-paths.
In some embodiments, when a plurality of target sub-paths to be traveled are determined, the occupied lengths of the plurality of target sub-paths to be traveled are greater than a minimum occupied length threshold and less than a maximum occupied length threshold, the occupied length being the sum of the lengths of the plurality of target sub-paths to be traveled.
In some embodiments, the first determining unit 201 is configured to mark the to-be-traveled sub-path as to be subjected to occupancy by the target robot when it is determined that there is no occupied area having an overlapping portion with the traveling area of the to-be-traveled sub-path among the at least one occupied area; determining whether the sub-path to be traveled is marked as occupied by other robots for submission; if yes, when the target robot is selected from the target robot and the other robots, determining that the target robot can occupy the sub-path to be traveled; if not, determining that the target robot can occupy the sub-path to be traveled.
In some embodiments, the first determination unit 201 is configured to determine whether there is an occupied area having a shape intersecting the shape of the occupied area among the at least one occupied area based on the shape information of the travel area of the to-be-traveled sub-route and the shape information of each of the at least one occupied area in the shape information database; if yes, determining that an occupied area with an overlapping part with the driving area of the sub-path to be driven exists in the at least one occupied area; if not, determining that the occupied area which has the overlapped part with the driving area of the sub-path to be driven does not exist in the at least one occupied area.
In some embodiments, the robot control apparatus further comprises:
a first response unit configured to send a wake-up instruction to a collision robot when the target robot finishes driving the target to-be-driven sub-path and the collision robot corresponding to the target to-be-driven sub-path exists, wherein the collision robot cannot occupy the corresponding sub-path due to an overlapping portion of a driving area of the target to-be-driven sub-path and a driving area of the corresponding sub-path of the other driving path of the collision robot, and the wake-up instruction is used for triggering the collision robot to determine whether at least one to-be-driven sub-path which can be occupied by the collision robot exists in the at least one to-be-driven sub-path of the other driving path.
In some embodiments, the robot control apparatus further comprises:
a second response unit configured to determine, by the target robot, whether there is at least one to-be-traveled sub-path that the target robot can occupy, among the at least one to-be-traveled sub-path that exists, when an instruction indicating that the target robot has traveled the each of the target to-be-traveled sub-paths is received from the target robot and the at least one to-be-traveled sub-path of the travel path exists.
In some embodiments, the robot control apparatus further comprises:
a third response unit configured to determine, by the target robot, whether there is at least one to-be-traveled sub-path that the target robot can occupy, among the at least one to-be-traveled sub-path existing, when it is detected that the target robot has traveled through each of the target to-be-traveled sub-paths and there is at least one to-be-traveled sub-path of the travel path.
For the steps of the robot control method, reference may be made to the relevant contents of the method specifically.
Embodiments of the present application also provide a computer-readable storage medium on which a computer program/instruction is stored, which, when executed by a processor, implements the above-described robot control method.
An embodiment of the present application further provides a computer program product, which includes a computer program/instruction, and the computer program/instruction, when executed by a processor, implements the robot control method described above.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A robot control method, characterized in that the method comprises:
determining whether there is at least one sub-path to be traveled that the target robot can occupy in the at least one sub-path to be traveled based on a travel area and at least one occupied area of at least one sub-path to be traveled of a travel path of the target robot, wherein the at least one occupied area includes: a travel area marked as a respective sub-path occupied by the respective robot and/or an area occupied by the respective robot when in a stationary state;
if yes, determining at least one target sub-path to be traveled from at least one sub-path to be traveled which can be occupied by the target robot, and marking each target sub-path to be traveled as being occupied by the target robot;
and controlling the target robot to run on each target sub-path to be run.
2. The method according to claim 1, characterized in that when a plurality of target sub-paths to be traveled are determined, the occupied lengths of the plurality of target sub-paths to be traveled are greater than a minimum occupied length threshold value and less than a maximum occupied length threshold value, the occupied length being the sum of the lengths of the plurality of target sub-paths to be traveled.
3. The method according to claim 1, wherein determining whether at least one to-be-traveled sub-path of the travel path of the target robot exists at least one to-be-traveled sub-path that the target robot can occupy based on the travel area and the at least one occupied area of the to-be-traveled sub-path comprises:
determining whether an occupied area having an overlapping portion with a driving area of the sub-path to be driven exists in the at least one occupied area;
if not, marking the sub-path to be traveled as occupied by the target robot to be submitted;
determining whether the sub-path to be traveled is marked as occupied by other robots for submission;
if yes, when the target robot is selected from the target robot and the other robots, determining that the target robot can occupy the sub-path to be traveled;
if not, determining that the target robot can occupy the sub-path to be traveled.
4. The method of claim 3, wherein determining whether there is an occupied zone of the at least one occupied zone that has an overlapping portion with a travel zone of the sub-path to be traveled comprises:
determining whether there is an occupied area having a shape intersecting the shape of the driving area of the to-be-driven sub route among the at least one occupied area based on the shape information of the driving area of the to-be-driven sub route and the shape information of each of the at least one occupied area in the shape information database;
if so, determining that an occupied area with an overlapping part with the driving area of the sub-path to be driven exists in the at least one occupied area;
if not, determining that the occupied area which has the overlapped part with the driving area of the sub-path to be driven does not exist in the at least one occupied area.
5. The method according to any one of claims 1-4, further comprising:
when the target robot finishes driving the target sub-path to be driven and a conflict robot corresponding to the target sub-path to be driven exists, sending a wake-up instruction to the conflict robot, wherein the conflict robot cannot occupy the corresponding sub-path due to the fact that the driving area of the target sub-path to be driven and the driving area of the corresponding sub-path of the other driving path of the conflict robot are overlapped, and the wake-up instruction is used for triggering the conflict robot to determine whether at least one sub-path to be driven, which can be occupied by the conflict robot, exists in at least one sub-path to be driven of the other driving path.
6. The method of claim 5, further comprising:
when an instruction indicating that the target robot has traveled the each target sub-path to be traveled is received from the target robot and at least one sub-path to be traveled of the travel path exists, determining, by the target robot, whether at least one sub-path to be traveled that the target robot can occupy exists among the at least one sub-path to be traveled that exists.
7. The method of claim 5, further comprising:
when it is detected that the target robot has finished driving each target sub-path to be driven and at least one sub-path to be driven of the driving path exists, determining, by the target robot, whether at least one sub-path to be driven that the target robot can occupy exists in the at least one sub-path to be driven that exists.
8. An electronic device, comprising: memory, processor and computer program stored on the memory, characterized in that the processor executes the computer program to implement the method of any of claims 1-7.
9. A computer-readable storage medium, on which a computer program/instructions is stored, characterized in that the computer program/instructions, when executed by a processor, implement the method of any one of claims 1-7.
10. A computer program product comprising computer programs/instructions, characterized in that the computer programs/instructions, when executed by a processor, implement the method of any of claims 1-7.
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| CN202210911177.1A CN115357017A (en) | 2022-07-29 | 2022-07-29 | Robot control method, electronic device, and storage medium |
| PCT/CN2023/093149 WO2024021758A1 (en) | 2022-07-29 | 2023-05-10 | Robot control method, electronic device and storage medium |
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| CN202210911177.1A CN115357017A (en) | 2022-07-29 | 2022-07-29 | Robot control method, electronic device, and storage medium |
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| CN102865877B (en) * | 2012-10-08 | 2014-12-17 | 无锡普智联科高新技术有限公司 | Solution for multiple mobile robot path conflict based on dense storage regions |
| US20220089372A1 (en) * | 2015-02-26 | 2022-03-24 | Crown Equipment Corporation | Systems and methods for managing movement of materials handling vehicles |
| CN108268016A (en) * | 2018-01-19 | 2018-07-10 | 广东美的智能机器人有限公司 | The method for collision management and system of multiple mobile robot |
| CN109976350B (en) * | 2019-04-15 | 2021-11-19 | 上海钛米机器人科技有限公司 | Multi-robot scheduling method, device, server and computer readable storage medium |
| CN110531773A (en) * | 2019-09-12 | 2019-12-03 | 北京极智嘉科技有限公司 | Robot path dispatching method, device, server and storage medium |
| CN113111296A (en) * | 2019-12-24 | 2021-07-13 | 浙江吉利汽车研究院有限公司 | Vehicle path planning method and device, electronic equipment and storage medium |
| CN114675656A (en) * | 2022-04-22 | 2022-06-28 | 上海快仓智能科技有限公司 | Robot path planning method, device, equipment, storage medium and program product |
| CN114779778A (en) * | 2022-04-25 | 2022-07-22 | 北京京东乾石科技有限公司 | Method and device for controlling vehicle running, electronic equipment and storage medium |
| CN115357017A (en) * | 2022-07-29 | 2022-11-18 | 北京旷视机器人技术有限公司 | Robot control method, electronic device, and storage medium |
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