CN117387622A

CN117387622A - Arrival time calculation method, device and equipment in robot navigation path

Info

Publication number: CN117387622A
Application number: CN202311378403.5A
Authority: CN
Inventors: 阳剑; 赖志林; 李良源; 杨帆; 俞***
Original assignee: Guangzhou Saite Intelligent Technology Co Ltd
Current assignee: Guangzhou Saite Intelligent Technology Co Ltd
Priority date: 2023-10-23
Filing date: 2023-10-23
Publication date: 2024-01-12

Abstract

The application discloses a method, a device, equipment and a medium for calculating arrival time in a robot navigation path, and belongs to the technical field of robots. The method comprises the following steps: acquiring position information of each robot in response to demand information sent by a user, and determining serial number information of a target robot for executing a task; determining a first path of the target robot according to the demand information, and sending the first path to the target robot; determining the historical driving time and the historical driving distance of each robot driving between each two adjacent stations; and acquiring the running speed and the current time of the target robot, and determining the expected arrival time of the target robot at the first path end point according to the historical running time, the historical running distance, the running speed and the current time. According to the scheme, the expected arrival time does not need to be calculated in real time, and the calculation cost can be saved. By combining the historical travel time and the historical travel distance, the accuracy of the estimated arrival time can be improved.

Description

Arrival time calculation method, device and equipment in robot navigation path

Technical Field

The application belongs to the technical field of robots, and particularly relates to a method, a device, equipment and a medium for calculating arrival time in a robot navigation path.

Background

The indoor automatic driving robot has the functions of autonomous path planning, automatic obstacle avoidance, automatic charging and the like, can provide intelligent distribution service, and is widely used in places such as shops, restaurants, hotels, hospitals and the like at present. In the process of distributing tasks by using robots, users often only concern the time spent in executing tasks and the expected arrival time of the robot at the target site.

In the prior art, when calculating the expected arrival time of the robot to the target site, the estimated arrival time is determined based on the autonomous path planning of navigation and in combination with the running speed of the robot, the path planning of navigation is performed in real time, and the environmental influence perceived by the robot is also changed in real time.

However, in the prior art, since the path planning of navigation is performed in real time, the longer the path is traveled, the higher the calculation cost is. And the calculations are too frequent and are greatly affected by the environment, the determined estimated arrival time may jump too much, resulting in inaccurate calculated estimated arrival times.

Disclosure of Invention

The embodiment of the application provides a method, a device, equipment and a medium for calculating the arrival time in a robot navigation path, and aims to solve the problems that in the prior art, path planning is frequent, calculation cost is high, and the determined estimated arrival time is greatly influenced by environment, so that the calculation of the estimated arrival time is inaccurate.

In a first aspect, an embodiment of the present application provides a method for calculating an arrival time in a navigation path of a robot, where the method includes:

responding to the demand information sent by a user, acquiring the position information of each robot, and determining the number information of a target robot for executing a task according to the demand information and the position information;

determining a first path of the target robot according to the demand information, and sending the first path to the target robot; the first path consists of a plurality of path stations, and at least one auxiliary station is planned between at least one pair of adjacent path stations;

according to the path station and the auxiliary station, determining the historical driving time and the historical driving distance of each robot driving between every two adjacent stations;

and acquiring the running speed and the current time of the target robot, and determining the expected arrival time of the target robot at the first path end point according to the historical running time, the historical running distance, the running speed and the current time.

Further, determining a first path traveled by the robot according to the demand information, and transmitting the first path to the robot, including:

determining a path station and an auxiliary station which are passed by the robot according to the demand information, and transmitting the path station and the auxiliary station to the robot;

and responding to a path planning request instruction sent by the robot, determining a first path travelled by the robot according to the path station, the auxiliary station and a preset path planning standard, and sending the first path to the robot.

Further, in response to a path planning request instruction sent by the robot, determining a first path traveled by the robot according to the path station, the auxiliary station and a preset path planning standard, and sending the first path to the robot, including:

responding to a path planning request instruction sent by a robot, and determining the arrangement sequence between each auxiliary station and each path station according to the path station, the auxiliary station and a preset path planning standard;

and determining a first path traveled by the robot according to the arrangement sequence, and sending the first path to the robot.

Further, determining a historical travel time and a historical travel distance of each robot traveling between each adjacent station according to the path station and the auxiliary station, including:

inquiring first historical driving time and first historical driving distance of each robot between each two adjacent stations according to the arrangement sequence;

accumulating the first historical running time, calculating an accumulated first historical running time average value, accumulating the first historical running distance, and calculating an accumulated first historical running distance average value;

and determining a historical driving time according to the first historical driving time average value, and determining a historical driving distance according to the first historical driving distance average value.

Further, after acquiring the running speed and the current time of the target robot, determining the expected arrival time of the target robot reaching the first path end point according to the historical running time, the historical running distance, the running speed and the current time, the method further comprises:

responding to a path station arrival instruction, a path station departure instruction, an auxiliary station arrival instruction and an auxiliary station departure instruction sent by a target robot, respectively acquiring first arrival time of the target robot at each path station and each auxiliary station, and respectively acquiring first departure time of the target robot from each path station and each auxiliary station;

And continuously updating the expected arrival time of the target robot reaching the first path end point according to the first arrival time, the first travel-away time, the historical travel distance and the travel speed.

Further, after respectively acquiring the first arrival time of the target robot at each path station and each auxiliary station, and respectively acquiring the first departure time of the target robot from each path station and each auxiliary station, the method further includes:

determining first stay time of the target robot at each path station and each auxiliary station according to the first arrival time and the first departure time;

determining whether a first path of the target robot needs to be re-planned according to the first stay time and a preset path re-planning standard;

if yes, current position information of the target robot is obtained, a path station and an auxiliary station in a target robot driving path are redetermined according to the current position information and the requirement information, and a first path of the target robot is updated according to the path station and the auxiliary station.

In a second aspect, an embodiment of the present application provides a device for calculating an arrival time in a navigation path of a robot, the device including:

The robot numbering information determining module is used for responding to the requirement information sent by the user, acquiring the position information of each robot and determining the numbering information of the target robot for executing the task according to the requirement information and the position information;

the first path determining module is used for determining a first path of the target robot according to the requirement information and sending the first path to the target robot; the first path consists of a plurality of path stations, and at least one auxiliary station is planned between at least one pair of adjacent path stations;

the historical information acquisition module is used for determining the historical running time and the historical running distance of each robot running between every two adjacent stations according to the path stations and the auxiliary stations;

the estimated arrival time determining module is used for obtaining the running speed and the current time of the target robot and determining the estimated arrival time of the target robot reaching the first path end point according to the historical running time, the historical running distance, the running speed and the current time.

Further, the first path determining module is configured to:

determining a path station and an auxiliary station which are passed by the target robot according to the demand information, and sending the path station and the auxiliary station to the target robot;

And responding to a path planning request instruction sent by the target robot, determining a first path travelled by the target robot according to the path station, the auxiliary station and a preset path planning standard, and sending the first path to the target robot.

Further, the first path determining module is configured to:

Further, the history information acquisition module is configured to:

Further, the apparatus further comprises a predicted arrival time update module configured to:

Further, the apparatus further includes a path re-planning module, where the path re-planning module is configured to:

In a third aspect, embodiments of the present application provide an electronic device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, the program or instruction implementing the steps of the method according to the first aspect when executed by the processor.

In a fourth aspect, embodiments of the present application provide a readable storage medium having stored thereon a program or instructions which when executed by a processor implement the steps of the method according to the first aspect.

In a fifth aspect, embodiments of the present application provide a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and where the processor is configured to execute a program or instructions to implement a method according to the first aspect.

In the embodiment of the application, the position information of each robot is acquired in response to the demand information sent by the user, and the number information of the target robot for executing the task is determined according to the demand information and the position information; determining a first path of the target robot according to the demand information, and sending the first path to the target robot; the first path consists of a plurality of path stations, and at least one auxiliary station is planned between at least one pair of adjacent path stations; according to the path station and the auxiliary station, determining the historical driving time and the historical driving distance of each robot driving between every two adjacent stations; and acquiring the running speed and the current time of the target robot, and determining the expected arrival time of the target robot at the first path end point according to the historical running time, the historical running distance, the running speed and the current time. By the arrival time calculation method in the robot navigation path, the arrival time of the robot reaching the end point is determined only according to the path, the auxiliary station and the robot running speed, real-time calculation is not needed, and calculation cost can be saved. And the accuracy of the determined estimated arrival time can be improved by combining the historical travel time and the historical travel distance.

Drawings

Fig. 1 is a flowchart of a method for calculating arrival time in a robot navigation path according to an embodiment of the present application;

fig. 2 is a flowchart of a method for calculating arrival time in a robot navigation path according to a second embodiment of the present application;

fig. 3 is a schematic structural diagram of an arrival time calculation device in a robot navigation path according to a third embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following detailed description of specific embodiments thereof is given with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present application are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The method, the device, the equipment and the medium for calculating the arrival time in the robot navigation path provided by the embodiment of the application are described in detail through specific embodiments and application scenes thereof with reference to the accompanying drawings.

Example 1

Fig. 1 is a flowchart of a method for calculating arrival time in a robot navigation path according to an embodiment of the present application. As shown in fig. 1, the method specifically comprises the following steps:

s101, acquiring position information of each robot in response to demand information sent by a user, and determining the number information of a target robot executing a task according to the demand information and the position information.

Firstly, the use scenario of the scheme may be a scenario in which the scheduling system determines the expected arrival time of the robot reaching the destination according to the path station, the auxiliary station and the running speed that the target robot passes through when executing the task, and by combining the average historical running time and the average historical running distance of all robots running on the route.

Based on the above usage scenario, it can be appreciated that the execution subject of the present application may be the scheduling system, which is not limited herein.

In this scenario, the method is performed by a scheduling system.

The scheduling system may be a software system intended to efficiently manage and coordinate tasks and actions of the robot. The scheduling system can allocate the tasks to the available robots, and determine the execution sequence of the tasks according to the emergency degree, the priority and the availability of the robots; the path and actions of the robots can be planned so that they can safely and efficiently complete tasks while avoiding obstacles and collisions. May communicate with the robots, monitor their status, and remotely control or intervene if necessary. Data of the robot's performance tasks may be collected and analyzed to improve the performance and efficiency of the system.

The dispatch system includes robot information, environment and map information, and information such as sites. The robot information may be basic information about each robot, and specifically may include a number, a current position, status information, and the like, where the status information may include idle and executing tasks.

The environment and map information may include information about the robot operating environment, such as map data, obstacle positions, and work sites, etc. Map information may help robots to make path planning and obstacle avoidance to ensure that they can safely move and perform tasks.

The site information may be used to define a location or a target that the robot needs to access, and in particular, may be classified into two types of path sites and auxiliary sites. The path station may be a target location of the robot task, corresponding to the actual execution point of the task, being a main target of the task, e.g. the robot needs to take medicine from the pharmacy to the operating room, and the middle needs to take an elevator, the path station may include the pharmacy, the operating room and the elevator. The auxiliary sites may be used to support execution of tasks, but are typically not actual execution points for tasks. The auxiliary stations are used for limiting the freedom degree of the robot running between the path stations, and because a certain distance exists between the path stations, the robot can select a more complex path to run if the freedom degree of the robot is not limited, so that the task execution efficiency of the robot is reduced. For example, the shortest travel distance between the route station a and the route station B is 100m, and without adding an auxiliary station, the robot may go far, resulting in a total distance of 150m for final travel. If the auxiliary station is added, the robot can run strictly according to the route with the shortest running distance, so that the final running distance is the shortest running distance.

The site information may include the name, coordinates, and type of the site. Through the site information, the robot scheduling system can effectively guide the robot to complete tasks, including movement and operation from the path site to the auxiliary site.

In this scenario, the requirement information may be a description of a task or work request sent by the user or the system. May include a description of the task, the target location, and the degree of urgency. The degree of urgency may include, among other things, high, medium, and low levels. For example, if the operating room needs to obtain a drug from a pharmacy, the target location may be the pharmacy and the operating room, the task description may be to take a drug from the pharmacy to the operating room, and the emergency degree may be emergency. The patient in ward ordered the meal, need get the meal to send to certain ward from the dining room, then the target position can be the ward that the patient in dining room and order was located, and task description can be from the dining room to get the meal to this ward, and the emergency can be low-grade.

The location information may be coordinate information of the current location of each robot, and acquiring the location information of each robot may determine which robot is most suitable for performing the task.

The numbering information may refer to unique identifiers of robots, each robot having a unique number, so that the system can accurately identify and track each robot, which numbers may be used to assign tasks to specific robots.

After receiving the demand information sent by the user, the scheduling system can analyze the demand information and determine the specific requirements of the task, the target position and other information. And then sending a signal for acquiring the position information to the robot, and after the robot receives the signal, determining the position of the robot by using a navigation system built in the robot according to the map information and the sensor data and transmitting the position to a dispatching system through a wireless communication technology. After the position information of the robots is obtained, the scheduling system can determine which robot is allocated with the task according to the position information of the target position and the position information of the robots by using an algorithm, and inquire the serial number information of the robots, specifically, the estimated use time of each robot for completing the target task can be calculated or the robot with the shortest distance from the target position can be selected to execute the task, and the task can be determined according to specific requirements.

S102, determining a first path of the target robot according to the demand information, and sending the first path to the target robot; the first path is composed of a plurality of path stations, and at least one auxiliary station is planned between at least one pair of adjacent path stations.

The first path may be a sequence of path stations and auxiliary stations describing the locations that the robot needs to visit in order to accomplish a particular task. At least one auxiliary station is also planned between at least one pair of adjacent path stations, and the auxiliary stations are used for supporting the movement and operation of the robot between the path stations. For example, the path stations traversed by the target robot are determined to be a station, B station and C station according to the requirement information, the auxiliary stations between the a station and the B station are 101 and 102, the auxiliary station between the B station and the C station is 103, and the first path can be expressed as a-101-102-B-103-C.

A path planning algorithm may be used to determine the path stations along which the robot needs to visit. These sites may include the starting point, intermediate targets, and final targets of the task. Path planning may also add auxiliary sites between adjacent path sites to support movement and operation of the robot. The path station and the auxiliary station are then combined into a path sequence to generate a first path and sent to the robot via wireless communication technology.

On the basis of the above technical solutions, optionally, determining a first path traveled by the robot according to the requirement information, and sending the first path to the robot, including:

In the scheme, a path planning request instruction is sent by a target robot to request the planning of a driving path of the target robot. This instruction may include path sites as well as auxiliary sites, as well as other possible constraints or priority requirements.

The preset path planning criteria may be rules or algorithms internal to the system for determining the first path traveled by the target robot. These criteria may be set based on shortest path, fastest arrival time, most energy efficient route, etc.

The scheduling system may first analyze the received demand information to learn information about the target start position, the target end position, and the specific description of the task. Based on the demand information, the system determines the path stations and auxiliary stations that the robot needs to traverse, which stations may be defined in a map or a mission plan, and transmits the determined path stations and auxiliary station information to the robot so that the robot can know the stations required by the mission. Once the robot is ready to plan a path, path planning request instructions may be sent to the scheduling system, including the path site and the auxiliary site, using wireless communication techniques. The scheduling system may use pre-set path planning criteria that may select a path based on the nature of the task, such as shortest path, fastest arrival time, and most energy efficient route, etc., and execute a path planning algorithm to determine a first path for the robot, which path is to be determined based on previously determined path sites and auxiliary sites. And finally, transmitting the first path to the robot by using a wireless communication technology.

In the scheme, path planning can be performed according to task demands and current conditions, so that the path planning is more flexible. And the robot only needs to send a planning request when path planning is needed, and does not need to receive all path information before the task starts, so that communication overhead and calculation resources are reduced.

S103, according to the path station and the auxiliary station, determining the historical running time and the historical running distance of each robot running between every two adjacent stations.

The historical travel time may refer to the time it takes for each robot to pass through an adjacent site, each robot having its own independent historical travel time. Specifically, the historical travel time of each robot when the adjacent stations pass may be travel time required by each robot to pass between the adjacent path stations and the auxiliary stations, and if no auxiliary stations exist between the adjacent path stations, the historical travel time of each robot when the adjacent stations pass may be travel time required by each robot to pass between the adjacent path stations.

The historical driving distance may be the actual driving distance of each robot passing through the adjacent stations, and each robot records its own historical driving distance to reflect the driving requirements on different paths. Specifically, the historical travel distance of each robot when the adjacent stations pass may be a travel distance required by each robot to pass between the adjacent path stations and the auxiliary stations, and if no auxiliary stations exist between the adjacent path stations, the historical travel distance of each robot when the adjacent stations pass may be a travel distance required by each robot to pass between the adjacent path stations.

In the robot scheduling system, a mechanism may be set to periodically collect historical travel time and historical travel distance data of each robot, specifically, the collection may be performed by a built-in sensor of the robot, a positioning system or an external sensor, and the collected data should be associated with the number information of each robot. When the path site and the auxiliary site included in the first path are determined, the first path may be split, expressed as a form of a path site-auxiliary site, a form of a path site-path site, a form of an auxiliary site-auxiliary site, or a form of an auxiliary site-path site, for example, if the first path is a form of a-101-102-B-C, the first path may be split first, expressed as a form of a-101, 101-102, 102-B, B-C, the historical travel time and the historical travel distance for all robots traveling through the a-101 path are queried first, then the historical travel time and the historical travel distance for all robots traveling through the 101-102 path are queried, and so on until the historical travel time and the historical travel distance for each robot traveling between all adjacent sites are queried.

S104, acquiring the running speed and the current time of the target robot, and determining the expected arrival time of the target robot reaching the first path end point according to the historical running time, the historical running distance, the running speed and the current time.

The travel speed may be the speed of the target robot when performing the task, and may be expressed in meters per second.

The current time may be a current timestamp in the system, which may be expressed in the form of year-month-day-time-minute-second.

The predicted arrival time may be a time at which the destination robot is predicted to arrive at the end position in the first path.

A speed sensor and a built-in clock may be provided in the robot, the traveling speed of the target robot is acquired by receiving data transmitted from the speed sensor, and then the current time is determined by acquiring the time transmitted from the built-in clock of the robot. When the historical travel time and the historical travel distance are obtained, two schemes can be adopted to determine the estimated arrival time, and the first scheme can be to collect the historical travel time of all robots traveling between a pair of adjacent stations into a data set, use the collected data set to perform statistical calculation such as average value, median or other statistical measure, and then accumulate the historical travel time determined between each adjacent station to determine the estimated arrival time of the target robot reaching the first path end point. For example, if the first path is a-101-102-B-C, the first path may be split first, expressed in the form of a-101, 101-102, 102-B, and B-C, and if there are three paths through which the first path passes a-101, in which the robot a takes 40 seconds, the robot B takes 30 seconds, and the robot C takes 20 seconds, if calculation using the median is specified, the historical travel time of the a-101 path is 30 seconds, and the historical travel times of the 101-102 path, 102-B path, and B-C path are calculated by this method, respectively, and if the historical travel time of the 101-102 path is 30 seconds, the historical travel time of the 102-B path is 20 seconds, and the historical travel time of the B-C is 40 seconds, the total time for the first path to pass is 2 minutes, and the current time is 2023-10-18-10-00-00, and the estimated arrival time is 2023-10-18-10-02-00.

The second scheme is to aggregate the historical driving distances of all robots between adjacent stations into one data set, and use the aggregated data set to perform statistical calculation, such as average value, median or other statistical measures, to determine the historical driving distance of the target robot between adjacent stations. And calculating the estimated passing time of the target robot running between adjacent stations according to the historical running distance and the running speed by using the following formula:

estimated transit time = history distance travelled +.speed travelled;

and then determining the estimated arrival time of the target robot to the first path end point according to the estimated passage time and the current time. For example, if the first path is a-101-102-B-C, the first path may be split first, expressed in the form of a-101, 101-102, 102-B, and B-C, if there are three paths through which the robot passes a-101, robot a passes 20m, robot B passes 18m, and robot C passes 16m, if calculation using the median is specified, the historical travel distance of the a-101 path is 18m, if the travel speed of the target robot is 2m/s, the estimated travel time of the a-101 path is 9s, by using this method, the estimated travel time of the 101-102 path, 102-B path, and B-C path are calculated, respectively, if the estimated travel time of the path through which the 101-102 path is calculated is 11 seconds, the estimated travel time of the 102-B path is 30 seconds, the estimated travel time of the B-C is 10 seconds, the total time of the first path passing is 1 minute, and the current time is 2023-10-18-10-00, and the estimated arrival time of 2023-18-10-00-00 is estimated.

Example two

Fig. 2 is a flowchart of a method for calculating arrival time in a robot navigation path according to a second embodiment of the present application. As shown in fig. 2, the method specifically comprises the following steps:

s201, position information of each robot is acquired in response to demand information sent by a user, and the number information of a target robot executing a task is determined according to the demand information and the position information.

S202, determining a path station and an auxiliary station which are passed by the robot according to the demand information, and sending the path station and the auxiliary station to the robot; the first path is composed of a plurality of path stations, and at least one auxiliary station is planned between at least one pair of adjacent path stations.

S203, in response to a path planning request instruction sent by the robot, determining the arrangement sequence between each auxiliary station and each path station according to the path station, the auxiliary station and a preset path planning standard.

Ranking may refer to determining an order of execution between the auxiliary stations and the path stations so that the robot may perform tasks in this order. In robot path planning, the ranking order is very important because it determines how the robot will traverse the path stations and auxiliary stations to complete the task.

All path stations and auxiliary stations may be first determined, then a path planning algorithm is used to determine the ranking order of the auxiliary stations and path stations according to a preset standard, and specifically, dijkstra algorithm, a×algorithm and a minimum spanning tree algorithm may be used to determine the ranking order.

S204, determining a first path traveled by the robot according to the arrangement sequence, and sending the first path to the robot.

Once the ranking order is determined, the scheduling system may generate a first path, including the order of all stations. And transmitting the first path to the robot through a wireless communication technology.

S205, according to the path station and the auxiliary station, determining the historical running time and the historical running distance of each robot running between each two adjacent stations.

On the basis of the above technical solutions, optionally, determining, according to the path station and the auxiliary station, a historical travel time and a historical travel distance of each robot traveling between adjacent stations includes:

In this scenario, the first historical travel time may be the time it takes for each robot to pass this neighboring station. The first historical travel distance may be an actual distance traveled by each robot passing through the neighboring station.

The splitting of the first path may be first performed according to the arrangement order, and then the first historical travel time of each robot between each neighboring station and the first historical travel distance may be respectively queried. For example, if the first path is a-101-102-B-C, where a-101 represents a pair of neighboring stations, if there are 100 robots in total, and 50 robots have passed the neighboring stations, the time taken for the 50 robots to pass the neighboring stations and the actual travel distance are queried as the first historical travel time and the first historical travel distance of the neighboring stations, and so on, until all neighboring stations have been queried.

And after the inquiry is finished, respectively calculating a first historical running time average value and a first historical running distance average value of each adjacent site. For example, if a total of 50 robots pass through A-101, the first historical travel time average may be calculated by the following formula:

wherein x is ₁ Representing the time taken for the first robot to traverse A-101, x ₂ Representing the time it takes for the second robot to pass a-101, and so on.

The first historical travel distance average is then calculated by the following formula:

wherein y is ₁ Representing the actual distance travelled by the first robot through A-101, y ₂ Representing the actual distance traveled by the second robot through a-101, and so on.

When the first historical time average and the first historical travel distance average are determined, the historical travel time is updated to the first historical time average, and the historical travel distance is updated to the first historical travel distance average.

In the scheme, the historical running time is determined according to the first historical running time average value, and the historical running distance is determined according to the first historical running distance average value, so that the historical running time and the historical running distance are more convenient for a customer, and the accuracy of the estimated arrival time is improved.

On the basis of the above technical solutions, optionally, after obtaining the running speed and the current time of the target robot, determining the expected arrival time of the target robot at the first path end point according to the historical running time, the historical running distance, the running speed and the current time, the method further includes:

In this solution, the path station arrival instruction may be an instruction sent by the target robot to the dispatch system to reach each path station.

The path station drive-off instruction may be an instruction sent by the target robot to the dispatch system to drive off each path station.

The auxiliary station arrival instructions may be instructions sent by the target robot to the dispatch system to each auxiliary station.

The auxiliary station drive-off instruction may be an instruction sent by the target robot to the dispatch system to drive off each auxiliary station.

The first arrival time may be a current system time when the target robot arrives at each path station and each auxiliary station.

The first departure time may be a current system time when the target robot departs from each path station and each auxiliary station.

When the target robot travels to the path station and the auxiliary station, a path station arrival instruction and an auxiliary station arrival instruction are sent to the dispatching system through a wireless communication technology, and specifically, the path station arrival instruction and the auxiliary station arrival instruction can include serial number information of the path station and the auxiliary station. When the dispatching system receives the instruction, the current system time is automatically acquired and used as the first arrival time. When the target robot leaves the path station and the auxiliary station, a path station driving-off instruction and an auxiliary station driving-off instruction are sent to the dispatching system through a wireless communication technology, and specifically, the path station driving-off instruction and the auxiliary station driving-off instruction can comprise the number information of the path station and the auxiliary station. When the dispatching system receives the instruction, the current system time is automatically acquired and used as the first driving-away time.

After the first arrival time and the first departure time are determined by the scheduling system, the path station and the auxiliary station which remain unreachable in the first path can be determined according to the path station number information and the auxiliary station number information in the instruction, the remaining transit time is determined by combining the historical travel time, the historical travel distance and the travel speed of the target robot, and finally the expected arrival time of the target robot reaching the first path end point is continuously updated according to the first arrival time and the first departure time. For example, if the first path is a-101-102-B-C, when the target robot arrives at the path station a, a path arrival instruction is sent to the scheduling system, and the scheduling system obtains the current time once as the first arrival time. If the original predicted arrival time is 2023-10-18-10-01-00, the first arrival time is 2023-10-18-10-00-30, and the remaining transit time takes 1 minute, the updated predicted arrival time is 2023-10-18-10-01-30.

If the second scheme is selected, the passing time of the target robot in 101-102, 102-B, B-C is calculated according to the historical driving distance and the driving speed, then the passing time is accumulated to obtain the remaining passing time, and the estimated arrival time is updated by combining the first arrival time. And requires updating of the estimated arrival time when leaving each path station, arriving at each auxiliary station, and leaving each auxiliary station. The updated estimated time of arrival may be transmitted to the user via wireless communication techniques upon reaching the path station and upon leaving the path station. When the user arrives at the auxiliary station and leaves the auxiliary station, the updated estimated arrival time may not be transmitted to the user, and the calculation may be performed only in the background.

In the scheme, the estimated arrival time is continuously updated, so that the determined estimated arrival time is more close to the actual arrival time, the accuracy of the estimated arrival time is improved, and the user experience is improved to a certain extent.

On the basis of the above technical solutions, optionally, after respectively acquiring the first arrival time of the target robot at each path station and each auxiliary station, and respectively acquiring the first departure time of the target robot from each path station and each auxiliary station, the method further includes:

In this solution, the first residence time may be a total residence time of the target robot at each path station and each auxiliary station.

The preset path re-planning criteria may be a set of rules or conditions for determining whether a first path of the target robot needs to be re-planned, which criteria may include a maximum dwell time. If the stay time of the target robot at each path station and each auxiliary station exceeds the maximum stay time, the target robot can be considered to meet the path re-planning standard, and the path re-planning work is required.

After the first arrival time and the first departure time are obtained, the difference value of the first arrival time and the first departure time can be calculated to determine a first stay time, the first stay time corresponding to each path station and each auxiliary station is compared with the maximum stay time in the preset path re-planning standard, and if any first stay time is longer than the maximum stay time, the first path of the target robot is considered to meet the preset path re-planning standard and needs to be re-planned. And then acquiring the current position information and the demand information of the target robot, re-determining the path station and the auxiliary station, and updating the first path of the target robot, wherein a new path can be found by using a path planning algorithm. When the first dwell time is too long, it may be that the robot encounters an obstacle or other emergency on the path.

In the scheme, the flexibility of the first path planning can be improved by setting the path re-planning standard, so that the robot can more flexibly cope with various conditions, and the task execution efficiency of the robot is improved.

S206, acquiring the running speed and the current time of the target robot, and determining the expected arrival time of the target robot reaching the first path end point according to the historical running time, the historical running distance, the running speed and the current time.

In this embodiment, the arrangement sequence of the path station and the auxiliary station is definitely defined, so that an optimal path can be found, and the efficiency of executing tasks by the robot is improved. And the work of a plurality of robots can be better coordinated, so that the robots can be more flexibly adapted to the environment and the task change.

Example III

Fig. 3 is a schematic structural diagram of an arrival time calculating device in a robot navigation path according to a third embodiment of the present application. As shown in fig. 3, the method specifically includes the following steps:

the robot number information determining module 301 is configured to obtain location information of each robot in response to requirement information sent by a user, and determine number information of a target robot performing a task according to the requirement information and the location information;

a first path determining module 302, configured to determine a first path for a target robot to travel according to the requirement information, and send the first path to the target robot; the first path consists of a plurality of path stations, and at least one auxiliary station is planned between at least one pair of adjacent path stations;

a history information obtaining module 303, configured to determine a history travel time and a history travel distance of each robot traveling between each adjacent station according to the path station and the auxiliary station;

The estimated arrival time determining module 304 is configured to obtain a running speed and a current time of the target robot, and determine an estimated arrival time of the target robot reaching the first path end point according to the historical running time, the historical running distance, the running speed and the current time.

Further, the first path determining module is configured to:

Further, the history information acquisition module is configured to:

In the embodiment of the application, a robot number information determining module is used for responding to the requirement information sent by a user, acquiring the position information of each robot and determining the number information of a target robot for executing a task according to the requirement information and the position information; the first path determining module is used for determining a first path of the target robot according to the requirement information and sending the first path to the target robot; the first path consists of a plurality of path stations, and at least one auxiliary station is planned between at least one pair of adjacent path stations; the historical information acquisition module is used for determining the historical running time and the historical running distance of each robot running between every two adjacent stations according to the path stations and the auxiliary stations; the estimated arrival time determining module is used for obtaining the running speed and the current time of the target robot and determining the estimated arrival time of the target robot reaching the first path end point according to the historical running time, the historical running distance, the running speed and the current time. By means of the arrival time calculation device in the robot navigation path, the arrival time of the robot reaching the end point is determined only according to the path, the auxiliary station and the robot running speed, real-time calculation is not needed, and calculation cost can be saved. And the accuracy of the determined estimated arrival time can be improved by combining the historical travel time and the historical travel distance.

The arrival time calculating device in the robot navigation path in the embodiment of the application may be a device, or may be a component, an integrated circuit, or a chip in a terminal. The device may be a mobile electronic device or a non-mobile electronic device. By way of example, the mobile electronic device may be a cell phone, tablet computer, notebook computer, palm computer, vehicle-mounted electronic device, wearable device, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), netbook or personal digital assistant (personal digital assistant, PDA), etc., and the non-mobile electronic device may be a server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (TV), teller machine or self-service machine, etc., and the embodiments of the present application are not limited in particular.

The arrival time calculation device in the robot navigation path in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an ios operating system, or other possible operating systems, which are not specifically limited in the embodiments of the present application.

The arrival time calculating device in the robot navigation path provided in the embodiment of the present application can implement each process implemented by the above method embodiments, and in order to avoid repetition, a description is omitted here.

Example IV

As shown in fig. 4, the embodiment of the present application further provides an electronic device 400, including a processor 401, a memory 402, and a program or an instruction stored in the memory 402 and capable of running on the processor 401, where the program or the instruction implements each process of the embodiment of the arrival time calculation device in the navigation path of the robot when executed by the processor 401, and the process can achieve the same technical effect, and for avoiding repetition, a detailed description is omitted herein.

The electronic device in the embodiment of the application includes the mobile electronic device and the non-mobile electronic device described above.

Example five

The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction realizes each process of the embodiment of the arrival time calculating device in the robot navigation path, and the same technical effect can be achieved, so that repetition is avoided, and no redundant description is provided herein.

Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium such as a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.

Example six

The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running a program or an instruction, implementing each process of the embodiment of the arrival time calculation device in the robot navigation path, and achieving the same technical effect, so as to avoid repetition, and no redundant description is provided herein.

It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solutions of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the methods described in the embodiments of the present application.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

The foregoing description is only of the preferred embodiments of the present application and the technical principles employed. The present application is not limited to the specific embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Therefore, while the present application has been described in connection with the above embodiments, the present application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method of arrival time calculation in a robot navigation path, the method performed by a dispatch system, the method comprising:

2. The method of calculating an arrival time in a navigation path of a robot according to claim 1, wherein determining a first path traveled by the robot based on the demand information and transmitting the first path to the robot, comprises:

3. The method according to claim 2, wherein determining a first path traveled by the robot according to the path station, the auxiliary station, and a preset path planning criterion in response to a path planning request instruction sent by the robot, and sending the first path to the robot, comprises:

4. A method of calculating arrival time in a navigation path of a robot according to claim 3, wherein determining a historical travel time of each robot traveling between each adjacent station and a historical travel distance based on the path station and the auxiliary station comprises:

5. The method according to claim 4, wherein after acquiring the travel speed and the current time of the target robot, determining the estimated arrival time of the target robot to reach the first path end point based on the historical travel time, the historical travel distance, the travel speed, and the current time, the method further comprises:

6. The method according to claim 5, wherein after acquiring the first arrival time of the target robot at each of the path stations and each of the auxiliary stations, and acquiring the first departure time of the target robot from each of the path stations and each of the auxiliary stations, respectively, the method further comprises:

7. An arrival time calculation device in a robot navigation path, the device comprising:

8. The arrival time calculation device in a robot navigation path according to claim 7, wherein said first path determination module is configured to:

9. An electronic device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the method of arrival time calculation in a robot navigation path as claimed in any one of claims 1-6.

10. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the method of arrival time calculation in a robot navigation path according to any of claims 1-6.