CN109144065A - Robot preventing collision method and device - Google Patents
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- CN109144065A CN109144065A CN201810997706.8A CN201810997706A CN109144065A CN 109144065 A CN109144065 A CN 109144065A CN 201810997706 A CN201810997706 A CN 201810997706A CN 109144065 A CN109144065 A CN 109144065A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J9/00—Programme-controlled manipulators
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- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The present invention relates to robotic technology fields, a kind of robot preventing collision method and device are provided, the described method includes: obtaining the current location information of the location information in crosspoint, the current location information of the first robot and the second robot when the preset path of the first robot and the preset path of the second robot are intersected there are path；According to preset path, the preset path of the second robot, the current location information of the first robot, the current location information of the second robot and the location information in crosspoint of the first robot, evacuation robot is determined from the first robot and the second robot and by evacuation robot；Go out to avoid evacuation waiting time and the evacuation point of robot according to the current location information of evacuation robot, by the positional information calculation in the current location information of evacuation robot and crosspoint.The present invention is by rationally determining that evacuation robot, evacuation waiting time and evacuation point realize the reasonable evacuation between the robot that meets.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot avoidance method and device.
Background
Because the control system of the robot has the capacity of planning the path by itself, when encountering an obstacle, the robot can plan the current moving path again by depending on the control system of the robot to realize the autonomous avoidance of the obstacle and the autonomous movement, so that two or more robots may simultaneously take another channel as an avoidance path and then meet in the other channel again, and the reasonable avoidance between the robots cannot be realized.
Disclosure of Invention
The embodiment of the invention aims to provide a robot avoidance method and device, which can realize reasonable avoidance between two meeting robots by reasonably determining the priorities of the two meeting robots, the avoidance time and the avoidance point of the avoidance robot.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a robot avoidance method, which is applied to a background server, where the background server is in communication connection with both a first robot and a second robot, and the method includes: when the preset path of the first robot and the preset path of the second robot are crossed, acquiring the position information of the crossed point, the current position information of the first robot and the current position information of the second robot; determining an avoidance robot and an avoided robot from the first robot and the second robot according to the preset path of the first robot, the preset path of the second robot, the current position information of the first robot, the current position information of the second robot and the position information of the intersection; and calculating the avoidance waiting time length and the avoidance point of the avoidance robot according to the current position information of the avoidance robot, the current position information of the avoided robot and the position information of the intersection point, so that the avoidance robot moves to the avoidance point and pauses the avoidance waiting time length to carry out avoidance.
In a second aspect, an embodiment of the present invention further provides a robot avoidance apparatus, where the apparatus includes an obtaining module, a determining module, and an avoidance module. The acquisition module is used for acquiring the position information of a cross point, the current position information of the first robot and the current position information of the second robot when the preset path of the first robot and the preset path of the second robot are crossed; the determining module is used for determining an avoiding robot and an avoided robot from the first robot and the second robot according to a preset path of the first robot, a preset path of the second robot, current position information of the first robot, current position information of the second robot and position information of the intersection point, and the avoiding module is used for calculating an avoiding waiting time length and an avoiding point of the avoiding robot according to the current position information of the avoiding robot, the current position information of the avoided robot and the position information of the intersection point so as to enable the avoiding robot to move to the avoiding point and pause the avoiding waiting time length to carry out avoiding.
Compared with the prior art, the method and the device for avoiding the robot provided by the embodiment of the invention comprise the steps that firstly, a background server side judges whether path intersection exists according to a preset path of a first robot and a preset path of a second robot, and when the path intersection exists, position information of the intersection, current position information of the first robot and current position information of the second robot are obtained; then, determining an avoidance robot and an avoided robot from the first robot and the second robot according to the preset path of the first robot, the preset path of the second robot, the current position information of the first robot, the current position information of the second robot and the position information of the intersection point; and finally, calculating the avoidance waiting time length and the avoidance point of the avoidance robot according to the current position information of the avoidance robot, the current position information of the avoided robot and the position information of the intersection point, so that the avoidance robot moves to the avoidance point and pauses the avoidance waiting time length for avoidance. Compared with the prior art, the embodiment of the invention realizes reasonable avoidance between the two meeting robots by reasonably determining the priorities of the two meeting robots and the avoidance waiting time and avoidance point of the avoidance robot.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of an application scenario of a robot avoidance method provided by the implementation of the present invention.
Fig. 2 is a block diagram illustrating a background server according to an embodiment of the present invention.
Fig. 3 shows a flowchart of a robot avoidance method provided by the embodiment of the invention.
FIG. 4 is an exemplary graph of navigation distances between a preset path of a first robot and a preset path of a second robot.
Fig. 5 is a flowchart illustrating sub-steps of step S103 shown in fig. 3.
Fig. 6 is a block diagram schematically illustrating a robot avoidance apparatus according to an embodiment of the present invention.
Icon: 100-background server side; 101-a memory; 102-a memory controller; 103-a processor; 200-a robot avoidance device; 201-a judgment module; 202-an obtaining module; 203-a determination module; 204-an avoidance module; 300-a first robot; 400-second robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a schematic view illustrating an application scenario of a robot avoidance method according to an embodiment of the present invention. The background server 100 is in communication connection with both the first robot 300 and the second robot 400, and the background server 100 judges whether path intersection exists according to a preset path of the first robot 300 and a preset path of the second robot 400, determines an avoiding robot and an avoided robot from the first robot 300 and the second robot 400 according to the preset path of the first robot 300, the preset path of the second robot 400, current position information of the first robot 300, current position information of the second robot 400 and position information of an intersection point when the path intersection exists, and calculates an avoidance waiting duration of the avoiding robot so that the avoidance robot carries out avoidance when the avoidance waiting duration is suspended.
It should be noted that, although only one first robot 300 and one second robot 400 are illustrated in fig. 1, it is not meant that the present invention is only applicable to the case of one first robot 300 and one second robot 400, and when there are a plurality of first robots 300 and a plurality of second robots 400, the scheme used by each first robot 300 and each second robot 400 is the same, and those skilled in the art can completely implement the robot avoidance method according to the robot avoidance method disclosed in the embodiment of the present invention under the condition that a plurality of first robots 300 and a plurality of second robots 400 are not created.
Referring to fig. 2, fig. 2 is a block diagram illustrating a background server 100 according to an embodiment of the present invention. The backend server 100 may be, but is not limited to, a Personal Computer (PC), a server, and the like. The operating system of the backend server 100 may be, but is not limited to, a Windows system, a Linux system, and the like. The background server 100 includes a robot avoidance device 200, a memory 101, a memory controller 102, and a processor 103.
The memory 101, memory controller 102, and processor 103 are electrically connected to each other directly or indirectly to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The robot avoidance device 200 includes at least one software function module which can be stored in the memory 101 in the form of software or firmware (firmware) or is fixed in an Operating System (OS) of the backend 100. The processor 103 is configured to execute executable modules stored in the memory 101, such as software functional modules and computer programs included in the robot avoidance apparatus 200.
The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 101 is configured to store a program, and the processor 103 executes the program after receiving the execution instruction.
The processor 103 may be an integrated circuit chip having signal processing capabilities. The processor 103 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), a voice processor, a video processor, and the like; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor 103 may be any conventional processor or the like.
First embodiment
Referring to fig. 3, fig. 3 is a flowchart illustrating a robot avoidance method according to an embodiment of the present invention. The method comprises the following steps:
step S101, judging whether the preset path of the first robot and the preset path of the second robot are crossed or not according to the preset path of the first robot and the preset path of the second robot.
In the embodiment of the present invention, the preset path of the first robot 300 is a moving path that is planned for the first robot 300 in advance by the backend server 100, the preset path of the first robot 300 includes at least two first navigation points arranged in sequence, the first robot 300 sequentially passes through each first navigation point according to the sequence of the first navigation points, the preset path of the second robot 400 is a moving path that is planned for the second robot 400 in advance by the backend server 100, the preset path of the second robot 400 includes at least two second navigation points arranged in sequence, and the second robot 400 sequentially passes through each second navigation point according to the sequence of the second navigation points.
As an embodiment, the method for determining whether there is a path intersection between the preset path of the first robot 300 and the preset path of the second robot 400 according to the preset path of the first robot 300 and the preset path of the second robot 400 may be:
firstly, calculating a plurality of navigation distances between each first navigation point and each second navigation point;
secondly, sequencing the plurality of navigation distances to obtain the minimum navigation distance in the plurality of navigation distances;
and finally, when the minimum navigation distance is smaller than the preset safety distance, judging that the preset path of the first robot is crossed with the preset path of the second robot.
In the embodiment of the present invention, the preset safe distance refers to a minimum distance value that can pass through smoothly without changing the current moving path when the first robot 300 meets the second robot 400. For example, referring to fig. 4, fig. 4 shows an exemplary graph of a navigation distance between a preset path of a first robot 300 and a preset path of a second robot 400, in fig. 4, the preset path of the first robot 300 includes three first navigation points a1, a2, A3, the preset path of the second robot 400 includes three second navigation points B1, B2, B3, the preset safety distance is 5, the navigation distances between a1 and B1, a1 and B2, a1 and B3, a2 and B1, a2 and B2, a2 and B3, A3 and B1, A3 and B2, A3 and B3 are 6, 4, 12, 7, 3, 7, 10, 8, 6, respectively, the minimum navigation distance among the navigation distances between the first navigation points and the second navigation points is 3 and less than the preset safety distance 5, therefore, it is determined that the preset path of the first robot 300 crosses the preset path of the second robot 400.
And S102, when the preset path of the first robot and the preset path of the second robot are crossed, acquiring the position information of the crossed point, the current position information of the first robot and the current position information of the second robot.
In the embodiment of the invention, each first navigation point has a corresponding first serial number according to the passing sequence, each second navigation point has a corresponding second serial number according to the passing sequence, and an intersection point is determined from the first navigation point and the second navigation point corresponding to the minimum navigation distance according to a preset rule, wherein the preset rule can be one of the first navigation point and the second navigation point corresponding to the minimum navigation distance with a smaller serial number, or can be any one of the first navigation point and the second navigation point corresponding to the minimum navigation distance randomly selected.
And S103, determining an avoidance robot and an avoided robot from the first robot and the second robot according to the preset path of the first robot, the preset path of the second robot, the current position information of the first robot, the current position information of the second robot and the position information of the intersection.
In the embodiment of the present invention, first, the avoidance priority of the first robot 300 and the avoidance priority of the second robot 400 are calculated according to the preset path of the first robot 300, the preset path of the second robot 400, the current position information of the first robot 300, the current position information of the second robot 400, and the position information of the intersection, the robot with the low avoidance priority is determined as the avoidance robot, and the robot with the high avoidance priority is determined as the avoided robot.
Referring to fig. 5, step S103 further includes the following sub-steps:
and a substep S1031 of calculating a first priority factor of the first robot and a first priority factor of the second robot based on the current position information of the first robot, the current position information of the second robot, and the position information of the intersection.
In an embodiment of the present invention, the first priority factor of the first robot 300 is used to characterize how far the first robot 300 is from the intersection, and the first priority factor of the second robot 400 is used to characterize how far the second robot 400 is from the intersection.
As an embodiment, the method of calculating the first priority factor of the first robot 300 and the first priority factor of the second robot 400 from the current position information of the first robot 300, the current position information of the second robot 400, and the position information of the intersection may be:
firstly, the cross angle between the first robot and the second robot is calculated according to the current position information of the first robot and the current position information of the second robot.
In the embodiment of the present invention, the intersection angle between the first robot 300 and the second robot 400 may be an included angle between a line connecting the current position of the first robot 300 and the intersection and a line connecting the current position of the second robot 400 and the intersection, and the intersection angle may be calculated by the following formula:
wherein x iscAnd ycRespectively representing the abscissa and ordinate, x, of the cross-over points1And ys1Are respectively provided withAbscissa and ordinate, x, representing the current position of the first robot 300s2And ys2An abscissa and an ordinate respectively representing the current position of the second robot 400, and α represents the crossing angle.
Then, an initial avoidance distance is calculated based on the intersection angle.
In the embodiment of the present invention, the initial avoidance distance may be calculated by the following formula:
wherein,denotes the initial avoidance distance, α denotes the intersection angle, k1Representing a first safety factor, k2Indicating a second safety factor,/qIndicating a preset safe distance.
Thirdly, a first physical distance between the first robot and the intersection is calculated according to the current position information of the first robot and the position information of the intersection.
In the embodiment of the present invention, the grid coordinate is used to represent the current position information of the first robot 300 and the position information of the intersection, and the first physical distance may be calculated by the following formula:
l1＝|xs1-xc|+|ys1-yc|
wherein x iscAnd ycRespectively representing the abscissa and ordinate, x, of the cross-over points1And ys1Respectively, an abscissa and an ordinate representing the current position of the first robot 300.
And fourthly, obtaining a first priority factor of the first robot according to the first physical distance and the initial avoidance distance.
In the embodiment of the present invention, obtaining the first priority factor of the first robot 300 according to the first physical distance and the initial avoidance distance may specifically be implemented as follows: firstly, judging whether a first physical distance is greater than an initial avoidance distance, and when the first physical distance is greater than the initial avoidance distance, taking the first physical distance as a first final avoidance distance; when the first physical distance is smaller than or equal to the initial avoidance distance, taking the initial avoidance distance as a first final avoidance distance; the ratio of the first physical distance to the first final avoidance distance is then used as a first priority factor for the first robot 300.
Fifth, a second physical distance between the current position information of the second robot and the intersection is calculated.
In the embodiment of the present invention, the second physical distance is similar to the first physical distance calculation method, and details thereof are not repeated herein.
And finally, obtaining a first priority factor of the second robot according to the second physical distance and the initial avoidance distance.
In the embodiment of the present invention, obtaining the first priority factor of the second robot 400 according to the second physical distance and the initial avoidance distance may be implemented as follows: firstly, judging whether the second physical distance is greater than the initial avoidance distance, and when the second physical distance is greater than the initial avoidance distance, taking the second physical distance as a second final avoidance distance; when the second physical distance is less than or equal to the initial avoidance distance, the initial avoidance distance is used as a second final avoidance distance, and then, the ratio of the second physical distance to the second final avoidance distance is used as a first priority factor of the second robot 400.
And a substep S1032 of calculating a second priority factor of the first robot according to the preset path of the first robot and the current position information of the first robot, wherein the second priority factor of the first robot is a percentage of the first robot having traveled to occupy the total path of the preset path of the first robot.
In the embodiment of the present invention, during the movement of the first robot 300, there may be a deviation between the real-time position of the first robot 300 and the preset path of the first robot 300, that is, the first robot 300 may not move exactly according to the navigation point on the preset path of the first robot 300, and therefore, in calculating the percentage of the total distance the first robot 300 has traveled to the preset path of the first robot 300, first, a first navigation point closest to the current position of the first robot 300 among first navigation points on a preset path of the first robot 300 is determined, then, the percentage of the first robot 300 having traveled the total distance of the preset path of the first robot 300 is calculated according to the first navigation point closest to the current position of the first robot 300 and the preset path of the first robot 300, and the calculation formula is as follows:
wherein x is*And y*Respectively, an abscissa and an ordinate indicating the current position of the first robot 300, i indicating the serial number of the first navigation point on the first preset path, m indicating the number of the first navigation point on the first preset path, xiAnd yiRespectively the abscissa and the ordinate of the first navigation point i,represents the distance, w, between the current position of the first robot 300 and the first navigation point ii(xi,yi) Represents a preset path of the first robot 300, (x)s,ys) (x) indicating a predetermined path of the first robot 300 and the first robot 300*,y*) The current position of (2) is the closest navigation point,/s(xs,ys) Represents (x)s,ys) And (x)*,y*) Distance between, ws(xs,ys) Represents (x)s,ys) Constituent movement paths, P1Representing a second priority factor, l, of the first robot 300iRepresents the distance between the first navigation point i and the first navigation point (i-1).
And a substep S1033 of calculating a second priority factor of the second robot according to the preset path of the second robot and the current position information of the second robot, wherein the second priority factor of the second robot is a percentage of the distance traveled by the second robot to the total distance of the preset path of the second robot.
In the embodiment of the present invention, the calculation method of the second priority factor of the second robot 400 is similar to the calculation method of the second priority factor of the first robot 300, and is not repeated here.
And a substep S1034 of determining the avoidance robot and the avoided robot according to the first priority factor and the second priority factor of the first robot and the first priority factor and the second priority factor of the second robot.
In the embodiment of the present invention, first, the avoidance priority of the first robot 300 is calculated according to the first priority factor of the first robot 300 and the second priority factor of the first robot 300, then, the avoidance priority of the second robot 400 is calculated according to the first priority factor of the second robot 400 and the second priority factor of the second robot 400, and finally, the robot with the low avoidance priority is determined as the avoidance robot, and the robot with the high avoidance priority is determined as the avoided robot.
As an embodiment, the method for determining the avoiding robot and the avoided robot according to the first priority factor and the second priority factor of the first robot 300 and the first priority factor and the second priority factor of the second robot 400 may be:
firstly, the avoidance priority of the first robot is calculated according to the first priority factor of the first robot and the second priority factor of the first robot.
In the embodiment of the present invention, the avoidance priority of the first robot 300 may be calculated by the following formula:
R1＝a1*P11+a2*P12
wherein R is1Indicates the avoidance priority of the first robot 300, a1The weight representing the first priority factor, i.e. the weight of the influence of the first priority on the avoidance priority, P11Representing a first priority factor, a, of the first robot 3002The weight representing the second priority factor, i.e. the weight of the influence of the second priority on the avoidance priority, P12Representing a second priority factor of the first robot 300.
And secondly, calculating the avoidance priority of the second robot according to the first priority factor of the second robot and the second priority factor of the second robot.
In the embodiment of the present invention, the avoidance priority of the second robot 400 may be calculated by the following formula:
R2＝a1*P21+a2*P22
wherein R is2Indicates the avoidance priority of the second robot 400, a1The weight representing the first priority factor, i.e. the weight of the influence of the first priority on the avoidance priority, P21Representing a first priority factor, a, of the second robot 4002The weight representing the second priority factor, i.e. the weight of the influence of the second priority on the avoidance priority, P22Representing a second priority factor for the second robot 400.
Thirdly, when the avoidance priority of the first robot is larger than that of the second robot, determining the first robot as the avoided robot and determining the second robot as the avoidance robot;
and finally, when the avoidance priority of the first robot is smaller than the avoidance priority of the second robot, determining the first robot as the avoidance robot, and determining the second robot as the avoided robot.
And step S104, calculating the avoidance waiting time length and the avoidance point of the avoidance robot according to the current position information of the avoidance robot, the current position information of the avoided robot and the position information of the intersection, so that the avoidance robot moves to the avoidance point and pauses the avoidance waiting time length for avoidance.
In the embodiment of the present invention, the avoidance robot is a robot having a low avoidance priority from among the first robot 300 and the second robot 400, when the avoiding robot is the first robot 300, the second robot 400 is the avoided robot, the avoiding waiting duration of the avoiding robot is calculated according to the current position information of the avoiding robot, the current position information of the avoided robot and the position information of the intersection, the avoiding waiting duration of the first robot 300 is calculated according to the current position information of the first robot 300, the current position information of the second robot 400 and the position information of the intersection, so that the first robot 300 temporarily stops the avoiding waiting duration for avoiding, when the avoiding robot is the second robot 400, the first robot 300 is the avoided robot, and the method of determining the avoidance waiting time period is similar to the case where the avoiding robot is the first robot 300 and the second robot 400 is the avoided robot.
As an embodiment, a method for calculating an avoidance waiting duration of an avoidance robot according to current position information of the avoidance robot, current position information of an avoided robot, and position information of an intersection, so that the avoidance robot carries out avoidance in a time-out avoidance waiting duration may be:
firstly, a physical distance between a current position of the avoidance robot and a cross point is obtained, and a first avoidance duration of the avoidance robot is calculated according to the physical distance and a preset moving speed.
In the embodiment of the present invention, when the avoidance robot is the first robot 300, the physical distance between the current position of the avoidance robot and the intersection is the physical distance between the current position of the first robot 300 and the intersection, that is, the first physical distance, and when the avoidance robot is the second robot 400, the physical distance between the current position of the avoidance robot and the intersection is the physical distance between the current position of the second robot 400 and the intersection, that is, the second physical distance. The first avoidance duration may be calculated by dividing a physical distance between the current position of the avoidance robot and the intersection by a preset moving speed, where the preset moving speed may be an average moving speed of the robot.
And secondly, acquiring a final avoidance distance of the avoidance robot, and calculating a second avoidance duration of the avoidance robot according to the final avoidance distance and the preset moving speed.
In the embodiment of the present invention, when the avoidance robot is the first robot 300, the final avoidance distance of the avoidance robot is the first final avoidance distance, and when the avoidance robot is the second robot 400, the final avoidance distance of the avoidance robot is the second final avoidance distance. In the embodiment of the present invention, the first final avoidance distance and the second final avoidance distance are already calculated in step S103, so that this step can directly obtain the final avoidance distance of the avoidance robot. The second avoidance duration can be obtained by calculating the final avoidance distance of the avoidance robot by dividing the final avoidance distance by the preset moving speed.
And thirdly, taking the sum of the first avoidance duration of the avoidance robot and the second avoidance duration of the avoidance robot as the avoidance waiting duration of the avoidance robot.
In the embodiment of the present invention, the avoidance waiting duration may be calculated by the following formula:
wherein, t1Denotes a first avoidance period, t2Representing a second avoidance time length, v representing a preset moving speed, s representing a navigation point closest to the current position of the avoidance robot, c representing a cross point, liDenotes the distance between the navigation point i and the navigation point (i-1) |dAnd representing the final avoidance distance of the avoidance robot.
And finally, determining an avoidance point according to the final avoidance distance and the current position of the avoidance robot.
In the embodiment of the present invention, the avoidance point is a navigation point which is a final avoidance distance from the current position of the avoidance robot, wherein the navigation point may be located on a preset path of the first robot 300 or a preset path of the second robot 400, or may not be located on the preset path of the first robot 300 nor the preset path of the second robot 400, and the distance between the avoidance point and the current position of the avoidance robot is the final avoidance distance, and is not necessarily the distance between the avoidance point and the current position of the avoidance robot is exactly equal to the final avoidance distance, or may be the distance between the avoidance point and the current position of the avoidance robot is within a preset range of the final avoidance distance. For example, the avoidance robot is the first robot 300, the preset path of the first robot 300 includes A, B, C three navigation points, the final avoidance distance, that is, the first final avoidance distance is 5, the current position of the first robot 300 is 3 from the navigation point a, the current position of the first robot 300 is 6 from the navigation point B, the current position of the first robot 300 is 9 from the navigation point C, and the preset range is (the final avoidance distance is-1, and the final avoidance distance +1), and then the navigation point B is determined to be an avoidance point. For another example, the avoidance robot is the first robot 300, the preset path of the first robot 300 includes A, B, C three navigation points, the final avoidance distance, that is, the first final avoidance distance is 5, the current position of the first robot 300 is 3 from the navigation point a, the current position of the first robot 300 is 9 from the navigation point B, the current position of the first robot 300 is 12 from the navigation point C, and the current position of the first robot 300 is 5 from the navigation point D, and the navigation point D is an avoidance point.
In the embodiment of the invention, after the avoidance point is determined, if the avoidance point is not located on the preset path, the avoidance point is added to the preset path, and the avoidance waiting duration is set, the background server 100 sends the preset path added with the avoidance point and set with the avoidance waiting duration to the avoidance robot, so that the avoidance robot moves to the avoidance point and stops the avoidance waiting duration for avoidance.
In the embodiment of the present invention, by reasonably determining the avoidance priorities of the first robot 300 and the second robot 400, the avoidance robot, the avoided robot, the avoidance waiting time length and the avoidance point are determined from the first robot 300 and the second robot 400 according to the avoidance priorities, and compared with the prior art, the following beneficial effects are provided:
firstly, the distance between the robot and the intersection is used as a first priority factor of the avoidance priority, and a higher priority is set for the robot closer to the intersection, so that the robot closer to the intersection can pass through the intersection as soon as possible, and the influence on the moving efficiency of the robots of both parties with crossed paths is reduced.
Secondly, the percentage of the distance traveled by the robot in the total distance of the preset path is used as a second priority factor of the avoidance priority, and a higher priority is set for the robot which is expected to finish the preset path first, so that the robot which is expected to finish the preset path first finishes the preset path as soon as possible, and the influence on the moving efficiency of the robots of both parties with crossed paths is reduced.
Thirdly, different weights are set for the first priority factor and the second priority factor according to different scenes, so that the determined avoidance robot is more reasonable on one hand, and the robot avoidance method in the embodiment of the invention is more applicable to more scenes on the other hand.
Second embodiment
Referring to fig. 6, fig. 6 is a block diagram illustrating a robot avoidance apparatus 200 according to an embodiment of the present invention. The robot avoidance device 200 is applied to the background server 100 and comprises a judgment module 201; an acquisition module 202; a determination module 203; and an avoidance module 204.
The determining module 201 is configured to determine whether a path intersection exists between the preset path of the first robot and the preset path of the second robot according to the preset path of the first robot and the preset path of the second robot.
In this embodiment of the present invention, the obtaining module 201 is configured to execute step S101.
The obtaining module 202 is configured to obtain position information of a cross point, current position information of the first robot, and current position information of the second robot when a preset path of the first robot and a preset path of the second robot intersect.
In this embodiment of the present invention, the obtaining module 202 is configured to execute step S102.
The determining module 203 is configured to determine an avoidance robot and an avoided robot from the first robot and the second robot according to the preset path of the first robot, the preset path of the second robot, the current position information of the first robot, the current position information of the second robot, and the position information of the intersection.
In the embodiment of the present invention, the determining module 203 is configured to execute step S103 and sub-steps S1031 to S1034 thereof.
The avoidance module 204 is configured to calculate an avoidance waiting duration of the avoidance robot according to the current position information of the avoidance robot, the current position information of the avoided robot, and the position information of the intersection, so that the avoidance robot pauses the avoidance waiting duration to perform avoidance.
In the embodiment of the present invention, the avoidance module 204 is configured to execute step S104.
In summary, the robot avoidance method and apparatus provided by the present invention are applied to a background server, and the background server is in communication connection with both the first robot and the second robot, and the method includes: when the preset path of the first robot and the preset path of the second robot are crossed, acquiring the position information of the crossed point, the current position information of the first robot and the current position information of the second robot; determining an avoidance robot and an avoided robot from the first robot and the second robot according to the preset path of the first robot, the preset path of the second robot, the current position information of the first robot, the current position information of the second robot and the position information of the intersection; and calculating the avoidance waiting time length of the avoidance robot according to the current position information of the avoidance robot, the current position information of the avoided robot and the position information of the intersection point, so that the avoidance robot carries out avoidance according to the avoidance waiting time length. Compared with the prior art, the embodiment of the invention reasonably determines the priority of the two meeting robots and the avoidance waiting time and avoidance point of the avoidance robot, thereby realizing reasonable avoidance between the two meeting robots.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (10)
1. A robot avoidance method is applied to a background server, and the background server is in communication connection with a first robot and a second robot, and the method comprises the following steps:
when the preset path of the first robot and the preset path of the second robot are crossed, acquiring the position information of the crossed point, the current position information of the first robot and the current position information of the second robot;
determining an avoidance robot and an avoided robot from the first robot and the second robot according to the preset path of the first robot, the preset path of the second robot, the current position information of the first robot, the current position information of the second robot and the position information of the intersection;
and calculating the avoidance waiting time length and the avoidance point of the avoidance robot according to the current position information of the avoidance robot, the current position information of the avoided robot and the position information of the intersection, so that the avoidance robot moves to the avoidance point and suspends the avoidance waiting time length for avoidance.
2. The robot avoidance method according to claim 1, wherein the step of acquiring the position information of the intersection, the current position information of the first robot, and the current position information of the second robot when the preset path of the first robot intersects with the preset path of the second robot is preceded by the step of:
and judging whether the path intersection exists between the preset path of the first robot and the preset path of the second robot or not according to the preset path of the first robot and the preset path of the second robot.
3. The robot avoidance method according to claim 2, wherein the preset path of the first robot includes at least two first navigation points, the preset path of the second robot includes at least two second navigation points, and the step of determining whether there is a path intersection between the preset path of the first robot and the preset path of the second robot based on the preset path of the first robot and the preset path of the second robot includes:
calculating a plurality of navigation distances between each first navigation point and each second navigation point;
sequencing the navigation distances to obtain the minimum navigation distance in the navigation distances;
and when the minimum navigation distance is smaller than a preset safety distance, judging that the preset path of the first robot is crossed with the preset path of the second robot.
4. The robot avoidance method according to claim 3, wherein the step of acquiring the position information of the intersection when the preset path of the first robot intersects with the preset path of the second robot includes:
and determining an intersection point from the first navigation point and the second navigation point corresponding to the minimum navigation distance according to a preset rule.
5. The robot avoidance method according to claim 1, wherein the step of determining the avoidance robot and the avoided robot from the first robot and the second robot based on the preset path of the first robot, the preset path of the second robot, the current position information of the first robot, the current position information of the second robot, and the position information of the intersection includes:
calculating a first priority factor of the first robot and a first priority factor of the second robot according to the current position information of the first robot, the current position information of the second robot and the position information of the intersection;
calculating a second priority factor of the first robot according to the preset path of the first robot and the current position information of the first robot, wherein the second priority factor of the first robot is the percentage of the traveled distance of the first robot in the total distance of the preset path of the first robot;
calculating a second priority factor of the second robot according to the preset path of the second robot and the current position information of the second robot, wherein the second priority factor of the second robot is the percentage of the second robot traveled distance in the total path of the preset path of the second robot;
and determining the avoidance robot and the avoided robot according to the first priority factor and the second priority factor of the first robot and the first priority factor and the second priority factor of the second robot.
6. The robot avoidance method according to claim 5, wherein the step of determining the avoidance robot and the avoided robot based on the first priority factor and the second priority factor of the first robot and the first priority factor and the second priority factor of the second robot includes:
calculating the avoidance priority of the first robot according to the first priority factor of the first robot and the second priority factor of the first robot;
calculating the avoidance priority of the second robot according to the first priority factor of the second robot and the second priority factor of the second robot;
when the avoidance priority of the first robot is greater than the avoidance priority of the second robot, determining the first robot as the avoided robot, and determining the second robot as the avoidance robot;
and when the avoidance priority of the first robot is smaller than the avoidance priority of the second robot, determining the first robot as the avoidance robot, and determining the second robot as the avoided robot.
7. The robot avoidance method according to claim 5, wherein the step of calculating the first priority factor of the first robot and the first priority factor of the second robot based on the current position information of the first robot, the current position information of the second robot, and the position information of the intersection includes:
calculating a cross angle between the first robot and the second robot according to the current position information of the first robot and the current position information of the second robot;
calculating an initial avoidance distance according to the intersection angle;
calculating a first physical distance between the first robot and the intersection point according to the current position information of the first robot and the position information of the intersection point;
obtaining a first priority factor of the first robot according to the first physical distance and the initial avoidance distance;
calculating a second physical distance between the current position information of the second robot and the intersection;
and obtaining a first priority factor of the second robot according to the second physical distance and the initial avoidance distance.
8. The robot avoidance method according to claim 7, wherein the step of deriving the first priority factor for the first robot based on the first physical distance and the initial avoidance distance comprises:
when the first physical distance is larger than the initial avoidance distance, taking the first physical distance as a first final avoidance distance;
when the first physical distance is smaller than or equal to the initial avoidance distance, taking the initial avoidance distance as a first final avoidance distance;
taking the ratio of the first physical distance to the first final avoidance distance as a first priority factor of the first robot;
the step of obtaining a first priority factor of the second robot according to the second physical distance and the initial avoidance distance includes:
when the second physical distance is larger than the initial avoidance distance, taking the second physical distance as a second final avoidance distance;
when the second physical distance is smaller than or equal to the initial avoidance distance, taking the initial avoidance distance as a second final avoidance distance;
and taking the ratio of the second physical distance to the second final avoidance distance as a first priority factor of the second robot.
9. The robot avoidance method according to claim 8, wherein the step of calculating the avoidance waiting time period and the avoidance point of the avoidance robot based on the current position information of the avoidance robot, the current position of the avoided robot, and the position information of the intersection, so that the avoidance robot moves to the avoidance point and pauses the avoidance waiting time period for avoidance includes:
acquiring a physical distance between the current position of the avoidance robot and the position of the intersection, and calculating a first avoidance duration of the avoidance robot according to the physical distance and a preset moving speed;
acquiring a final avoidance distance of the avoidance robot, and calculating a second avoidance duration of the avoidance robot according to the final avoidance distance and the preset moving speed;
taking the sum of the first avoidance duration and the second avoidance duration as an avoidance waiting duration of the avoidance robot;
and determining the avoidance point according to the current position of the avoidance robot and the final avoidance distance.
10. The utility model provides a device is dodged to robot which characterized in that is applied to the backstage server, backstage server and first robot and the equal communication connection of second robot, the device includes:
the acquisition module is used for acquiring position information of a cross point, current position information of the first robot and current position information of the second robot when the preset path of the first robot and the preset path of the second robot are crossed;
the determining module is used for determining an avoidance robot and an avoided robot from the first robot and the second robot according to the preset path of the first robot, the preset path of the second robot, the current position information of the first robot, the current position information of the second robot and the position information of the intersection;
and the avoidance module is used for calculating the avoidance waiting time length and the avoidance point of the avoidance robot according to the current position information of the avoidance robot, the current position information of the avoided robot and the position information of the intersection point, so that the avoidance robot moves to the avoidance point and pauses the avoidance waiting time length for avoidance.
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