CN113608528A - Robot scheduling method, device, robot and storage medium - Google Patents
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Abstract
The application provides a robot scheduling method, a robot scheduling device, a robot and a storage medium. The robot scheduling method comprises the following steps: broadcasting a first coordinate of a first robot to the outside, and monitoring a second coordinate of a second robot; calculating the distance between the first robot and the second robot according to the first coordinate and the second coordinate; when the monitored distance is less than the first safety distance, reducing the maximum limit speed of the first robot to a first speed; broadcasting a first motion path of the first robot outwards according to a preset frequency, and monitoring a second motion path of the second robot in real time; predicting whether the first robot collides with the second robot according to the first motion path and the second motion path; and if so, reducing the maximum limit speed of the first robot from the first speed to the second speed, and finishing the vehicle crossing with the second robot at a speed lower than the second speed. The method and the device avoid the collision by gradually adjusting the maximum limit speed of the first robot.
Description
Technical Field
The present application relates to the field of robot technologies, and in particular, to a robot scheduling method, apparatus, robot, and storage medium.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
When a plurality of robots need to be placed in the same area for operation, the existing autonomous obstacle avoidance mode of the robots easily causes mutual collision or blockage, and normal operation of the robots is affected.
Disclosure of Invention
The application provides a robot scheduling method, a robot scheduling device, a robot and a storage medium, which are used for solving the problem that normal operation of the robot is influenced due to the fact that mutual collision or blockage easily occurs in the current autonomous obstacle avoidance mode of the robot.
In order to solve the problems, the following technical scheme is adopted in the application:
the application provides a robot scheduling method, which comprises the following steps:
broadcasting a first coordinate of a first robot outwards through a communication module configured in the first robot, and monitoring a second coordinate of a second robot within a preset distance from the first robot;
calculating the distance between the first robot and the second robot according to the first coordinate and the second coordinate;
determining a first safe distance of the first robot from the second robot;
when the distance is monitored to be less than the first safety distance, reducing the maximum limit speed of the first robot to a first speed; wherein the maximum limit speed is a maximum operating speed of the first robot;
broadcasting a first motion path of the first robot outwards according to a preset frequency, and monitoring a second motion path of the second robot in real time;
predicting whether the first robot collides with a second robot according to the first motion path and the second motion path;
if so, reducing the maximum limit speed of the first robot from the first speed to a second speed, and finishing the meeting with the second robot at a speed lower than the second speed.
Preferably, the step of determining a first safe distance between the first robot and the second robot comprises:
acquiring the maximum limit speed and the specified safety time of the first robot in normal running;
and calculating a first safety distance between the first robot and the second robot according to the maximum limit speed and a specified safety time.
Further, before the step of monitoring that the distance is less than the first safety distance, the method further comprises:
the first robot judges whether the distance is smaller than the first safety distance in real time at a preset reference frequency;
if yes, monitoring that the distance is smaller than the first safety distance.
Preferably, the step of predicting whether the first robot will collide with the second robot according to the first motion path and the second motion path includes:
judging whether the first robot and the second robot have a repeated area according to the first motion path and the second motion path; the repeated area is an overlapped area of the fan-shaped area of the first robot and the fan-shaped area of the second robot when the first robot and the second robot take the center of the first robot and the center of the second robot as the circle center, the radius of the maximum circumscribed circle as the radius and a preset angle as the fan-shaped area;
predicting whether a path point exists in the first motion path, wherein the distance between the first robot and the second robot at the same moment is smaller than or equal to a second safety distance; wherein the second safe distance is the sum of the maximum outer diameter of the first robot and the maximum outer diameter of the second robot;
and if so, judging that the first robot collides with the second robot.
Preferably, the step of completing the vehicle crossing with the second robot at a speed lower than the second speed includes:
acquiring the priorities of the first robot and the second robot;
judging whether the priority of the first robot is lower than that of the second robot;
if so, acquiring a path point where the first robot collides with the second robot, and controlling the first robot to decelerate to be lower than the second speed at a specified position away from the path point by a preset distance.
Preferably, when the second robot includes a plurality of robots, the step of completing the vehicle crossing with the second robot at a speed lower than the second speed includes:
judging whether a meeting exists among the second robots;
if so, acquiring a third safety distance between the second robots meeting the vehicles, and controlling the first robot to decelerate to zero at the third safety distance between the second robots until the vehicles meeting between the second robots is completed; wherein the third safety distance is the sum of the maximum outer diameters of the two second robots.
Preferably, the step of reducing the maximum limit speed of the first robot to a first speed comprises:
acquiring the priorities of the first robot and the second robot;
judging whether the priority of the first robot is lower than that of the second robot;
if yes, acquiring the posture of the second robot, and reducing the maximum limit speed of the first robot to a first speed when the second robot is judged to be in a motion state according to the posture.
Further, after the step of broadcasting the first movement path of the first robot to the outside according to the preset frequency and monitoring the second movement path of the second robot in real time, the method further includes:
predicting whether the first robot meets a second robot in the same passageway and collides according to the first motion path and the second motion path;
if so, acquiring the priority of the first robot and the priority of the second robot, and judging whether the priority of the first robot is lower than that of the second robot;
and if so, controlling the first robot to go to a specified avoidance point for avoidance.
Further, after the step of broadcasting the first movement path of the first robot to the outside according to the preset frequency and monitoring the second movement path of the second robot in real time, the method further includes:
predicting whether the first robot meets a second robot in the same passageway and collides according to the first motion path and the second motion path;
if yes, determining the time when the first robot and the second robot respectively enter the aisle, and judging whether the first robot enters the aisle or not according to the time when the first robot and the second robot respectively enter the aisle;
and if so, controlling the first robot to go to a specified avoidance point for avoidance.
The application provides a robot scheduling device includes:
the first monitoring module is used for broadcasting a first coordinate of a first robot outwards through a communication module configured in the first robot and monitoring a second coordinate of a second robot which is within a preset distance from the first robot;
the calculation module is used for calculating the distance between the first robot and the second robot according to the first coordinate and the second coordinate;
a determining module for determining a first safe distance of the first robot from the second robot;
a reduction module for reducing the maximum limit speed of the first robot to a first speed when it is monitored that the distance is less than the first safe distance; wherein the maximum limit speed is a maximum operating speed of the first robot;
the second monitoring module is used for broadcasting the first motion path of the first robot to the outside according to a preset frequency and monitoring the second motion path of the second robot in real time;
the prediction module is used for predicting whether the first robot collides with the second robot according to the first motion path and the second motion path;
and the vehicle meeting module is used for reducing the maximum limit speed of the first robot from the first speed to a second speed when the first robot is predicted to collide with a second robot, and meeting with the second robot is completed at a speed lower than the second speed.
A computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, implements a robot scheduling method as defined in any one of the above.
A robot is provided, comprising a memory and a processor, the memory having stored therein computer readable instructions, which, when executed by the processor, cause the processor to perform a robot scheduling method as defined in any one of the above.
Compared with the prior art, the technical scheme of the application has the following advantages:
according to the robot scheduling method, the robot scheduling device, the robot and the storage medium, a first coordinate of the first robot is broadcasted outwards through a communication module configured in the first robot, and a second coordinate of a second robot within a preset distance from the first robot is monitored; calculating the distance between the first robot and the second robot according to the first coordinate and the second coordinate; determining a first safe distance between the first robot and the second robot; when the monitored distance is less than the first safety distance, reducing the maximum limit speed of the first robot to a first speed; broadcasting a first motion path of the first robot outwards according to a preset frequency, and monitoring a second motion path of the second robot in real time; predicting whether the first robot collides with the second robot according to the first motion path and the second motion path; and if so, reducing the maximum limit speed of the first robot from the first speed to the second speed, and finishing the vehicle crossing with the second robot at a speed lower than the second speed. The application realizes one-to-many communication by applying the point-to-point communication module on the robot, namely realizes communication and information acquisition among robots, so that the dependence on a network rear end is avoided; meanwhile, the computing power of the robots is fully utilized, each robot is an independent server, distributed intelligent terminal processing is realized, and the rear-end cost is greatly reduced; in addition, the coordinates and the motion paths of the robot and other robots within the preset distance are obtained in real time, the relative relation of the robots is determined according to the coordinates, whether avoidance needs to be carried out between the robots is judged according to the motion paths, and collision is avoided by gradually adjusting the maximum limiting speed of the first robot.
Drawings
FIG. 1 is a block flow diagram of an embodiment of a robot scheduling method of the present application;
FIG. 2 is a block diagram of a robot dispatching device according to an embodiment of the present disclosure;
fig. 3 is a block diagram of an internal structure of a robot according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
In some of the flows described in the specification and claims of this application and in the above-described figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, with the order of the operations being numbered, e.g., S11, S12, etc., merely to distinguish between various operations, and the order of the operations itself is not intended to represent any order of performance. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those of ordinary skill in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, wherein the same or similar reference numerals refer to the same or similar elements or elements with the same or similar functions throughout. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, a robot scheduling method provided in the present application may be applied to any one robot in a multi-robot distributed intelligent scheduling system, and the present application is described with a first robot as an execution subject. In one embodiment, the robot scheduling method includes the following steps:
s11, broadcasting the first coordinate of the first robot to the outside through a communication module configured in the first robot, and monitoring the second coordinate of a second robot within a preset distance from the first robot;
s12, calculating the distance between the first robot and the second robot according to the first coordinate and the second coordinate;
s13, determining a first safety distance between the first robot and the second robot;
s14, when the distance is monitored to be smaller than the first safety distance, reducing the maximum limit speed of the first robot to a first speed; wherein the maximum limit speed is a maximum operating speed of the first robot;
s15, broadcasting the first motion path of the first robot outwards according to a preset frequency, and monitoring the second motion path of the second robot in real time;
s16, predicting whether the first robot collides with a second robot according to the first motion path and the second motion path;
and S17, if yes, reducing the maximum limit speed of the first robot from the first speed to a second speed, and finishing the meeting with the second robot at a speed lower than the second speed.
In this embodiment, the first robot broadcasts itself to the outside through the communication moduleFirst coordinate (x) in coordinate system1，y1，θ1) Meanwhile, the robot monitors the second coordinate (x) of other robots (namely the second robot) within the preset distance2，y2，θ2) And determining the distance between the first robot and the second robot according to the first coordinate and the second coordinate
Wherein, the second robot can be one or more, x1、x2Respectively the abscissa, y, of the first and second robots1、y2Respectively the ordinate, theta, of the first and second robots1、θ2Respectively the angles of the first robot and the second robot. In the present application, the second robot does not mean one robot, but may be one or more robots other than the first robot. When the second robot is a plurality of robots, the second coordinates of the second robot are monitored one by one, the first safety distance is determined, the second movement path is determined, and the like.
Then determining a first safety distance for the first robot to meet the second robot, wherein the first safety distance is smaller than the preset distance and is used for ensuring that enough space is reserved for avoiding collision when the first robot meets the second robot; or a distance at which the first robot does not collide with the second robot even if it runs at the maximum limit speed. In addition, the first safety distance can be flexibly adjusted according to needs, and is not particularly limited herein.
The first robot also operates at a certain frequency f1And judging whether the distance between the first robot and the second robot is smaller than a first safety distance or not in real time, and if the distance is smaller than the first safety distance, reducing the maximum limit speed of the first robot to a first speed. And the maximum limit speed is the maximum running speed of the first robot, namely, the first robot runs within the maximum limit speed by adjusting the maximum limit speed of the first robot.
Furthermore, the first robotSimultaneously at a certain frequency f2And starting broadcasting the current movement path, monitoring the movement paths of other robots in real time, predicting whether the first robot collides with the second robot at any path point according to the first movement path and the second movement path, if so, reducing the maximum limit speed of the first robot from the first speed to the second speed, enabling the first robot to run in the second speed, and completing meeting with the second robot at a speed lower than the second speed, thereby avoiding collision with other robots.
According to the robot scheduling method, a first coordinate of a first robot is broadcasted outwards through a communication module configured in the first robot, and a second coordinate of a second robot which is within a preset distance from the first robot is monitored; calculating the distance between the first robot and the second robot according to the first coordinate and the second coordinate; determining a first safe distance between the first robot and the second robot; when the monitored distance is less than the first safety distance, reducing the maximum limit speed of the first robot to a first speed; broadcasting a first motion path of the first robot outwards according to a preset frequency, and monitoring a second motion path of the second robot in real time; predicting whether the first robot collides with the second robot according to the first motion path and the second motion path; and if so, reducing the maximum limit speed of the first robot from the first speed to the second speed, and finishing the vehicle crossing with the second robot at a speed lower than the second speed. The application realizes one-to-many communication by applying the point-to-point communication module on the robot, namely realizes communication and information acquisition among robots, so that the dependence on a network rear end is avoided; meanwhile, the computing power of the robots is fully utilized, each robot is an independent server, distributed intelligent terminal processing is realized, and the rear-end cost is greatly reduced; in addition, the coordinates and the motion paths of the robot and other robots within the preset distance are obtained in real time, the relative relation of the robots is determined according to the coordinates, whether avoidance needs to be carried out between the robots is judged according to the motion paths, and collision is avoided by gradually adjusting the maximum limiting speed of the first robot.
In an embodiment, in step S13, the step of determining the first safe distance between the first robot and the second robot may specifically include:
s131, acquiring the maximum limit speed and the specified safety time of the first robot in normal running;
s132, calculating a first safety distance between the first robot and the second robot according to the maximum limit speed and the specified safety time.
The embodiment can acquire the maximum limit speed and the specified safety time of the first robot in normal running, the maximum limit speed and the safety time can be set by a user, and then the first safety distance l between the first robot and the second robot is calculated according to the maximum limit speed and the specified safety times1＝vmax1ts1(ii) a Wherein v ismax1Is the maximum limit speed t of the robot under normal runnings1Is the safe time of the robot.
In an embodiment, before step S14, namely before the step of monitoring that the distance is less than the first safety distance, the method may further include:
the first robot judges whether the distance is smaller than the first safety distance in real time at a preset reference frequency;
if yes, monitoring that the distance is smaller than the first safety distance.
The first robot of this embodiment judges whether the distance is less than the first safety distance in real time according to a preset reference frequency, and if so, judges whether the distance is less than the first safety distance once every three seconds, and if so, monitors that the distance is less than the first safety distance.
In one embodiment, in step S16, the step of predicting whether the first robot will collide with the second robot according to the first motion path and the second motion path may specifically include:
s161, judging whether a repeated area exists between the first robot and the second robot according to the first motion path and the second motion path; the repeated area is an overlapped area of the fan-shaped area of the first robot and the fan-shaped area of the second robot when the first robot and the second robot take the center of the first robot and the center of the second robot as the circle center, the radius of the maximum circumscribed circle as the radius and a preset angle as the fan-shaped area;
s162, predicting whether the first motion path has a path point, at the same moment, where the distance between the first robot and the second robot is smaller than or equal to a second safety distance, according to the repeated area; wherein the second safe distance is a sum of a maximum outer diameter of the first robot and a maximum outer diameter of the second robot.
And S163, if so, judging that the first robot collides with the second robot.
In this embodiment, assuming that the maximum outer diameters of the first robot and the second robot are both R, the second safe distance of the two robots is determined to be 2R. The centers of the first robot and the second robot can be taken as the origin of a coordinate system, the maximum radius of the circle circumscribed (i.e. the maximum distance from the center of the robot to the outer frame thereof) of the first robot and the second robot is taken as the radius, and a sector area is taken in any direction and any angle range under the coordinate system of the robot, such as (-135 degrees, 135 degrees) in the X direction, the sector area of the first robot and the sector area of the second robot are crossed or overlapped under the absolute coordinate system, and the overlapped area is taken as a potential collision area between the first robot and the second robot, i.e. the repeated area.
Specifically, under a robot system coordinate system, a maximum outer diameter R of a robot is set, a center point of the robot is used as a circle center to form a sector with an arbitrary angle of 270 degrees, an overlapping area of a first robot and a second robot is used as a potential collision area (namely a repetition area) of the robot, the minimum collision distance of the two robots is determined to be 2R, the minimum collision distance can be used as a second safety distance for meeting the first robot and the second robot, when the distance between the two robots is smaller than the second safety distance, the robot enters a repeated path calculation in the collision area, after monitoring paths broadcasted by other robots, the repeated path points in the collision area are judged after aligning time stamps with the current paths of the robot, the path points of the robots are extracted, and the path sections where the path points are located are positions where the robots need to avoid, meet and decelerate. Wherein the second safety distance is less than the first safety distance.
In addition, the robot judges whether the current position is located in the repeated path area in real time, if so, the maximum limit speed at the moment needs to be reduced from the first speed to the second speed, the second speed is continuously used as the maximum limit speed of the first robot, and the meeting is finished until the repeated path point disappears, so that the occurrence of collision is accurately avoided.
In an embodiment, in step S17, the step of completing the car-meeting with the second robot at a speed lower than the second speed may specifically include:
s171, acquiring the priority of the first robot and the priority of the second robot;
s172, judging whether the priority of the first robot is lower than that of the second robot;
and S173, if so, acquiring a path point where the first robot collides with the second robot, and controlling the first robot to decelerate to be lower than the second speed at a specified position away from the path point by a preset distance.
In this embodiment, a robot status bit may be added to the communication module, and the robot status bit may be divided into 0, 1, 2, 3, …, etc. as required, to characterize the priority of the robot, when the status bits of other robots are monitored to be inconsistent with the status bits of the robots, if the priority of the first robot is lower than the priority of the second robot, the first robot may decelerate to be lower than the second speed at the designated position, and enter a standby state until the status bits of the robots of other robots are monitored to be consistent with the status bits of the robots, and then enter a dual-locomotive meeting mode, so as to improve the locomotive meeting efficiency.
In an embodiment, when the second robot includes a plurality of robots, the step of completing the vehicle-crossing with the second robot at a speed lower than the second speed may specifically include:
judging whether a meeting exists among the second robots;
if so, acquiring a third safety distance between the second robots meeting the vehicles, and controlling the first robot to decelerate to zero at the third safety distance between the second robots until the vehicles meeting between the second robots is completed; wherein the third safety distance is the sum of the maximum outer diameters of the two second robots.
In this embodiment, when a third or more robots (for example, the first robot) enter a safe distance, the vehicle-meeting state needs to be determined, and if it is found that a robot (i.e., the second robot) is meeting in the process of traveling, the other robot (i.e., the first robot) stops at the third safe distance between the two second robots to wait for the vehicle-meeting to be ended.
Similarly, when more than three robots meet between the second robots, the two second robots with the highest priority level preferentially meet the vehicles, and the rest of the second robots stop at the third safety distance of the two second robots with the highest priority level to wait for the completion of the vehicle meeting.
In one embodiment, the step of reducing the maximum limit speed of the first robot to a first speed comprises:
acquiring the priorities of the first robot and the second robot;
judging whether the priority of the first robot is lower than that of the second robot;
if yes, acquiring the posture of the second robot, and reducing the maximum limit speed of the first robot to a first speed when the second robot is judged to be in a motion state according to the posture.
In this embodiment, when the maximum speed limit of the first robot is reduced to the first speed, the priorities of the first robot and the second robot are also acquired, and whether the priority of the first robot is lower than the priority of the second robot is determined; if so, acquiring the posture of the second robot, and reducing the maximum limit speed of the first robot to a first speed when judging that the second robot is in a motion state according to the posture; when the second robot is in a stop state, the maximum speed limit of the first robot is not required to be reduced to the first speed, and the maximum speed limit is still kept to operate, so that the vehicle meeting efficiency is improved.
In an embodiment, after step S15, that is, after the step of broadcasting the first movement path of the first robot to the outside according to the preset frequency and monitoring the second movement path of the second robot in real time, the method further includes:
predicting whether the first robot meets a second robot in the same passageway and collides according to the first motion path and the second motion path;
if so, acquiring the priority of the first robot and the priority of the second robot, and judging whether the priority of the first robot is lower than that of the second robot;
and if so, controlling the first robot to go to a specified avoidance point for avoidance.
The avoidance problem in this embodiment means that when multiple robots are in a narrow passageway, a double-machine vehicle meeting cannot be performed, avoidance must be performed first so that the robot with a higher priority passes through first, and other robots execute a waiting command at an avoidance point. Specifically, the distance range of the narrow passage and the position information of the narrow passage under the absolute coordinate system of the grid map can be determined firstly, then the first robot monitors the second coordinates of other robots, monitors the motion path of the other robots after reaching a first safety distance, judges whether the two robots meet in the narrow passage, and if the robots are determined to meet in the narrow passage, the first robot with low priority goes to a specified avoidance point for avoidance so that the robot with higher priority passes in advance; and when the condition that other robots leave the narrow passage is monitored, the current task is continuously executed, so that the first robot and the second robot are prevented from colliding in the passage.
In an embodiment, after the step S15, after the step of broadcasting the first movement path of the first robot to the outside according to the preset frequency and monitoring the second movement path of the second robot in real time, the method may further include:
predicting whether the first robot meets a second robot in the same passageway and collides according to the first motion path and the second motion path;
if yes, determining the time when the first robot and the second robot respectively enter the aisle, and judging whether the first robot enters the aisle or not according to the time when the first robot and the second robot respectively enter the aisle;
and if so, controlling the first robot to go to a specified avoidance point for avoidance.
Similarly, the avoidance problem in this embodiment means that when multiple robots are in a narrow aisle, a double-locomotive meeting cannot be performed, avoidance must be performed first, so that the robot entering the aisle first passes through first, and other robots execute a waiting command at an avoidance point. Specifically, the distance range of a narrow passage and position information of the narrow passage under an absolute coordinate system of a grid map can be determined firstly, then a first robot monitors second coordinates of other robots, monitors a motion path of the first robot after reaching a first safety distance, judges whether the first robot and the second robot meet in the narrow passage, judges whether the first robot enters the passage or not according to the time when the first robot and the second robot respectively enter the passage if the first robot and the second robot meet in the narrow passage are determined, and if the first robot and the second robot enter the passage, the first robot goes to a specified avoidance point to avoid so that the other robots entering the passage firstly pass in advance; and when the condition that other robots leave the narrow passage is monitored, the current task is continuously executed, so that the first robot and the second robot are prevented from colliding in the passage.
Referring to fig. 2, an embodiment of the present application further provides a robot scheduling apparatus, wherein,
the first monitoring module 11 is configured to broadcast a first coordinate of a first robot to the outside through a communication module configured in the first robot, and monitor a second coordinate of a second robot within a preset distance from the first robot;
a calculating module 12, configured to calculate a distance between the first robot and the second robot according to the first coordinate and the second coordinate;
a determining module 13 for determining a first safe distance between the first robot and the second robot;
a reduction module 14 for reducing the maximum limit speed of the first robot to a first speed when it is monitored that the distance is less than the first safety distance; wherein the maximum limit speed is a maximum operating speed of the first robot;
the second monitoring module 15 is configured to broadcast the first motion path of the first robot to the outside according to a preset frequency, and monitor the second motion path of the second robot in real time;
the prediction module 16 is used for predicting whether the first robot collides with the second robot according to the first motion path and the second motion path;
and a vehicle-meeting module 17, configured to reduce the maximum speed limit of the first robot from the first speed to a second speed when it is predicted that the first robot may collide with a second robot, and complete vehicle meeting with the second robot at a speed lower than the second speed.
In this embodiment, the first robot broadcasts the first coordinate (x) of itself in the absolute coordinate system to the outside through the communication module1，y1，θ1) Meanwhile, the robot monitors the second coordinate (x) of other robots (namely the second robot) within the preset distance2，y2，θ2) And determining the distance between the first robot and the second robot according to the first coordinate and the second coordinate
Wherein, the second robot can be one or more, x1、x2Respectively the abscissa, y, of the first and second robots1、y2Respectively the ordinate, theta, of the first and second robots1、θ2Respectively the angles of the first robot and the second robot.
Then determining a first safety distance for the first robot to meet the second robot, wherein the first safety distance is smaller than the preset distance and is used for ensuring that enough space is reserved for avoiding collision when the first robot meets the second robot; or a distance at which the first robot does not collide with the second robot even if it runs at the maximum limit speed. In addition, the first safety distance can be flexibly adjusted according to needs, and is not particularly limited herein.
The first robot also operates at a certain frequency f1And judging whether the distance between the first robot and the second robot is smaller than a first safety distance or not in real time, and if the distance is smaller than the first safety distance, reducing the maximum limit speed of the first robot to a first speed. And the maximum limit speed is the maximum running speed of the first robot, namely, the first robot runs within the maximum limit speed by adjusting the maximum limit speed of the first robot.
Furthermore, the first robot is simultaneously operated at a frequency f2And starting broadcasting the current movement path, monitoring the movement paths of other robots in real time, predicting whether the first robot collides with the second robot at any path point according to the first movement path and the second movement path, if so, reducing the maximum limit speed of the first robot from the first speed to the second speed, enabling the first robot to run in the second speed, and completing meeting with the second robot at a speed lower than the second speed, thereby avoiding collision with other robots.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
A robot is provided, comprising a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of the robot scheduling method as defined in any one of the above.
In one embodiment, as shown in FIG. 3. The robot comprises a processor 402, a memory 403, an input unit 404, a display unit 405, etc. Those skilled in the art will appreciate that the device configuration means shown in fig. 3 do not constitute a limitation of all devices and may include more or less components than those shown, or some components in combination. The memory 403 may be used to store the computer program 401 and the functional modules, and the processor 402 runs the computer program 401 stored in the memory 403 to execute various functional applications of the device and data processing. The memory may be internal or external memory, or include both internal and external memory. The memory may comprise read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), flash memory, or random access memory. The external memory may include a hard disk, a floppy disk, a ZIP disk, a usb-disk, a magnetic tape, etc. The memories disclosed herein include, but are not limited to, these types of memories. The memory disclosed herein is by way of example only and not by way of limitation.
The input unit 404 is used for receiving input of signals and receiving keywords input by a user. The input unit 404 may include a touch panel and other input devices. The touch panel can collect touch operations of a user on or near the touch panel (for example, operations of the user on or near the touch panel by using any suitable object or accessory such as a finger, a stylus and the like) and drive the corresponding connecting device according to a preset program; other input devices may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., play control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like. The display unit 405 may be used to display information input by a user or information provided to a user and various menus of the computer device. The display unit 405 may take the form of a liquid crystal display, an organic light emitting diode, or the like. The processor 402 is a control center of the computer device, connects various parts of the entire computer using various interfaces and lines, and performs various functions and processes data by operating or executing software programs and/or modules stored in the memory 402 and calling data stored in the memory.
As one embodiment, the robot includes: one or more processors 402, a memory 403, one or more computer programs 401, wherein the one or more computer programs 401 are stored in the memory 403 and configured to be executed by the one or more processors 402, the one or more computer programs 401 being configured to perform the robot scheduling method of the above embodiments.
In one embodiment, the present application also proposes a storage medium storing computer-readable instructions which, when executed by one or more processors, cause the one or more processors to perform the robot scheduling method described above. For example, the storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program, which may be stored in a storage medium and executed by a computer, and the processes of the embodiments of the methods may be included. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
By combining the above embodiments, the application has the following greatest beneficial effects:
according to the robot scheduling method, the robot scheduling device, the robot and the storage medium, a first coordinate of the first robot is broadcasted outwards through a communication module configured in the first robot, and a second coordinate of a second robot within a preset distance from the first robot is monitored; calculating the distance between the first robot and the second robot according to the first coordinate and the second coordinate; determining a first safe distance between the first robot and the second robot; when the monitored distance is less than the first safety distance, reducing the maximum limit speed of the first robot to a first speed; broadcasting a first motion path of the first robot outwards according to a preset frequency, and monitoring a second motion path of the second robot in real time; predicting whether the first robot collides with the second robot according to the first motion path and the second motion path; and if so, reducing the maximum limit speed of the first robot from the first speed to the second speed, and finishing the vehicle crossing with the second robot at a speed lower than the second speed. The application realizes one-to-many communication by applying the point-to-point communication module on the robot, namely realizes communication and information acquisition among robots, so that the dependence on a network rear end is avoided; meanwhile, the computing power of the robots is fully utilized, each robot is an independent server, distributed intelligent terminal processing is realized, and the rear-end cost is greatly reduced; in addition, the coordinates and the motion paths of the robot and other robots within the preset distance are obtained in real time, the relative relation of the robots is determined according to the coordinates, whether avoidance needs to be carried out between the robots is judged according to the motion paths, and collision is avoided by gradually adjusting the maximum limiting speed of the first robot.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A robot scheduling method, comprising:
broadcasting a first coordinate of a first robot outwards through a communication module configured in the first robot, and monitoring a second coordinate of a second robot within a preset distance from the first robot;
calculating the distance between the first robot and the second robot according to the first coordinate and the second coordinate;
determining a first safe distance of the first robot from the second robot;
when the distance is monitored to be less than the first safety distance, reducing the maximum limit speed of the first robot to a first speed; wherein the maximum limit speed is a maximum operating speed of the first robot;
broadcasting a first motion path of the first robot outwards according to a preset frequency, and monitoring a second motion path of the second robot in real time;
predicting whether the first robot collides with a second robot according to the first motion path and the second motion path;
if so, reducing the maximum limit speed of the first robot from the first speed to a second speed, and finishing the meeting with the second robot at a speed lower than the second speed.
2. The method of claim 1, wherein the step of determining a first safe distance between the first robot and the second robot comprises:
acquiring the maximum limit speed and the specified safety time of the first robot in normal running;
and calculating a first safety distance between the first robot and the second robot according to the maximum limit speed and a specified safety time.
3. The method of claim 1, wherein the step of monitoring that the distance is less than the first safe distance is preceded by the step of:
the first robot judges whether the distance is smaller than the first safety distance in real time at a preset reference frequency;
if yes, monitoring that the distance is smaller than the first safety distance.
4. The method of claim 1, wherein the step of predicting whether the first robot will collide with the second robot based on the first and second motion paths comprises:
judging whether the first robot and the second robot have a repeated area according to the first motion path and the second motion path; the repeated area is an overlapped area of the fan-shaped area of the first robot and the fan-shaped area of the second robot when the first robot and the second robot take the center of the first robot and the center of the second robot as the circle center, the radius of the maximum circumscribed circle as the radius and a preset angle as the fan-shaped area;
predicting whether a path point exists in the first motion path, wherein the distance between the first robot and the second robot at the same moment is smaller than or equal to a second safety distance; wherein the second safe distance is the sum of the maximum outer diameter of the first robot and the maximum outer diameter of the second robot;
and if so, judging that the first robot collides with the second robot.
5. The method of claim 4, wherein said step of completing a vehicle crossing with said second robot at a speed less than said second speed comprises:
acquiring the priorities of the first robot and the second robot;
judging whether the priority of the first robot is lower than that of the second robot;
if so, acquiring a path point where the first robot collides with the second robot, and controlling the first robot to decelerate to be lower than the second speed at a specified position away from the path point by a preset distance.
6. The method of claim 4, wherein when the second robot includes a plurality of robots, the step of completing the meeting with the second robot at a speed lower than the second speed includes:
judging whether a meeting exists among the second robots;
if so, acquiring a third safety distance between the second robots meeting the vehicles, and controlling the first robot to decelerate to zero at the third safety distance between the second robots until the vehicles meeting between the second robots is completed; wherein the third safety distance is the sum of the maximum outer diameters of the two second robots.
7. The method of claim 1, wherein the step of reducing the maximum limit speed of the first robot to a first speed comprises:
acquiring the priorities of the first robot and the second robot;
judging whether the priority of the first robot is lower than that of the second robot;
if yes, acquiring the posture of the second robot, and reducing the maximum limit speed of the first robot to a first speed when the second robot is judged to be in a motion state according to the posture.
8. The method of claim 1, wherein after the step of broadcasting the first movement path of the first robot to the outside at a preset frequency and monitoring the second movement path of the second robot in real time, the method further comprises:
predicting whether the first robot meets a second robot in the same passageway and collides according to the first motion path and the second motion path;
if so, acquiring the priority of the first robot and the priority of the second robot, and judging whether the priority of the first robot is lower than that of the second robot;
and if so, controlling the first robot to go to a specified avoidance point for avoidance.
9. The method of claim 1, wherein after the step of broadcasting the first movement path of the first robot to the outside at a preset frequency and monitoring the second movement path of the second robot in real time, the method further comprises:
predicting whether the first robot meets a second robot in the same passageway and collides according to the first motion path and the second motion path;
if yes, determining the time when the first robot and the second robot respectively enter the aisle, and judging whether the first robot enters the aisle or not according to the time when the first robot and the second robot respectively enter the aisle;
and if so, controlling the first robot to go to a specified avoidance point for avoidance.
10. A robot, characterized in that the robot comprises a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to carry out the robot scheduling method of any one of claims 1 to 9.
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Application publication date: 20211105 |