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Robot avoidance driving method and device and robot

A robot and driving direction technology, applied in the field of data processing, can solve the problems of low efficiency, low efficiency, inflexible avoidance and other problems of robot task execution, and achieve the effect of improving execution efficiency, reducing workload and improving efficiency.

Inactive Publication Date: 2019-10-25
深圳优地科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, an embodiment of the present invention provides a robot avoidance driving method and a robot to solve the problem in the prior art that the overall avoidance driving of the robot is inflexible and the avoidance efficiency is low, which leads to the low efficiency of the overall task execution of the robot

Method used

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  • Robot avoidance driving method and device and robot
  • Robot avoidance driving method and device and robot
  • Robot avoidance driving method and device and robot

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Experimental program
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Embodiment 2

[0055] As a specific implementation of obtaining robot priority, current position and driving parameters in Embodiment 1 of the present invention, such as figure 2 As shown, Embodiment 2 of the present invention includes:

[0056] S201, receiving the first robot information broadcast by the robot within the communication range of the robot to be processed, and the second robot information broadcast by the robot within the communication range of the robot to be processed and broadcast by the robot in the environment but outside the communication range of the robot to be processed , wherein the first robot information includes the priority, current position and driving parameters of the robot within the communication range of the robot to be processed, and the second robot information includes the priority, Current position and driving parameters.

[0057] In order to realize the autonomous conflict avoidance operation of the decentralized robot, in the embodiment of the prese...

Embodiment 3

[0061] As a specific implementation of obtaining robot priority, current position and driving parameters in Embodiment 1 of the present invention, such as image 3 As shown, the third embodiment of the present invention includes:

[0062] S301. Obtain the task completion status corresponding to the robot to be processed.

[0063]S302. If the task completion status is task execution, set the preset first default priority as the priority corresponding to the robot to be processed.

[0064] S303. If the task completion status is no task, set the preset second default priority as the priority corresponding to the robot to be processed, wherein the first default priority is higher than the second default priority.

[0065] Considering that in order to reduce the workload of the overall robot in the first embodiment of the present invention, only the low-priority robot performs the conflict avoidance operation, so for a single robot, when it is responsible for performing important ...

Embodiment 4

[0070] As a specific implementation of identifying the area scene type of the environment area in Embodiment 1 of the present invention, as Figure 4 As shown, Embodiment 4 of the present invention includes:

[0071] S401. Identify path types included in the environmental area based on the topological path map.

[0072] In the embodiment of the present invention, the path type includes some possible road conditions, such as a dead end (that is, a road with only one entrance and exit), a cross road (that is, two or more roads intersect), straight roads, and turning roads. In order to ensure that the robot can safely and effectively deal with various conflict situations and effectively avoid obstacles, in the embodiment of the present invention, a variety of conflict road situations that may be encountered will be classified to obtain different path types, and for each path Different avoidance strategies are set according to the actual driving conditions between robots under th...

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Abstract

The invention, which is suitable for the technical field of data processing, provides a robot avoidance driving method and device and a robot. The method comprises: acquiring a topology path map of anenvironment in which a to-be-processed robot is located, priority values of all robots in the environment, and current positions and driving parameters of the robots in the topology path map; on thebasis of the topology path map and the priority values and current positions of all robots, searching for all high-priority robots having the priority values higher than that of the to-be-processed robot in an environmental area with the preset size in which the to-be-processed robot is located; identifying an area scene type of the environmental area under the condition of being larger than zeroby the number of the high-priority robots; and controlling the to-be-processed robot to carry out avoidance driving for the high-priority robots based on a corresponding preset avoidance mode, an environment path map, and the current positions and driving parameters of the to-be-processed robot and the high-priority robots under the condition of belonging to a preset conflict scene type by the area scene type. Therefore, the avoidance driving of the robot becomes flexible and efficient.

Description

technical field [0001] The invention belongs to the technical field of data processing, and in particular relates to a robot avoidance driving method and a robot. Background technique [0002] In a complex indoor environment, such as KTV, shopping malls, restaurants and other service places, if there are multiple robots at the same time, since each robot's task can be relatively independent, it is very likely that the robot will have route conflicts when driving, thus It is prone to problems such as collisions and deadlocks. [0003] In order to avoid problems such as robot collision and deadlock, in the prior art, a corresponding master control device is set for all robots, and the master control device uniformly controls the driving of all robots to realize mutual avoidance and cooperative driving of all robots. However, in actual situations, since the main control device refers to the tasks of all robots at the same time for overall measurement and scheduling during unif...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0274G05D1/0289G05D1/0223
Inventor 赖馨钻刘文泽李超周唐恺王宁夏舸
Owner 深圳优地科技有限公司
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