Mobile robot control method, mobile robot, and readable storage medium

Abstract

The present application provides a method for controlling a mobile robot, a mobile robot, and a storage medium. The method includes: obtaining a first area and a second area set based on a target mobile robot, wherein the center points of the first area and the second area coincide, and the first area includes the second area and the third area; when the target mobile robot needs to pass through the first area, determining whether the target point of the target mobile robot is the center point; if the target point of the target mobile robot is the center point, determining the operating state of the target mobile robot at the center point; if the operating state of the target mobile robot at the center point is a non-operating state, pre-occupying the second area for the target mobile robot to pass through, so that other mobile robots whose target points are in the third area pass through the third area. The present application aims to set the first area and the second area based on the target mobile robot, and control the mobile robots in the area, thereby improving the working efficiency of the mobile robot.

Description

Technical Field

[0001] The present application relates to the field of image recognition technology, and in particular to a mobile robot control method, a mobile robot, and a computer-readable storage medium. Background Art

[0002] In recent years, with the advancement of science and technology, automation technology has shown an accelerating trend, and domestic automated warehouses and automated flexible assembly lines have entered a stage of development and widespread adoption. Mobile robots have played an irreplaceable and important role in this. Compared with traditional conveyor rollers or conveyor belts, mobile robots offer advantages such as simple construction, flexible routing, space saving, good mobility, and flexibility. Therefore, the use of mobile robots for transportation can significantly save labor costs, improve workshop safety, enhance the working environment, increase transportation efficiency, and reduce the risk of accidents.

[0003] However, the passageways within current factories are relatively complex, so there are certain requirements for the control of mobile robots in the area. For example, in the working area where the machine is located, the traffic area at intersections, and the turning area in the passage for passing and turning vehicles, if multiple mobile robots pass through the above areas at the same time, the work efficiency in the area will be low, and it may even cause passage congestion or even accidents. Summary of the Invention

[0004] The present application provides a mobile robot control method, a mobile robot, and a computer-readable storage medium, which can control the mobile robots in an area, thereby improving the working efficiency of the mobile robots.

[0005] In a first aspect, the present application provides a method for controlling a mobile robot, the method comprising:

[0006] Acquire a first area and a second area set based on a target mobile robot, wherein the center points of the first area and the second area coincide with each other, and the first area includes the second area and a third area excluding the second area;

[0007] When the target mobile robot needs to pass through the first area, determining whether the target point of the target mobile robot is the center point;

[0008] If the target point of the target mobile robot is the center point, determining the operating state of the target mobile robot at the center point, wherein the operating state includes a working state and a non-working state;

[0009] If the target mobile robot is in the non-working state at the center point, the second area is pre-occupied for the target mobile robot to pass through, so that other mobile robots whose target points are in the third area pass through the third area.

[0010] In a second aspect, the present application further provides a mobile robot, comprising:

[0011] memory and processor;

[0012] Wherein, the memory is connected to the processor and is used to store programs;

[0013] The processor is used to implement the steps of the mobile robot control method as described in any one of the embodiments of the present application by running the program stored in the memory.

[0014] In a fourth aspect, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the mobile robot control method as described in any one of the embodiments of the present application.

[0015] The mobile robot control method, mobile robot, and computer-readable storage medium disclosed in this application can pre-set a first area containing a second area and a third area based on a target mobile robot, and determine the target mobile robot's target point and operating status when the target mobile robot needs to pass through the first area. When the target mobile robot's target point is the center point and its operating status is non-operating, the second area is occupied for the target mobile robot to pass through, thereby allowing other mobile robots whose target points are in the third area to pass through the third area. In this way, the mobile robots in the area can be controlled by setting the area, thereby improving the working efficiency of the mobile robots.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a schematic diagram of the steps of a method for controlling a mobile robot provided in an embodiment of the present application;

[0019] Figure 2 1 is a schematic diagram of steps for a target mobile robot in a non-working state to occupy a second area according to an embodiment of the present application;

[0020] Figure 3 This is a schematic diagram of the steps of another method for controlling a mobile robot provided in an embodiment of the present application;

[0021] Figure 4 is a flowchart of steps for controlling a target mobile robot with a target point in a third area provided by an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of a mobile robot provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of the structure of a computer-readable storage medium provided in this application.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0027] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0028] It should be understood that, in order to facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the first recognition model and the second recognition model are merely used to distinguish between different callback functions, and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0029] It should be further understood that the term “and / or” used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0030] See also Figure 1 , Figure 1 This is a schematic diagram of the steps of a mobile robot control method provided by an embodiment of the present application. Figure 1 As shown, the mobile robot control method includes steps S11 to S14.

[0031] Step S11: Acquire a first area and a second area set based on the target mobile robot, wherein the center points of the first area coincide with the center points of the second area, and the first area includes the second area and a third area excluding the second area.

[0032] It should be noted that the present application does not limit the specific manner of setting the first area and the second area based on the target mobile robot. For example, the first area and the second area may be set based on the size of the target mobile robot and / or based on the operating state of the target mobile robot. The present application uses the operating state of the target mobile robot as an example for explanation, and the operating state includes an operating state and a non-operating state.

[0033] The first area is the area corresponding to the target mobile robot when it is in a working state; the second area is the area corresponding to the target mobile robot when it is in a non-working state.

[0034] It is understandable that for the target mobile robot that is working, since it may have parts such as a robotic arm, the robotic arm will swing within an area centered on the center point, that is, within the first area, to achieve work. Other mobile robots outside the first area will not collide with the target mobile robot, thereby avoiding safety hazards. In addition, the second area corresponds to the area when the mobile robot is not in operation, such as when charging or resting. In this state, the parts of the mobile robot will not swing, so a second area smaller than the first area can be set at the center point. Other mobile robots outside the second area will not collide with the target mobile robot, thereby avoiding safety hazards.

[0035] Optionally, in order to obtain the first area and the second area, the area parameters of the first area and the area parameters of the second area robot can be set based on the operating status of the target mobile robot, where the area parameters include but are not limited to area length, area width, and area angle, etc., which are not limited in this application.

[0036] Specifically, the regional parameters of the first area are set based on the working state of the target mobile robot, and the regional parameters of the second area are set based on the non-working state of the target mobile robot. Furthermore, the regional parameters of the first area can be set based on the range of the target mobile robot when it is working at the center point; the regional parameters of the second area can be set based on the range of the target mobile robot when it is operating in a non-working state at the center point. In other words, the target mobile robot can operate in a working state in the first area with the center point as the center, and will not affect other mobile robots outside the first area; the target mobile robot can operate in a non-working state in the second area with the center point as the center, and will not affect other mobile robots outside the second area. In this way, the corresponding regional parameters of the first area and the second area are obtained, and then the first area and the second area are obtained.

[0037] It should be noted that this application does not limit the range of the target mobile robot when it is working at the center point or the range of the target mobile robot when it is in a non-working state at the center point. For example, it can be obtained through experimental big data or through data obtained when the target mobile robot is actually running.

[0038] In an embodiment of the present application, a first area and a second area can be set based on the target mobile robot to achieve control over the target mobile robot within the area. Specifically, the first area and the second area can be set based on the operating state of the target mobile robot. In this way, the area can be dynamically set according to the operating state of the target mobile robot, thereby achieving flexible control over the target mobile robot within the area.

[0039] Step S12: When the target mobile robot needs to pass through the first area, determine whether the target point of the target mobile robot is the center point.

[0040] The target point is the point that the mobile robot aims to reach during operation.

[0041] In a specific implementation, during the control process of the mobile robot, after determining whether the target point of the target mobile robot is the center point based on S12, the embodiment of the present disclosure can proceed to the next step through step S13, which is specifically described as follows:

[0042] Step S13: If the target point of the target mobile robot is the center point, the operating state of the target mobile robot at the center point is determined, wherein the operating state includes a working state and a non-working state.

[0043] It can be understood that if the target point of the target mobile robot is the center point, it means that the target mobile robot is running at the center point. At this time, the running state of the target mobile robot at the center point can be determined.

[0044] It should be noted that the present application does not limit the non-working state, for example, it can be a charging state, a resting state, etc.

[0045] Step S14: If the target mobile robot is in a non-working state at the center point, the second area is pre-occupied for the target mobile robot to pass through, so that other mobile robots with target points in the third area pass through the third area.

[0046] As can be understood, since the second zone is set based on the target mobile robot's non-operating state, if the target mobile robot is non-operating at the center, the second zone can be pre-occupied for the target mobile robot to pass through. Furthermore, other mobile robots whose target points are in the third zone can pass through the third zone, allowing the target mobile robot and other mobile robots to operate normally without posing safety hazards. This allows for pre-defined zones and the management of mobile robots within them, thereby improving the operational efficiency of mobile robots and preventing collisions or congestion between mobile robots.

[0047] Please continue reading Figure 2 , Figure 2 This is a schematic diagram of the steps of the target mobile robot occupying the second area based on the non-working state provided in the embodiment of the present application. Figure 2 As shown, steps S141 to S142 can be used to occupy the second area for the target mobile robot whose central point is in a non-working state to pass through.

[0048] Step S141: If the target mobile robot is in a non-operating state at the center point, determine whether there are other mobile robots in the second area.

[0049] Step S142: If there is no other mobile robot in the second area, the second area is pre-occupied for the target mobile robot to pass through.

[0050] Specifically, when the target mobile robot's operating state at the center point is non-operating, it indicates that the target mobile robot needs to occupy the second area for the next step of operation. Therefore, to prevent the second area from being occupied by another mobile robot and thus being duplicated by the target mobile robot, it is necessary to determine whether there are other mobile robots in the second area. If there are no other mobile robots in the second area, the second area can be pre-occupied for the target mobile robot to pass through.

[0051] Optionally, if there are other mobile robots in the second area, the target mobile robot is controlled to wait outside the second area until there are no other mobile robots in the second area.

[0052] In an embodiment of the present application, if the target mobile robot is in a non-operating state at the center point, it can be determined whether the second area is occupied by other mobile robots. If the second area is not occupied by other mobile robots, the second area can be pre-occupied to allow the target mobile robot to pass through. If the second area is occupied by other mobile robots, the target mobile robot can be controlled to wait outside the second area until there are no other mobile robots in the second area, and then occupy the second area to allow the target mobile robot to pass through. In this way, the mobile robots in the area can be managed and controlled more quickly and efficiently, while preventing problems such as collisions and conflicts. In addition, the area can be occupied and released in a timely manner, thereby achieving flexible management and control of mobile robots.

[0053] Optionally, if the target point of the target mobile robot is the center point, after determining the operating status of the target mobile robot at the center point, it also includes: if the operating status of the target mobile robot at the center point is a working state, pre-occupying the first area for the target mobile robot to work.

[0054] It is understandable that since the first area is set based on the working state of the target mobile robot, when the target point of the target mobile robot is determined to be the center point and the operating state is the working state, the first area can be pre-occupied for the target mobile robot to work, so as to prevent other mobile robots from occupying the first area and affecting the work of the target mobile robot.

[0055] Optionally, in order to avoid the problem of other mobile robots occupying the first area and thus the target mobile robot repeatedly occupying the first area, the target mobile robot is in a working state at the center point, and the first area is pre-occupied for the target mobile robot to work, including: if the target mobile robot is in a working state at the center point, determining whether there is another mobile robot in the first area; if there is no other mobile robot in the first area, pre-occupying the first area for the target mobile robot to work.

[0056] Specifically, when the target mobile robot is in the working state at the center point, it indicates that the target mobile robot needs to occupy the first area to perform the next task. Therefore, to prevent the first area from being occupied by another mobile robot and thus being duplicated by the target mobile robot, it is necessary to determine whether there are other mobile robots in the first area. If there are no other mobile robots in the first area, the first area can be pre-occupied for the target mobile robot to pass through.

[0057] Optionally, if there are other mobile robots in the first area, the target mobile robot is controlled to wait outside the first area until there are no other mobile robots in the first area.

[0058] In an embodiment of the present application, if the target mobile robot is in a working state at the center point, it can be determined whether the first area is occupied by other mobile robots. If the first area is not occupied by other mobile robots, the first area can be pre-occupied to allow the target mobile robot to pass through. If the first area is occupied by other mobile robots, the target mobile robot can be controlled to wait outside the first area until there are no other mobile robots in the first area, and then occupy the first area to allow the target mobile robot to pass through. In this way, the mobile robots in the area can be controlled more quickly and efficiently, while preventing problems such as collisions and conflicts. In addition, the area can be occupied and released in a timely manner, thereby achieving flexible control of the mobile robots.

[0059] Please continue reading Figure 3 , Figure 3 This is a schematic diagram of the steps of another mobile robot control method provided by an embodiment of the present application. Figure 3 As shown, the first area also includes several associated points in addition to the center point, and the associated points correspond to the non-working state of the target mobile robot. On this basis, after obtaining the first area and the second area set based on the target mobile robot, it also includes:

[0060] Step S21: When the target mobile robot needs to pass through the first area, determine whether the target point of the target mobile robot is a related point.

[0061] Step S22: If the target point of the target mobile robot is a related point, determine whether the center point is the target point of other mobile robots.

[0062] Step S23: When the center point is not the target point of other mobile robots, the target mobile robot is controlled to pass through the first area.

[0063] Specifically, when the target mobile robot needs to pass through the first area, it can be determined whether the target point of the target mobile robot is an associated point. If the target point of the target mobile robot is an associated point, it means that the operating state of the target mobile robot is a non-working state. In order to prevent the first area from being occupied by other mobile robots, which may cause the target mobile robot to collide with other mobile robots when passing through the first area, it can be determined whether the center point of the first area is the target point of other mobile robots. It is understandable that if the center point of the first area is the target point of other mobile robots, then the first area is occupied by other mobile robots. At this time, you can wait until the first area is occupied by other mobile robots and then pass through the first area; if the center point of the first area is not the target point of other mobile robots, then the first area is not occupied by other mobile robots, and you can directly pass through the first area.

[0064] In this embodiment of the present application, the first area includes several associated points in addition to the central point, and the target mobile robot is in an inactive state at these associated points. Based on this, when the target mobile robot needs to pass through the first area, it can determine whether the first area is occupied by other mobile robots. If the first area is not occupied by other mobile robots, it can pass directly through the first area. This achieves control over the target mobile robot at the associated points and reduces the occurrence of mobile robot conflicts during the control process.

[0065] Optionally, see Figure 4 , Figure 4 This is a flowchart of the steps for controlling the target mobile robot with the target point in the third area provided by the embodiment of the present application. Figure 4 As shown, the control of the target mobile robot with the target point in the third area can be achieved through steps S211 to S213.

[0066] Step S211: When the center point is the target point of other mobile robots, determine the operating status of the other mobile robots whose target points are the center points.

[0067] Step S212: If the operating status of the other mobile robots whose target points are the center points is a non-operating state, it is further determined whether the target point of the target mobile robot is within the third area.

[0068] Step S213: If the target point of the target mobile robot is within the third area, control the target mobile robot to pass through the third area.

[0069] Specifically, if the center point is the target point of another mobile robot, it indicates that the other mobile robot needs to pass through the first area. At this point, the operating status of the other mobile robot with the center point as the target point can be determined. If the operating status of the other mobile robot with the center point as the target point is in an inoperative state, it indicates that the other mobile robot only needs to occupy the second area and pass through the second area. Based on this, it can be further determined whether the target mobile robot's target point is within the third area. If the target mobile robot's target point is within the third area, the target mobile robot is controlled to pass through the third area. It can be understood that the aforementioned other mobile robots and the target mobile robot can pass through the second area and the third area, respectively, without any collision or conflict.

[0070] Optionally, when the center point is the target point of other mobile robots, after determining the operating status of the other mobile robots whose target points are the center points, it also includes: if the operating status of the other mobile robots whose target points are the center points is a working state, or the target point of the target mobile robot is not within the third area, controlling the target mobile robot to wait outside the first area until there are no other mobile robots within the first area.

[0071] Specifically, if the target point of the other mobile robots is in the working state, it means that the other mobile robots need to occupy the first area for their work. In this case, the target mobile robot cannot pass through the first area and can wait outside the first area and then pass through the first area until no other mobile robots are in the first area. In addition, if the target mobile robot's target point is not in the third area, it means that the target mobile robot cannot pass through the third area. In this case, it can wait outside the first area until no other mobile robots are in the first area and then pass through the first area.

[0072] In an embodiment of the present application, the target mobile robot can be controlled when the center point is occupied by other mobile robots by determining the operating status of other mobile robots and whether the target point of the target mobile robot is within the third area. When the first area is occupied by other mobile robots, the target mobile robot can wait outside the first area until there are no other mobile robots in the first area and then pass through the first area. When the first area is occupied by other mobile robots, the target mobile robot can pass directly through the third area. In this way, the target mobile robot can be controlled when the center point is occupied by other mobile robots. This control method is more flexible, reduces the cost of the mobile robot taking a detour or waiting, and does not pose a safety hazard.

[0073] The mobile robot control method, mobile robot, and computer-readable storage medium disclosed in this application can pre-set a first area containing a second area and a third area based on a target mobile robot, and when the target mobile robot needs to pass through the first area, determine the target mobile robot's target point and its operating status. When the target mobile robot's target point is the center point and its operating status is non-operating, the second area is occupied for the target mobile robot to pass through, thereby allowing other mobile robots whose target points are in the third area to pass through the third area. In this way, the mobile robots in the area can be controlled by setting the area, thereby improving the working efficiency of the mobile robots.

[0074] See also Figure 5 , Figure 5 300 is a schematic diagram of a mobile robot provided in an embodiment of the present application. The mobile robot 300 may be a server. Figure 5 As shown, the mobile robot 300 includes a processor 301, a memory 302 and a network interface connected via a system bus, wherein the memory 302 may include a volatile storage medium, a non-volatile storage medium and an internal memory.

[0075] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, which, when executed, can enable the processor 301 to execute any one of the mobile robot control methods.

[0076] The processor 301 is used to provide computing and control capabilities to support the operation of the entire mobile robot 300.

[0077] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor 301, the processor 301 can execute any mobile robot control method.

[0078] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that the structure of the mobile robot 300 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the mobile robot 300 to which the solution of the present application is applied. The specific mobile robot 300 may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0079] It should be understood that the processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0080] In some embodiments, the processor 301 is used to run a computer program stored in the memory 302 to implement the following steps: obtaining a first area and a second area set based on a target mobile robot, wherein the center points of the first area and the second area coincide with each other, and the first area includes the second area and a third area excluding the second area; when the target mobile robot needs to pass through the first area, determining whether the target point of the target mobile robot is the center point; if the target point of the target mobile robot is the center point, determining the operating state of the target mobile robot at the center point, wherein the operating state includes a working state and a non-working state; if the operating state of the target mobile robot at the center point is the non-working state, pre-occupying the second area for the target mobile robot to pass through, so that other mobile robots whose target points are in the third area pass through the third area.

[0081] In some embodiments, the processor 301 is further configured to, when the target mobile robot is in the operating state at the center point, pre-occupy the first area for the target mobile robot to work.

[0082] In some embodiments, the processor 301 is also used to set the area parameters of the first area and the area parameters of the second area based on the operating state of the target mobile robot, the area parameters including area length, area width and area angle, the area parameters of the first area are set based on the working state of the target mobile robot, and the area parameters of the second area are set based on the non-working state of the target mobile robot.

[0083] In some embodiments, the processor 301 is further used to determine whether there are other mobile robots in the second area when the operating state of the target mobile robot at the center point is the non-operating state; if there are no other mobile robots in the second area, pre-occupy the second area for the target mobile robot to pass through; when the operating state of the target mobile robot at the center point is the operating state, determine whether there are other mobile robots in the first area; if there are no other mobile robots in the first area, pre-occupy the first area for the target mobile robot to work.

[0084] In some embodiments, the processor 301 is further configured to, if there are other mobile robots in the second area, control the target mobile robot to wait outside the second area until no other mobile robots are present in the second area. If there are other mobile robots in the first area, control the target mobile robot to wait outside the first area until no other mobile robots are present in the first area.

[0085] In some embodiments, the processor 301 is also used to determine whether the target point of the target mobile robot is the associated point when the target mobile robot needs to pass through the first area; if the target point of the target mobile robot is the associated point, determine whether the center point is the target point of other mobile robots; when the center point is not the target point of other mobile robots, control the target mobile robot to pass through the first area.

[0086] In some embodiments, the processor 301 is also used to determine the operating status of the other mobile robots whose target points are the center point when the center point is the target point of the other mobile robots; if the operating status of the other mobile robots whose target points are the center point is a non-working state, further determine whether the target point of the target mobile robot is within the third area; if the target point of the target mobile robot is within the third area, control the target mobile robot to pass through the third area.

[0087] In some embodiments, the processor 301 is also used to control the target mobile robot to wait outside the first area until there are no other mobile robots in the first area when the operating status of other mobile robots whose target point is the center point is in a working state, or the target point of the target mobile robot is not in the third area.

[0088] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions, and when the program instructions are executed, the mobile robot control method provided in the embodiment of the present application is implemented.

[0089] The computer-readable storage medium may be an internal storage unit of the mobile robot 300 described in the aforementioned embodiment, such as a hard disk or memory of the mobile robot.

[0090] See also Figure 6 , Figure 6 A schematic diagram of the structure of a computer-readable storage medium provided for the present application. The storage medium 40 of the present application stores a computer program that can implement the control method of all the mobile robots mentioned above, wherein the computer program can be stored in the above storage medium 40 in the form of a software product, including a number of instructions for enabling a mobile robot (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage device includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or a computer, server, mobile phone, tablet or other device.

[0091] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0092] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a mobile robot, characterized in that: The method comprises: Acquire a first area and a second area set based on a target mobile robot, wherein a center point of the first area coincides with a center point of the second area, and the first area includes a plurality of associated points other than the center point, the second area, and a third area other than the second area, and the associated points correspond to a non-working state of the target mobile robot; When the target mobile robot needs to pass through the first area, determining whether the target point of the target mobile robot is the associated point or the center point; If the target point of the target mobile robot is the associated point, determining whether the center point is the target point of another mobile robot; When the center point is not the target point of other mobile robots, controlling the target mobile robot to pass through the first area; If the target point of the target mobile robot is the center point, determining the operating state of the target mobile robot at the center point, wherein the operating state includes a working state and a non-working state; If the target mobile robot is in the non-working state at the center point, the second area is pre-occupied for the target mobile robot to pass through, so that other mobile robots whose target points are in the third area pass through the third area.

2. The method according to claim 1, characterized in that If the target point of the target mobile robot is the center point, after determining the running state of the target mobile robot at the center point, the method further includes: If the target mobile robot is in the operating state at the center point, the first area is pre-occupied for the target mobile robot to work.

3. The method according to claim 1, characterized in that Before obtaining the first area and the second area set based on the target mobile robot, the method includes: The area parameters of the first area and the area parameters of the second area are set based on the operating status of the target mobile robot, the area parameters include area length, area width and area angle, the area parameters of the first area are set based on the working status of the target mobile robot, and the area parameters of the second area are set based on the non-working status of the target mobile robot.

4. The method according to claim 2, characterized in that If the target mobile robot is in the non-working state at the center point, pre-occupying the second area for the target mobile robot to pass through, comprising: If the operating state of the target mobile robot at the central point is the non-operating state, determining whether there are other mobile robots in the second area; If there is no other mobile robot in the second area, pre-occupying the second area for the target mobile robot to pass through; If the target mobile robot is in the operating state at the center point, pre-occupying the first area for the target mobile robot to work includes: If the target mobile robot is in the working state at the center point, determining whether there are other mobile robots in the first area; If no other mobile robot exists in the first area, the first area is pre-occupied for the target mobile robot to work.

5. The method according to claim 4, characterized in that If the target mobile robot is in the non-operating state at the center point, after determining whether there are other mobile robots in the second area, the method further includes: If there are other mobile robots in the second area, controlling the target mobile robot to wait outside the second area until there are no other mobile robots in the second area; If the target mobile robot is in the working state at the center point, after determining whether there are other mobile robots in the first area, the method further includes: If there are other mobile robots in the first area, the target mobile robot is controlled to wait outside the first area until there are no other mobile robots in the first area.

6. The method according to claim 1, characterized in that If the target point of the target mobile robot is the associated point, after determining whether the center point is the target point of another mobile robot, the method further includes: When the center point is a target point of other mobile robots, determining the operating state of the other mobile robots whose target points are the center point; If the operating state of the other mobile robots whose target point is the center point is a non-operating state, further determining whether the target point of the target mobile robot is within the third area; If the target point of the target mobile robot is within the third area, the target mobile robot is controlled to pass through the third area.

7. The method according to claim 6, characterized in that When the center point is the target point of the other mobile robots, after determining the running state of the other mobile robots whose target points are the center point, the method further includes: If the operating status of other mobile robots whose target point is the center point is in working status, or the target point of the target mobile robot is not within the third area, the target mobile robot is controlled to wait outside the first area until there are no other mobile robots in the first area.

8. A mobile robot, characterized in that: The mobile robot comprises: memory and processor; Wherein, the memory is connected to the processor and is used to store programs; The processor is configured to implement the steps of the mobile robot control method according to any one of claims 1 to 7 by running the program stored in the memory.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the steps of the mobile robot control method according to any one of claims 1 to 7.

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