Method, device, computer device and storage medium for controlling moving speed

Abstract

The application relates to a moving speed control method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a grid map of a target area and at least one dangerous factor affecting the moving speed control when a moving object moves in the target area; performing moving speed control on the moving object in the process of executing a current moving task according to the updated grid map information after a previous moving task is completed; updating the speed limit information of the grid where the moving object is located according to the speed limit information determined when the current dangerous message is generated, obtaining the updated grid map information after the current moving task is completed, and obtaining the grid map information corresponding to the current dangerous factor; and obtaining target grid map information according to the grid map information corresponding to the dangerous factor, and performing moving speed control according to the target grid map information. The method can improve the safety of the moving object in the moving process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a moving speed control method and device, a computer device, a storage medium, and a computer program product. BACKGROUND

[0002] With the development of artificial intelligence technology, robot technology has become increasingly mature, among which, mobile robots are most widely applied. Mobile robots play an increasingly important role in many industries such as household and industry. However, the robots in the prior art still have many deficiencies. For example, when the robot executes a task, it will pass through some special areas where the speed of the robot needs to be limited, such as areas with collision risks, areas with bumpy ground, and areas with slippery ground. In these scenarios, the moving speed of the robot affects the safety of the robot during movement. Therefore, there is an urgent need for a robot moving speed control method. SUMMARY

[0003] Therefore, it is necessary to provide a moving speed control method, device, computer device, computer readable storage medium, and computer program product capable of improving the safety of the robot movement process.

[0004] In a first aspect, the present application provides a moving speed control method. The method comprises:

[0005] obtaining a grid map of a target area and at least one dangerous factor affecting the moving speed control when a moving object moves in the target area;

[0006] controlling the moving speed of the moving object in the execution of the current moving task according to the updated grid map information after the previous moving task, for the current dangerous factor and the current moving task;

[0007] updating the speed limit information of the grid according to the speed limit information determined when the current dangerous message corresponding to the current dangerous factor generated in the execution of the current moving task is generated and the grid where the moving object is located, to obtain the updated grid map information after the current moving task, and the grid map information is used to record the speed limit information of the grid in the grid map corresponding to the situation that only the current dangerous factor affects the moving speed control;

[0008] taking the next moving task as the current moving task, returning to the step of controlling the moving speed of the moving object in the execution of the current moving task according to the updated grid map information after the previous moving task, and continuing to execute until a preset termination condition is reached, to obtain the grid map information corresponding to the current dangerous factor;

[0009] According to the grid map information corresponding to the risk factors, target grid map information is obtained, and the moving object is controlled in speed according to the target grid map information.

[0010] In one of the embodiments, the speed limit information includes a speed limit value; the moving object is controlled in speed during execution of the current moving task according to the updated grid map information after the previous moving task is completed, including:

[0011] According to the updated grid map information after the previous moving task is completed, speed limit grids with speed limit values in the grid map after the previous moving task is completed are determined, and speed limit action ranges of the speed limit grids are determined;

[0012] During execution of the current moving task by the moving object, it is detected in real time whether the moving object falls into the speed limit action range;

[0013] In the case that the moving object falls into the speed limit action range, the moving object is controlled in real time according to a target speed limit grid corresponding to the speed limit action range in which the moving object falls, and a target speed limit value corresponding to the target speed limit grid.

[0014] In one of the embodiments, the moving object is controlled in real time according to the target speed limit value corresponding to the target speed limit grid, including:

[0015] In the case that the target speed limit value corresponding to the target speed limit grid is multiple, a minimum value of the target speed limit values corresponding to the target speed limit grids is determined, and the moving object is controlled in real time according to the minimum value.

[0016] In one of the embodiments, the speed limit information includes a speed limit value and a risk coefficient used to measure the risk degree; the speed limit information is updated according to the speed limit information determined when the current risk message is generated and the grid in which the moving object is located, and updated grid map information after the current moving task is completed is obtained, including:

[0017] The speed limit information determined when the current risk message is generated is determined as the latest speed limit information corresponding to the grid in which the moving object is located when the current risk message is generated;

[0018] According to a value range of a target risk coefficient in the corresponding latest speed limit information, it is determined whether the target risk coefficient and a target speed limit value in the corresponding latest speed limit information need to be updated;

[0019] In the case that the target risk coefficient and the target speed limit value need to be updated, the target risk coefficient and the target speed limit value are updated correspondingly, and the updated grid map information after the current moving task is completed is obtained.

[0020] In one of the embodiments, the target danger coefficient and the target speed limit value are updated accordingly in case of a need for updating, and the updated grid map information after the current moving task is obtained, comprising:

[0021] In case that the target danger coefficient is 0 and the target speed limit value is greater than 0, the target speed limit value is raised by a first preset amplitude and the target danger coefficient is raised by a second preset amplitude;

[0022] In case that the target danger coefficient is greater than 0 and less than a preset threshold, the target danger coefficient is lowered by a third preset amplitude;

[0023] In case that the target danger coefficient is greater than the preset threshold, the target speed limit value is lowered according to the target danger coefficient, and the target danger coefficient is reset according to the preset threshold;

[0024] The target danger coefficient and the target speed limit value are updated accordingly according to the adjusted target danger coefficient and the target speed limit value, and the updated grid map information after the current moving task is obtained.

[0025] In one of the embodiments, the speed limit information comprises a speed limit value; the danger factors are at least two; the target grid map information is obtained according to the grid map information corresponding to the danger factors, comprising:

[0026] The danger factors involved in each grid in the grid map are determined according to the grid map information corresponding to each danger factor;

[0027] The minimum speed limit value corresponding to each grid is determined according to the speed limit value of each danger factor involved in the corresponding grid in the grid map information, and the target grid map information is obtained according to the minimum speed limit value corresponding to each grid.

[0028] In a second aspect, the application further provides a device for speed control. The device comprises:

[0029] The obtaining module is configured to obtain a grid map of a target area and at least one danger factor affecting the speed control of a moving object when moving in the target area;

[0030] The first control module is configured to perform speed control on the moving object in the process of executing the current moving task according to the updated grid map information after the previous moving task, for the current danger factor and the current moving task;

[0031] an updating module configured to, for a current danger message corresponding to a current danger factor generated in execution of a current moving task, update speed limit information of a grid where the mobile object is located according to speed limit information determined when the current danger message is generated and the grid where the mobile object is located, and obtain updated grid map information after the current moving task ends, the grid map information being used to record speed limit information of the grid in the grid map corresponding to a case where the current danger factor affects speed control of the mobile object;

[0032] a second control module configured to, for a next moving task as the current moving task, return to a step of performing speed control of the mobile object according to the updated grid map information after the previous moving task ends in execution of the current moving task and continue to perform until a preset termination condition is reached, and obtain grid map information corresponding to the current danger factor;

[0033] a third control module configured to, according to the grid map information corresponding to the danger factor, obtain target grid map information, and perform speed control of the mobile object according to the target grid map information.

[0034] In a third aspect, the present application also provides a computer device. The computer device comprises a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0035] obtaining a grid map of a target area and at least one danger factor affecting speed control of a mobile object when the mobile object moves in the target area;

[0036] for a current danger factor and a current moving task, performing speed control of the mobile object according to updated grid map information after a previous moving task ends in execution of the current moving task;

[0037] for a current danger message corresponding to a current danger factor generated in execution of a current moving task, updating speed limit information of a grid where the mobile object is located according to speed limit information determined when the current danger message is generated and the grid where the mobile object is located, and obtaining updated grid map information after the current moving task ends, the grid map information being used to record speed limit information of the grid in the grid map corresponding to a case where the current danger factor affects speed control of the mobile object;

[0038] for a next moving task as the current moving task, returning to a step of performing speed control of the mobile object according to the updated grid map information after the previous moving task ends in execution of the current moving task and continuing to perform until a preset termination condition is reached, and obtaining grid map information corresponding to the current danger factor;

[0039] according to the grid map information corresponding to the danger factor, obtaining target grid map information, and performing speed control of the mobile object according to the target grid map information.

[0040] In a fourth aspect, the present application provides a computer readable storage medium. The computer readable storage medium has a computer program stored thereon, and the computer program, when executed by a processor, implements the following steps:

[0041] obtaining a grid map of a target area and at least one dangerous factor affecting speed control of the mobile object when the mobile object moves in the target area;

[0042] controlling the speed of the mobile object in the execution of the current movement task according to the updated grid map information after the previous movement task, for the current dangerous factor and the current movement task;

[0043] updating the speed limit information of the grid according to the speed limit information determined when the current dangerous message corresponding to the current dangerous factor generated in the execution of the current movement task is generated and the grid where the mobile object is located, to obtain the updated grid map information after the current movement task, and the grid map information is used to record the speed limit information of the grid in the grid map corresponding to the case where only the current dangerous factor affects the speed control;

[0044] taking the next movement task as the current movement task, returning to and continuing to execute the step of controlling the speed of the mobile object in the execution of the current movement task according to the updated grid map information after the previous movement task, until a preset termination condition is reached, to obtain the grid map information corresponding to the current dangerous factor;

[0045] obtaining target grid map information according to the grid map information corresponding to the dangerous factor, and controlling the speed of the mobile object according to the target grid map information.

[0046] In a fifth aspect, the present application provides a computer program product. The computer program product comprises a computer program, and the computer program, when executed by a processor, implements the following steps:

[0047] obtaining a grid map of a target area and at least one dangerous factor affecting speed control of the mobile object when the mobile object moves in the target area;

[0048] controlling the speed of the mobile object in the execution of the current movement task according to the updated grid map information after the previous movement task, for the current dangerous factor and the current movement task;

[0049] According to the current danger message corresponding to the current danger factor generated in the execution of the current moving task, limit speed information of a grid where the mobile object is located is updated according to limit speed information determined when the current danger message is generated and the grid where the mobile object is located, to obtain updated grid map information after the current moving task ends, the grid map information being used to record limit speed information of a grid in the grid map corresponding to a case where the current danger factor affects the speed control of the mobile object;

[0050] The next moving task is taken as the current moving task, and the step of performing the speed control of the mobile object according to the updated grid map information after the previous moving task ends during the execution of the current moving task is returned and continuously executed until a preset termination condition is reached, to obtain the grid map information corresponding to the current danger factor;

[0051] According to the grid map information corresponding to the danger factor, target grid map information is obtained, and the speed control of the mobile object is performed according to the target grid map information.

[0052] The above-mentioned speed control method, device, computer equipment, storage medium and computer program product obtain a grid map of a target region and at least one danger factor affecting the speed control of a mobile object when the mobile object moves in the target region; for a current danger factor and a current moving task, the speed control of the mobile object is performed according to updated grid map information after a previous moving task ends during the execution of the current moving task; for a current danger message corresponding to a current danger factor generated in the execution of the current moving task, limit speed information of a grid where the mobile object is located is updated according to limit speed information determined when the current danger message is generated and the grid where the mobile object is located, to obtain updated grid map information after the current moving task ends, the grid map information being used to record limit speed information of a grid in the grid map corresponding to a case where the current danger factor affects the speed control of the mobile object; the next moving task is taken as the current moving task, and the step of performing the speed control of the mobile object according to the updated grid map information after the previous moving task ends during the execution of the current moving task is returned and continuously executed until a preset termination condition is reached, to obtain the grid map information corresponding to the current danger factor; according to the grid map information corresponding to the danger factor, target grid map information is obtained, and the speed control of the mobile object is performed according to the target grid map information. Through the corresponding target grid map information, the speed control of the mobile object can improve the safety of the mobile object in the moving process. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 An application environment diagram of the speed control method in one embodiment;

[0054] Figure 2 A flowchart of the speed control method in one embodiment;

[0055] Figure 3 This is a schematic diagram of a moving grid map in one embodiment;

[0056] Figure 4 This is a schematic diagram of the speed limiting range of a speed limiting grid in one embodiment;

[0057] Figure 5 This is a schematic diagram illustrating the speed limiting range of multiple speed limiting grids in one embodiment;

[0058] Figure 6 This is a schematic diagram illustrating the speed limit value of the target speed limit grid in one embodiment;

[0059] Figure 7 This is a flowchart illustrating the speed control method in another embodiment;

[0060] Figure 8 This is a structural block diagram of a speed control device in one embodiment;

[0061] Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0063] The speed control method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, the autonomously moving robot 102 communicates with the server 104 via a network. A data storage system can store the data that the server 104 needs to process. The data storage system can be integrated onto the server 104, or it can be located in the cloud or on another network server.

[0064] In one embodiment, such as Figure 2 As shown, a method for speed control is provided, which is applied to... Figure 1 Taking the robot in the example, the following steps are included:

[0065] 201. Obtain a grid map of the target area and at least one hazardous factor that affects the movement speed control when a moving object moves within the target area;

[0066] 202. Based on the current hazard factors and the current movement task, and according to the updated grid map information after the completion of the previous movement task, control the movement speed of the moving object during the execution of the current movement task.

[0067] 203. For the current hazard message corresponding to the current hazard factor generated during the execution of the current movement task, update the speed limit information of the grid where the moving object is located based on the speed limit information determined when the current hazard message is generated and the grid where the moving object is located, and obtain the updated grid map information after the current movement task ends. The grid map information is used to record the corresponding speed limit information of the grid in the grid map only when the current hazard factor affects the movement speed control.

[0068] 204. Take the next movement task as the current movement task, return to the grid map information updated after the previous movement task is completed, and continue to execute the steps of controlling the movement speed of the moving object during the execution of the current movement task until the preset cutoff condition is reached, and obtain the grid map information corresponding to the current hazard factor.

[0069] 205. Based on the corresponding grid map information of the hazard factors, obtain the target grid map information, and control the movement speed of the moving object according to the target grid map information.

[0070] The target area refers to the region that the mobile object can move to when performing its work task. The mobile object can be a robot that executes delivery instructions or other instructions. For example, if the mobile object is a food delivery robot, the target area can be a restaurant or kitchen; or if the mobile object is a goods delivery robot, the target area can be a production workshop.

[0071] A raster map is a map of the same size as the location map of the target area. It is obtained by dividing the location map into grids, and each grid in the raster map represents a location in the target area. In addition, each grid in the raster map can be represented by coordinate points. For example, in a 2*2 grid map, the coordinates of the four grids can be (0,0), (0,1), (1,0), and (1,1).

[0072] Figure 3 This is a schematic diagram of a raster map in an example.

[0073] When a moving object passes through a grid cell in the grid map, the moving object will detect its passing speed in real time and record and store the passing speed. This passing speed will be used to update the speed limit information of the corresponding grid cell.

[0074] The dangerous factor refers to a factor that affects the moving speed of the mobile object, and the dangerous factor can be an environmental factor, and the target area can include areas of multiple types of dangerous factors. For example, when the target area is a restaurant, the dangerous factor can be slippery ground, bumpy ground, or collision risk. The type of dangerous factor is not specifically limited by the embodiments of the present application, and the type of dangerous factor is determined by the target area. In the target area, there are n types of areas that affect the moving speed of the mobile object, and there are n types of dangerous factors, where n is an integer greater than or equal to 1.

[0075] The moving task refers to the moving route of the mobile object on the grid map of the target area. The moving route can be a route planned by the mobile object before moving, or a route planned and adjusted by the mobile object during moving. The current moving task refers to the moving route of the mobile object at the current time.

[0076] The preset termination condition is not specifically limited by the embodiments of the present application, and includes but is not limited to that the mobile object completes the current moving task.

[0077] Specifically, after the mobile object completes a moving task, the mobile object can obtain the grid map information corresponding to the dangerous factor. When the mobile object receives an update instruction, the mobile object will integrate all the grid map information corresponding to the dangerous factor according to the preset condition, determine the speed limit information of each grid on the grid map, and update the grid map information of the target area according to the speed limit information of each grid to obtain target grid map information. The mobile object moves according to the target grid map information.

[0078] The method provided by the embodiments of the present application can update the speed limit information of each grid of the grid map of the target area by the mobile object performing the moving task in the target area, so that the mobile object can adjust the speed according to the speed limit information, avoid safety problems such as slipping or collision of the mobile object in the target area, and further improve the efficiency and safety of the mobile object in performing the task.

[0079] In combination with the above embodiments, in one embodiment, the speed limit information includes a speed limit value; and the speed control of the mobile object in the process of performing the current moving task according to the grid map information updated after the previous moving task ends includes:

[0080] According to the grid map information updated after the previous moving task ends, the speed limit grid with the speed limit value in the grid map after the previous moving task ends and the speed limit action range of each speed limit grid are determined;

[0081] In the process of performing the current moving task by the mobile object, it is detected in real time whether the mobile object falls into the speed limit action range;

[0082] When a moving object is detected to have fallen into the speed limit range, the moving object is slowed down in real time according to the speed limit value of the target speed limit grid corresponding to the speed limit range into which the moving object has fallen.

[0083] Speed ​​control for moving objects means that when a moving object reaches the location corresponding to any grid cell in the target area on the grid map, its movement speed will be controlled to not exceed the speed limit of that grid cell. For example, if the speed limit for grid cell A on the grid map is 0.5 m / s, then when the moving object reaches the location corresponding to grid cell A in the target area, it will pass through the location of grid cell A in the target area at a speed not exceeding 0.5 m / s.

[0084] The speed limit range of a speed limit grid refers to the fact that the speed limit value of the grids within the speed limit range of the speed limit grid is the same as the speed limit value of the speed limit grid.

[0085] The target speed limit grid refers to the speed limit grid that a moving object will pass through during the execution of its current movement task.

[0086] The embodiments of the present invention do not specifically limit the speed limiting range of the speed limiting grid. The speed limiting range of the speed limiting grid can be a grid within a circle with the speed limiting grid as the center and a preset length as the radius. Figure 4 This is a schematic diagram of the speed limiting range of a speed limiting grid. The grids within the area of ​​the circle formed by the dashed lines represent the speed limiting range of the speed limiting grid. Figure 5 This is a schematic diagram of the speed limiting range of multiple speed limiting grids. The grids within the area of ​​the circle formed by the dashed lines represent the speed limiting range of the corresponding speed limiting grid.

[0087] Specifically, before a moving object reaches any grid L in the grid map, the moving object first needs to obtain the speed limit value of grid L. If there is no speed limit value for grid L, the moving object will not adjust its speed. If there is a speed limit value v for grid L, the moving object will adjust its speed so that the moving object passes through grid L at a speed not greater than the speed limit value v.

[0088] The method provided in this invention can reduce the speed of a moving object before it reaches the target speed limit grid by detecting in real time whether the moving object falls within the speed limit range. This allows the moving object to pass through the target speed limit grid at a speed no greater than the speed limit value of the target speed limit grid, thereby reducing the error rate of the moving object during movement.

[0089] In conjunction with the above embodiments, in one embodiment, the moving object is decelerated in real time according to the corresponding speed limit value of the target speed limit grid, including:

[0090] When there are multiple speed limit values ​​for the target speed limit grid, determine the minimum value among the corresponding speed limit values ​​of each target speed limit grid, and reduce the speed of the moving object in real time based on the minimum value.

[0091] The minimum speed limit value among the corresponding speed limit values ​​of the target speed limit grid refers to the following: the target speed limit grid may be within the speed limit range of multiple speed limit grids. At this time, the moving object reaching the target grid is constrained by multiple speed limit values. In this case, the minimum speed limit value among the corresponding speed limit values ​​of the target speed limit grid is taken as the speed limit value of the target speed limit grid for the target object.

[0092] For example, such as Figure 6 As shown, the target speed limit grids for the target object are grids D, E, and G. At this time, grids D, E, and G are all within the speed limit range of grids B (speed limit value is 0.5 m / s) and C (speed limit value is 0.4 m / s). Therefore, when the target object passes through grids D, E, and G, the speed limit value of the target object is 0.4 m / s. Thus, the target object will pass through grids D, E, and G at a speed not greater than 0.4 m / s.

[0093] Specifically, first, the corresponding target speed-limiting grids are determined, and then the corresponding speed limit values ​​for those grids are determined. This ensures that the moving object's speed does not exceed the minimum speed limit value for each grid when passing through it. If the planned speed of a moving object when passing through a target speed-limiting grid exceeds the minimum speed limit value, then the object's actual speed should be equal to the minimum speed limit value. If the moving object is a robot, its final speed refers to its linear velocity. Based on this linear velocity, the robot's angular velocity can be calculated.

[0094] For example, if the minimum speed limit value of any target speed limit grid is 0.3 m / s, and the moving object's speed before passing the target speed limit grid is 0.4 m / s, and the moving object's speed exceeds 33.3% of the minimum speed limit value of the target speed limit grid, then the moving object's current speed needs to be reduced so that the moving object's speed does not exceed 0.3 m / s when passing the target speed limit grid.

[0095] In the present application, the moving speed of the moving object refers to the linear speed. If the current linear speed of the moving object is reduced, the current angular speed of the moving object is also reduced accordingly. For example, the minimum value in the corresponding speed limit value of any target speed limit grid is p = 1 m / s, the linear speed and the angular speed of the moving object before passing through the target speed limit grid are v1 = 1.2 m / s and w1 = 2 rad / s respectively, the linear speed v1 of the moving object exceeds 20% of the minimum value p in the corresponding speed limit value of the target speed limit grid, and the linear speed of the moving object needs to be reduced so that the linear speed v2 of the moving object is not greater than 1 m / s when the moving object passes through the target speed limit grid; if v2 = p = 1 m / s, correspondingly, the angular speed w2 of the moving object when passing through the target speed limit grid is w2 = w1 * (p / v1) = 2 * (1 / 1.2) = 1.67 rad / s.

[0096] The method provided by the embodiment of the present application determines the speed limit value of each target speed limit grid, reduces the speed of the moving object in real time, avoids imbalance when the moving object passes through the skidding or uneven ground area at a high speed, and thus improves the balance of the moving object.

[0097] In combination with the above-mentioned embodiment, in one embodiment, the speed limit information includes a speed limit value and a danger coefficient for measuring the danger degree; the speed limit information of the grid is updated according to the speed limit information determined when the current danger message is generated and the grid where the moving object is located, and the updated grid map information after the current moving task is obtained, including:

[0098] The speed limit information determined when the current danger message is generated is determined as the corresponding latest speed limit information of the grid where the moving object is located when the current danger message is generated;

[0099] According to the value range of the target danger coefficient in the corresponding latest speed limit information, it is determined whether the target danger coefficient and the target speed limit value in the corresponding latest speed limit information need to be updated;

[0100] In the case of needing to update, the target danger coefficient and the target speed limit value are updated accordingly, and the updated grid map information after the current moving task is obtained.

[0101] It is worth mentioning that if any target speed limit grid does not exist a speed limit value when the moving object performs the moving task, the speed limit information determined when the current danger message is generated is directly used as the corresponding latest speed limit information of the target speed limit grid when the moving object passes through the grid; for example, the target speed limit grid I does not exist a speed limit value, and the speed limit value and the danger coefficient determined when the current danger message is generated are directly used as the corresponding latest speed limit value and the danger coefficient of the target speed limit grid when the moving object passes through the grid.

[0102] Specifically, the danger message is output by the detection device carried by the mobile object, when the mobile object passes through a certain grid, the environment where the current grid is located is detected and it is judged whether there is a dangerous factor, if there is, the corresponding danger coefficient. For example, when the mobile object passes through the grid M, the detection device detects that there is a dangerous factor of ground skidding, the detection device needs to judge the danger degree of ground skidding, and determine the danger coefficient of the dangerous factor of ground skidding based on the danger degree.

[0103] Specifically, in the case where the speed limit value of the corresponding grid exists, the minimum value of the moving speed of the mobile object when passing through the grid and the speed limit value of the corresponding grid is taken as the latest speed limit value of the corresponding grid, and the danger coefficient of the corresponding grid is updated. For example, before the speed limit information and the danger coefficient of the grid T are updated, the speed limit value of the grid T is 0.6 m / s, and the danger coefficient of the grid T is 0.1; the moving speed of the mobile object when passing through the grid T is 0.5 m / s, the detection device detects the corresponding dangerous factor, and the detection device outputs the corresponding danger coefficient as 0.2, then the corresponding latest speed limit information of the grid T where the mobile object is located is: the speed limit value is 0.5 m / s, and the danger coefficient is 0.2. Through the above updating process, the speed limit information of all the grids passed by the mobile object is updated.

[0104] The method provided by the embodiment of the application can update the speed limit information of each grid passed by the mobile object by generating the speed limit information corresponding to the current danger message and the grid where the mobile object is located, thereby obtaining the updated grid map information after the current mobile task is completed.

[0105] In combination with the above embodiment, in one embodiment, the target danger coefficient and the target speed limit value are updated correspondingly in the case of needing to update, and the updated grid map information after the current mobile task is completed is obtained, including:

[0106] In the case where the target danger coefficient is 0 and the target speed limit value is greater than 0, the target speed limit value is adjusted upward by a first preset amplitude, and the target danger coefficient is adjusted upward by a second preset amplitude;

[0107] In the case where the target danger coefficient is greater than 0 and less than a preset threshold, the target danger coefficient is adjusted downward by a third preset amplitude;

[0108] In the case where the target danger coefficient is greater than the preset threshold, the target speed limit value is reduced according to the target danger coefficient, and the target danger coefficient is reset according to the preset threshold.

[0109] The target danger coefficient and the target speed limit value are updated correspondingly according to the adjusted target danger coefficient and the target speed limit value, and the updated grid map information after the current mobile task is completed is obtained.

[0110] After updating the speed limit information of all the grids passed by the mobile object, the speed limit information of the grids with speed limit value greater than 0 in the grid map is updated again according to the value range of the target danger coefficient in the corresponding latest speed limit information.

[0111] Specifically, updating the speed limit information of the grids with speed limit value greater than 0 in the grid map again includes taking the grid in the grid map as a target grid, taking the speed limit value of the target grid as a target speed limit value, and taking the danger coefficient in the corresponding latest speed limit information as a target danger coefficient of the target grid.

[0112] In the case that the target danger coefficient of the target grid is 0 and the target speed limit value is greater than 0, the target speed limit value is increased by a first preset amplitude, and the corresponding target danger coefficient is increased by a second preset amplitude. For example, the first preset amplitude is 0.05, the second preset amplitude is 0.2, the target speed limit value is V(now), and the target danger coefficient is P(now); then the corresponding target danger coefficient of the target grid after being increased is P(new) = P(now) + 0.05, and the corresponding target speed limit value of the target grid after being increased is V(new) = V(now) + 0.2.

[0113] In the case that the target danger coefficient of the target grid is greater than 0 and less than a preset threshold, the target danger coefficient is decreased by a third preset amplitude, and the target speed limit value of the target grid remains unchanged. For example, the preset threshold is 0.2, the third preset amplitude is 0.01, the target speed limit value is V(now), and the target danger coefficient is P(now); then the corresponding target danger coefficient of the target grid after being decreased is P(new) = P(now) - 0.01, and the target speed limit value of the target grid is V(new) = V(now).

[0114] In the case that the target danger coefficient of the target grid is greater than the preset threshold, the target speed limit value of the target grid is decreased according to the target danger coefficient of the target grid, and the target danger coefficient of the target grid is reset according to the preset threshold, including: taking the average of the target danger coefficient, multiplying the obtained average value by the target speed limit value of the target grid, taking the multiplied result as the new target speed limit value of the target grid, and taking the preset threshold as the new target danger coefficient of the target grid. For example: the preset threshold is 0.2, the target speed limit value is V(now), and the target danger coefficient is P(now); after the target speed limit value is decreased according to the target danger coefficient, the new target speed limit value V(new) = V(now)*(P(now) / 2) is obtained, and the new target danger coefficient P(now) of the target grid is 0.2.

[0115] The method provided by the embodiment of the present application can determine whether the target danger coefficient and the target speed limit value in the corresponding latest speed limit information need to be updated by the value range of the target danger coefficient in the corresponding latest speed limit information, and perform corresponding updating when the updating is needed, so as to update the corresponding grid map information of each danger factor.

[0116] According to the above embodiment, in one embodiment, the speed limit information comprises a speed limit value; the danger factor is at least two; the target grid map information is obtained according to the corresponding grid map information of the danger factor, comprising:

[0117] The danger factor involved in each grid in the grid map is determined according to the corresponding grid map information of each danger factor.

[0118] The minimum speed limit value corresponding to each grid is determined according to the speed limit value of each danger factor involved in each grid in the corresponding grid map information, and the target grid map information is obtained according to the minimum speed limit value corresponding to each grid.

[0119] Specifically, if there are n (n is an integer not less than 1) types of danger factors in the target area, then each time the mobile object completes a moving task, n grid map information is generated, the n types of danger factors involved in each grid in the grid map are determined according to the n grid map information, and the minimum speed limit value is selected from the n speed limit values of each grid as the latest speed limit value of the corresponding grid in the grid map according to the speed limit value of each danger factor involved in each grid in the corresponding grid map information, and the target grid map information is obtained after the speed limit value of all grids is updated.

[0120] The method provided by the embodiment of the present application can obtain the target grid map information of the mobile object by determining the corresponding grid map information of each danger factor, so that the mobile object can be reduced in speed before reaching any position where the danger factor is located according to the target grid map information, and the safety of the mobile object in the moving process is improved.

[0121] In one embodiment, as shown in FIG. 7, a speed control method comprises: Figure 7

[0122] 701, obtaining a grid map of a target area and at least one danger factor affecting speed control of a mobile object when moving in the target area;

[0123] ​702、for the current risk factors and the current moving task, according to the updated grid map information after the last moving task, determine the speed limit grid with speed limit value in the grid map after the last moving task and the speed limit action range of each speed limit grid; in the process of moving object executing the current moving task, real-time detect whether the moving object falls into the speed limit action range; in the case of detecting that the moving object falls into the speed limit action range, for the target speed limit grid corresponding to the speed limit action range where the moving object falls, in the case of the number of target speed limit grids being multiple, determine the minimum value in the corresponding speed limit values of each target speed limit grid, and according to the minimum value, real-time speed down the moving object.

[0124] 703、for the current danger message corresponding to the current risk factor generated in the execution of the current moving task, according to the speed limit information determined at the time of generating the current danger message and the grid where the moving object is located, update the speed limit information of the grid, obtain the updated grid map information after the current moving task, and the grid map information is used to record the speed limit information of the grid in the grid map only in the case of the influence of the current risk factor on the speed control;

[0125] 704、take the next moving task as the current moving task, return to the step of performing speed control on the moving object in the process of executing the current moving task according to the updated grid map information after the last moving task, and continue to execute until the preset termination condition is reached, and obtain the grid map information corresponding to the current risk factor;

[0126] 705、according to the grid map information corresponding to the risk factor, determine the risk factor involved in each grid in the grid map; according to the speed limit value of each risk factor involved in each grid in the corresponding grid map information, determine the minimum speed limit value corresponding to each grid, and according to the minimum speed limit value corresponding to each grid, obtain the target grid map information.

[0127] The method provided by the embodiment of the application can improve the safety of the moving object in the moving process by performing speed control on the moving object according to the corresponding target grid map information.

[0128] It should be understood that although each step in the flowchart involved in the embodiments described above is shown in sequence according to the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in the embodiments described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0129] Based on the same inventive concept, the embodiments of the present application also provide a speed control device for implementing the speed control method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more speed control device embodiments provided below can refer to the limitations of the speed control method described above, which will not be repeated here.

[0130] In one embodiment, as shown in Figure 8 a speed control device is provided, comprising: an acquisition module 801, a first control module 802, an update module 803, a second control module 804 and a third control module 805, wherein:

[0131] The acquisition module 801 is configured to acquire a grid map of a target area and at least one dangerous factor affecting speed control when a mobile object moves in the target area;

[0132] The first control module 802 is configured to, according to the grid map information updated after the last movement task, perform speed control on the mobile object during the execution of the current movement task for the current dangerous factor and the current movement task;

[0133] The update module 803 is configured to, according to the current dangerous message corresponding to the current dangerous factor generated during the execution of the current movement task, update the speed limit information of the grid according to the speed limit information determined when the current dangerous message is generated and the grid where the mobile object is located, and obtain the grid map information updated after the current movement task, wherein the grid map information is used to record the speed limit information of the grid in the grid map corresponding to the case where only the current dangerous factor affects the speed control;

[0134] The second control module 804 is configured to return the next movement task as the current movement task, return the grid map information generated after the previous movement task ends, and continue to perform the step of controlling the movement speed of the mobile object in the execution of the current movement task until a preset termination condition is reached, and obtain the grid map information corresponding to the current dangerous factor.

[0135] The third control module 805 is configured to obtain target grid map information according to the grid map information corresponding to the dangerous factor, and control the movement speed of the mobile object according to the target grid map information.

[0136] In an embodiment, the first control module 802 includes:

[0137] The first determination sub-module is configured to determine speed-limiting grids with speed-limiting values in the grid map after the previous movement task ends and the speed-limiting action ranges of the speed-limiting grids according to the updated grid map information after the previous movement task ends.

[0138] The detection sub-module is configured to detect whether the mobile object falls into the speed-limiting action range in real time in the execution of the current movement task.

[0139] The speed reduction sub-module is configured to, in the case that the mobile object falls into the speed-limiting action range, reduce the speed of the mobile object in real time according to the target speed-limiting grid corresponding to the speed-limiting action range in which the mobile object falls and the speed-limiting value corresponding to the target speed-limiting grid.

[0140] In an embodiment, the speed reduction sub-module includes:

[0141] The determination unit is configured to, in the case that the speed-limiting value corresponding to the target speed-limiting grid is multiple, determine the minimum value of the speed-limiting values corresponding to the target speed-limiting grids, and reduce the speed of the mobile object in real time according to the minimum value.

[0142] In an embodiment, the update module 803 includes:

[0143] The second determination sub-module is configured to determine the speed-limiting information determined when the current dangerous message is generated as the latest speed-limiting information corresponding to the grid in which the mobile object is located when the current dangerous message is generated.

[0144] The third determination sub-module is configured to determine whether the target dangerous coefficient and the target speed-limiting value in the latest speed-limiting information need to be updated according to the value range of the target dangerous coefficient in the latest speed-limiting information, and update the target dangerous coefficient and the target speed-limiting value correspondingly to obtain the updated grid map information after the current movement task ends in the case that the target dangerous coefficient and the target speed-limiting value need to be updated.

[0145] In an embodiment, the third determination sub-module includes:

[0146] The first adjusting unit is configured to, in a case where the target danger coefficient is 0 and the target speed limit value is greater than 0, increase the target speed limit value by a first preset amplitude and increase the target danger coefficient by a second preset amplitude;

[0147] The second adjusting unit is configured to, in a case where the target danger coefficient is greater than 0 and less than a preset threshold, decrease the target danger coefficient by a third preset amplitude.

[0148] The setting unit is configured to, in a case where the target danger coefficient is greater than the preset threshold, decrease the target speed limit value according to the target danger coefficient and reset the target danger coefficient according to the preset threshold.

[0149] The updating unit is configured to update the target danger coefficient and the target speed limit value correspondingly to obtain updated grid map information after a current mobile task ends.

[0150] In one embodiment, the third control module 805 includes:

[0151] The fourth determining sub-module is configured to determine, according to the grid map information corresponding to each danger factor, the danger factor involved in each grid in the grid map.

[0152] The fifth determining sub-module is configured to determine the minimum speed limit value corresponding to each grid according to the speed limit values of the danger factors involved in each grid in the corresponding grid map information, and obtain the target grid map information according to the minimum speed limit value corresponding to each grid.

[0153] The modules in the above speed control device can be realized by software, hardware, or a combination thereof. The modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the modules.

[0154] In one embodiment, a computer device is provided, which can be a robot. The internal structure diagram of the computer device can be as shown in Figure 9The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with an external robot. The wireless communication can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement a speed control method. The display unit of the computer device is configured to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0155] Those skilled in the art can understand that, Figure 9 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0156] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the following steps:

[0157] Obtaining a grid map of a target area and at least one dangerous factor affecting speed control of a moving object when the moving object moves in the target area;

[0158] According to the updated grid map information after the previous moving task is completed, the speed control of the moving object is performed in the process of executing the current moving task according to the current dangerous factor and the current moving task;

[0159] For the current hazard message corresponding to the current hazard factor generated during the execution of the current movement task, based on the speed limit information determined when the current hazard message was generated and the grid where the moving object is located, the speed limit information of the grid is updated, and the updated grid map information after the current movement task ends is obtained. The grid map information is used to record the corresponding speed limit information of the grid in the grid map only when the current hazard factor affects the movement speed control.

[0160] The next movement task is taken as the current movement task. The grid map information updated after the previous movement task was completed is returned. The steps of controlling the movement speed of the moving object during the execution of the current movement task are continued until the preset cutoff condition is reached, and the grid map information corresponding to the current hazard factor is obtained.

[0161] Based on the grid map information corresponding to the hazard factors, obtain the target grid map information, and control the movement speed of the moving object according to the target grid map information.

[0162] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0163] Based on the updated grid map information after the previous movement mission, determine the speed limit grids with speed limit values ​​in the grid map after the previous movement mission ended, as well as the speed limit range of each speed limit grid.

[0164] During the process of a moving object performing its current moving task, it is monitored in real time whether the moving object falls into the speed limit range.

[0165] When a moving object is detected to have fallen into the speed limit range, the moving object is slowed down in real time according to the speed limit value of the target speed limit grid corresponding to the speed limit range into which the moving object has fallen.

[0166] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0167] When there are multiple speed limit values ​​for the target speed limit grid, determine the minimum value among the corresponding speed limit values ​​of each target speed limit grid, and reduce the speed of the moving object in real time based on the minimum value.

[0168] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0169] The speed limit information determined when the current danger message is generated is determined to be the latest speed limit information of the grid where the moving object is located when the current danger message is generated;

[0170] determining whether the target danger coefficient and the target speed limit value in the corresponding latest speed limit information need to be updated according to a value range in which the target danger coefficient in the corresponding latest speed limit information falls;

[0171] In the case of needing to update, the target danger coefficient and the target speed limit value are updated correspondingly to obtain the updated grid map information after the current moving task ends.

[0172] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0173] In the case of the target danger coefficient being 0 and the target speed limit value being greater than 0, the target speed limit value is raised by a first preset amplitude, and the target danger coefficient is raised by a second preset amplitude;

[0174] In the case of the target danger coefficient being greater than 0 and less than a preset threshold, the target danger coefficient is lowered by a third preset amplitude;

[0175] According to the adjusted target danger coefficient and the target speed limit value, the corresponding update is performed to obtain the updated grid map information after the current moving task ends.

[0176] In the case of the target danger coefficient being greater than the preset threshold, the target speed limit value is lowered according to the target danger coefficient, and the target danger coefficient is reset according to the preset threshold.

[0177] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0178] According to the corresponding grid map information of each danger factor, the danger factors involved in each grid in the grid map are determined;

[0179] According to the speed limit values of each danger factor involved in each grid in the corresponding grid map information, the minimum speed limit value corresponding to each grid is determined, and the target grid map information is obtained according to the minimum speed limit value corresponding to each grid.

[0180] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the following steps:

[0181] obtaining a grid map of a target area and at least one danger factor affecting speed control of a moving object when the moving object moves in the target area;

[0182] According to the current danger factor and the current moving task, the speed control of the moving object is performed in the process of executing the current moving task according to the updated grid map information after the previous moving task ends.

[0183] According to the speed limit information determined correspondingly when the current danger message is generated and the grid where the mobile object is located, the speed limit information of the grid is updated, and updated grid map information after the current mobile task is obtained, which is used to record the speed limit information of the grid in the grid map under the influence of the current danger factor on the speed control of the mobile object.

[0184] The next mobile task is taken as the current mobile task, and the step of controlling the speed of the mobile object according to the updated grid map information after the previous mobile task is returned and continued to be executed until a preset termination condition is reached, and the grid map information corresponding to the current danger factor is obtained.

[0185] According to the grid map information corresponding to the danger factor, target grid map information is obtained, and the speed of the mobile object is controlled according to the target grid map information.

[0186] In one embodiment, the computer program is executed by the processor to further implement the following steps:

[0187] According to the updated grid map information after the previous mobile task, speed limit grids with speed limit values in the grid map after the previous mobile task and the speed limit action range of each speed limit grid are determined.

[0188] In the process of executing the current mobile task, whether the mobile object falls into the speed limit action range is detected in real time.

[0189] In the case where it is detected that the mobile object falls into the speed limit action range, the speed of the mobile object is reduced in real time according to the target speed limit grid corresponding to the speed limit action range where the mobile object falls.

[0190] In one embodiment, the computer program is executed by the processor to further implement the following steps:

[0191] In the case where the speed limit value corresponding to the target speed limit grid is multiple, the minimum value of the speed limit value corresponding to each target speed limit grid is determined, and the speed of the mobile object is reduced in real time according to the minimum value.

[0192] In one embodiment, the computer program is executed by the processor to further implement the following steps:

[0193] The speed limit information determined correspondingly when the current danger message is generated is determined as the latest speed limit information of the grid where the mobile object is located when the current danger message is generated.

[0194] determining whether the target danger coefficient and the target speed limit value in the corresponding latest speed limit information need to be updated according to a value range in which the target danger coefficient in the corresponding latest speed limit information is located;

[0195] In the case of needing to update, the target danger coefficient and the target speed limit value are updated correspondingly to obtain the updated grid map information after the current moving task ends.

[0196] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0197] In the case of the target danger coefficient being 0 and the target speed limit value being greater than 0, the target speed limit value is raised by a first preset amplitude, and the target danger coefficient is raised by a second preset amplitude;

[0198] In the case of the target danger coefficient being greater than 0 and less than a preset threshold, the target danger coefficient is lowered by a third preset amplitude;

[0199] In the case of the target danger coefficient being greater than the preset threshold, the target speed limit value is lowered according to the target danger coefficient, and the target danger coefficient is reset according to the preset threshold;

[0200] According to the adjusted target danger coefficient and the target speed limit value, the corresponding update is performed to obtain the updated grid map information after the current moving task ends.

[0201] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0202] According to the grid map information corresponding to each danger factor, the danger factor involved in each grid in the grid map is determined; according to the speed limit values of each danger factor involved in each grid in the corresponding grid map information, the minimum speed limit value corresponding to each grid is determined, and the target grid map information is obtained according to the minimum speed limit value corresponding to each grid.

[0203] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the following steps:

[0204] obtaining a grid map of a target area and at least one danger factor affecting speed control of a moving object when the moving object moves in the target area;

[0205] According to the updated grid map information after the previous moving task ends, the speed of the moving object is controlled in the process of executing the current moving task according to the current danger factor and the current moving task;

[0206] The current danger message corresponding to the current danger factor generated in performing the current moving task is obtained, and the speed limit information of the grid where the mobile object is located is updated according to the speed limit information determined when the current danger message is generated and the grid where the mobile object is located, to obtain the updated grid map information after the current moving task is completed, the grid map information being used to record the speed limit information of the grid in the grid map under the influence of the current danger factor on the speed control of the mobile object;

[0207] The next moving task is taken as the current moving task, and the step of performing the speed control on the mobile object according to the updated grid map information after the previous moving task is completed during the execution of the current moving task is returned and continued to be executed until a preset termination condition is reached, to obtain the grid map information corresponding to the current danger factor;

[0208] The target grid map information is obtained according to the grid map information corresponding to the danger factor, and the speed control is performed on the mobile object according to the target grid map information.

[0209] In one embodiment, the computer program is further implemented when executed by the processor to implement the following steps:

[0210] The speed limit grid with a speed limit value in the grid map after the previous moving task is completed and the speed limit action range of each speed limit grid are determined according to the updated grid map information after the previous moving task is completed;

[0211] The mobile object is detected in real time whether it falls into the speed limit action range during the execution of the current moving task;

[0212] In the case that the mobile object is detected to fall into the speed limit action range, the target speed limit grid corresponding to the speed limit action range where the mobile object falls into is determined, and the speed of the mobile object is reduced in real time according to the speed limit value corresponding to the target speed limit grid.

[0213] In one embodiment, the computer program is further implemented when executed by the processor to implement the following steps:

[0214] In the case that the speed limit value corresponding to the target speed limit grid is multiple, the minimum value of the speed limit value corresponding to each target speed limit grid is determined, and the speed of the mobile object is reduced in real time according to the minimum value.

[0215] In one embodiment, the computer program is further implemented when executed by the processor to implement the following steps:

[0216] The speed limit information determined when the current danger message is generated is determined as the latest speed limit information corresponding to the grid where the mobile object is located when the current danger message is generated;

[0217] determining whether the target danger coefficient and the target speed limit value in the corresponding latest speed limit information need to be updated according to a value range in which the target danger coefficient in the corresponding latest speed limit information is located;

[0218] In the case of needing to update, the target danger coefficient and the target speed limit value are updated correspondingly to obtain the updated grid map information after the current moving task ends.

[0219] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0220] In the case of the target danger coefficient being 0 and the target speed limit value being greater than 0, the target speed limit value is raised by a first preset amplitude and the target danger coefficient is raised by a second preset amplitude;

[0221] In the case of the target danger coefficient being greater than 0 and less than a preset threshold, the target danger coefficient is lowered by a third preset amplitude;

[0222] In the case of the target danger coefficient being greater than the preset threshold, the target speed limit value is lowered according to the target danger coefficient and the target danger coefficient is reset according to the preset threshold;

[0223] According to the adjusted target danger coefficient and the target speed limit value, the corresponding update is performed to obtain the updated grid map information after the current moving task ends.

[0224] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0225] According to the corresponding grid map information of each danger factor, the danger factor involved in each grid in the grid map is determined.

[0226] According to the speed limit values of each danger factor involved in each grid in the corresponding grid map information, the minimum speed limit value corresponding to each grid is determined, and the target grid map information is obtained according to the minimum speed limit value corresponding to each grid.

[0227] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0228] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0229] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for controlling movement speed, characterized in that, The method includes: Obtain a grid map of the target area, and at least one hazard factor that affects the movement speed control when a moving object moves within the target area; the hazard factor refers to a factor that affects the movement speed of the moving object. Based on the current hazard factors and the current movement task, and according to the grid map information updated after the completion of the previous movement task, the movement speed of the moving object is controlled during the execution of the current movement task; For the current hazard message corresponding to the current hazard factor generated during the execution of the current movement task, based on the speed limit information determined when the current hazard message was generated and the grid where the moving object is located, the speed limit information of the grid is updated to obtain the grid map information updated after the current movement task ends. The grid map information is used to record the corresponding speed limit information of the grid in the grid map when the current hazard factor affects the movement speed control. The next movement task is taken as the current movement task. The grid map information updated after the previous movement task is completed is returned. The step of controlling the movement speed of the moving object during the execution of the current movement task is continued until the preset cutoff condition is reached, and the grid map information corresponding to the current hazard factor is obtained. Based on the grid map information corresponding to the hazard factors, obtain the target grid map information, and control the movement speed of the moving object according to the target grid map information; The speed limit information includes a speed limit value; the hazard factors are at least two; obtaining the target grid map information based on the corresponding grid map information of the hazard factors includes: Based on the grid map information corresponding to each hazard factor, determine the hazard factor involved in each grid cell of the grid map; Based on the speed limit values ​​of each hazard factor involved in each grid in the corresponding grid map information, determine the minimum speed limit value corresponding to each grid, and obtain the target grid map information based on the minimum speed limit value corresponding to each grid.

2. The method according to claim 1, characterized in that, The speed limit information includes a speed limit value; the step of controlling the movement speed of the moving object during the execution of the current movement task, based on the grid map information updated after the completion of the previous movement task, includes: Based on the grid map information updated after the previous movement mission, determine the speed limit grids with speed limit values ​​in the grid map after the previous movement mission ended, as well as the speed limit range of each speed limit grid. During the process of the moving object performing the current moving task, it is detected in real time whether the moving object falls into the speed limit range; When the moving object is detected to have fallen into the speed limit range, the moving object is slowed down in real time according to the speed limit value of the target speed limit grid corresponding to the speed limit range into which the moving object falls.

3. The method according to claim 2, characterized in that, The step of reducing the speed of the moving object in real time according to the corresponding speed limit value of the target speed limit grid includes: When there are multiple speed limit values ​​corresponding to the target speed limit grid, the minimum value among the speed limit values ​​of each target speed limit grid is determined, and the moving object is slowed down in real time according to the minimum value.

4. The method according to claim 1, characterized in that, The speed limit information includes a speed limit value and a hazard coefficient used to measure the degree of danger; the step of updating the speed limit information of the grid where the moving object is located based on the speed limit information determined when the current danger message is generated and the grid where the moving object is located, to obtain the updated grid map information after the current movement task ends, includes: The speed limit information determined when the current danger message is generated is determined as the latest speed limit information of the grid where the moving object is located when the current danger message is generated; Based on the range of the target hazard coefficient in the latest speed limit information, determine whether the target hazard coefficient and target speed limit value in the latest speed limit information need to be updated; If an update is required, the target danger coefficient and target speed limit are updated accordingly to obtain the updated grid map information after the current movement task ends.

5. The method according to claim 4, characterized in that, When updates are needed, the target danger coefficient and target speed limit are updated accordingly to obtain the updated raster map information after the current movement task ends, including: When the target hazard factor is 0 and the target speed limit is greater than 0, the target speed limit is increased by a first preset amount, and the target hazard factor is increased by a second preset amount. If the target risk coefficient is greater than 0 and less than a preset threshold, the target risk coefficient is reduced by a third preset amount. If the target hazard factor is greater than the preset threshold, the target speed limit is reduced according to the target hazard factor, and the target hazard factor is reset according to the preset threshold. The target danger coefficient and target speed limit are updated accordingly to obtain the updated grid map information after the current movement task ends.

6. A device for controlling movement speed, characterized in that, The device includes: The acquisition module is used to acquire a grid map of the target area and at least one hazard factor that affects the movement speed control when a moving object moves within the target area; the hazard factor refers to a factor that affects the movement speed of the moving object. The first control module is used to control the movement speed of the moving object during the execution of the current movement task, based on the current hazard factors and the current movement task and the grid map information updated after the completion of the previous movement task. The update module is used to update the speed limit information of the grid where the moving object is located based on the speed limit information determined when the current hazard factor is generated during the execution of the current movement task and the current hazard message, and to obtain the updated grid map information after the current movement task ends. The grid map information is used to record the corresponding speed limit information of the grid in the grid map only when the current hazard factor affects the movement speed control. The second control module is used to take the next movement task as the current movement task, return the grid map information updated after the previous movement task is completed, and continue to execute the step of controlling the movement speed of the moving object during the execution of the current movement task until the preset cutoff condition is reached, and obtain the grid map information corresponding to the current hazard factor. The third control module is used to obtain target grid map information based on the grid map information corresponding to the hazard factors, and to control the movement speed of the moving object according to the target grid map information; The speed limit information includes a speed limit value; the hazard factors are at least two; the third control module includes: The fourth determination submodule is used to determine the hazard factors involved in each grid cell of the grid map based on the grid map information corresponding to each hazard factor. The fifth determination submodule is used to determine the minimum speed limit for each grid based on the speed limit values ​​of each hazard factor involved in each grid in the corresponding grid map information, and to obtain the target grid map information based on the minimum speed limit for each grid.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the speed control method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the speed control method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the speed control method according to any one of claims 1 to 5.

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