Anti-collision method, device and equipment based on split robot and medium

Abstract

The invention discloses an anti-collision method, device and equipment based on a split robot and a medium. The method comprises the steps that a moving strategy is determined according to the state and a to-be-executed task of the split robot, the state comprises the no-load state and the non-no-load state, and the non-no-load state is that a lifted service cabin exists on a chassis of the split robot; and according to the moving strategy, the split robot is controlled to move to a safe transfer area to execute operation on an occupied cabin, and when the split robot is in the no-load state, the gravity center position is increased by lifting the occupied cabin. According to the technical scheme, the moving strategy is determined according to the state of the split robot, the split robot is controlled to move according to the moving strategy, collision with human beings is greatly avoided, the safety of the man-machine environment is improved, and more efficient operation of the split robot is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to an anti-collision method, device, equipment and medium based on a split robot. Background Art

[0002] At present, various robots have entered people's lives. Service robots refer to robots used in non-manufacturing industries and serving humans, except for industrial robots, including but not limited to personal service robots, household service robots and public service robots. However, for split robots, most of them are used in the industrial field, where the split robots include a robot with a movable chassis and an immovable upper cabin robot, and the corresponding tasks are performed through the combination of the chassis and the upper cabin. However, the split robots used in hotel scenes are easy to collide with humans during the unloaded movement due to their small size; compared with the height of the split robot chassis, when humans collide with the split robot chassis, they are easy to fall. Therefore, reducing the collision accidents of split robots under unloaded conditions has become an urgent problem to be solved. Summary of the invention

[0003] The present invention provides a split robot scheduling method, device, equipment and medium, which solve the problem of collision between the split robot and humans when the split robot moves without load in a hotel.

[0004] According to a first aspect of the present invention, there is provided a collision avoidance method based on a split robot, the method comprising:

[0005] Determine the movement strategy according to the state of the split robot and the task to be performed, the state includes an empty state and a non-empty state, wherein the non-empty state is that there is a lifted business cabin on the chassis of the split robot;

[0006] The split robot is controlled to move to a safe transfer area according to the movement strategy to perform operations on the seat-occupying cabin, and the center of gravity position of the split robot is increased by lifting the seat-occupying cabin when the split robot is in the unloaded state.

[0007] According to a second aspect of the present invention, there is provided an anti-collision device based on a split robot, the device comprising:

[0008] A determination module is configured to determine a movement strategy according to a state of the split robot and a task to be performed, wherein the state includes an empty state and a non-empty state, wherein the non-empty state is when a lifted business cabin exists on the chassis of the split robot;

[0009] The execution module is configured to control the split robot to move to the safe transfer area to perform operations on the seat-occupying cabin according to the movement strategy, and to raise the center of gravity of the split robot by lifting the seat-occupying cabin when the split robot is in the unloaded state.

[0010] According to a third aspect of the present invention, there is provided an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor implements the collision avoidance method based on a split robot as described in any embodiment of the present invention.

[0011] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer instructions are used to cause the computer to execute the collision avoidance method based on a split robot as described in any embodiment of the present invention.

[0012] The present invention discloses a collision avoidance method, device, equipment and medium based on a split robot. The method comprises: determining a movement strategy according to the state of the split robot and the task to be performed, the state comprising an empty state and a non-empty state, wherein the non-empty state is that there is a lifted business cabin on the chassis of the split robot; controlling the split robot to move to a safe transfer area to perform operations on the occupied cabin according to the movement strategy, and raising the center of gravity position by lifting the occupied cabin when the split robot is in the empty state. By adopting the technical solution of the embodiment of the present invention, the movement strategy is determined according to the state of the split robot, and the movement of the split robot is controlled according to the movement strategy, which greatly avoids collisions with humans, improves the safety of the human-machine environment, and facilitates more efficient operation of the split robot.

[0013] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 is a schematic diagram of an application scenario in which a split robot-based anti-collision method according to an embodiment of the present invention can be implemented;

[0016] Figure 2 is a schematic flow chart of a collision avoidance method based on a split robot provided according to an embodiment of the present invention;

[0017] Figure 3 is a schematic structural diagram of a split robot-based anti-collision device provided according to an embodiment of the present invention;

[0018] Figure 4 The block diagram is a block diagram of an electronic device for implementing an anti-collision method based on a split robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0020] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] Figure 1 A schematic diagram 100 of an application scenario in which the anti-collision method based on a split robot according to an embodiment of the present invention can be implemented is provided. Figure 1 As shown, the computing device 110 can determine a movement strategy based on the state of the split robot 120 and the task to be executed 130, wherein the state includes an empty state and a non-empty state, wherein the non-empty state is that there is a lifted business cabin on the chassis of the split robot; according to the movement strategy, the split robot 120 is controlled to move to the safe transfer area to perform operations on the occupied cabin, and when the split robot 120 is in the empty state, the center of gravity position is increased by lifting the occupied cabin.

[0022] It should be noted that the above-mentioned computing device 110 can be hardware or software. When the computing device 110 is hardware, it can be implemented as a distributed cluster consisting of multiple servers or terminal devices, or it can be implemented as a single server or a single terminal device. When the computing device 110 is embodied as software (for example, a program or system for controlling a robot), it can be installed in the hardware devices listed above. It can be implemented as multiple software or software modules for providing distributed services, for example, or it can be implemented as a single software or software module. No specific limitation is made here.

[0023] It should be understood that Figure 1 The number of computing devices in the embodiment is only illustrative. Any number of computing devices may be provided according to implementation requirements.

[0024] Embodiment 1

[0025] According to an embodiment of the present application, a collision avoidance method based on a split robot is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical sequence is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here. Figure 2 As shown, the anti-collision method based on the split robot includes the following steps: S210 and S220.

[0026] S210. Determine a movement strategy according to the state of the split robot and the task to be performed, wherein the state includes an empty state and a non-empty state, wherein the non-empty state is that there is a lifted business cabin on the chassis of the split robot.

[0027] S220. Control the split robot to move to the safe transfer area to perform operations on the seat-occupying cabin according to the movement strategy. When the split robot is in the unloaded state, the center of gravity position is increased by lifting the seat-occupying cabin.

[0028] The safe transfer area is the area where the split robot changes cabins during the execution of tasks, and the placeholder area is the area where the placeholder cabin or the business cabin is placed. The business cabin is an immovable upper cabin robot required for the split robot to perform corresponding tasks. The chassis of the split robot moves to the area where the business cabin is located according to different tasks to be performed and combines with the corresponding business cabin to perform the tasks to be performed. It is worth noting that during the empty movement of the split robot, the placeholder cabin is lifted by the chassis of the split robot to increase the center of gravity height of the split robot, so that in the human-computer interaction scenario, humans can notice the split robot, and even if a small probability of collision occurs, the low center of gravity of the split robot chassis will not cause humans to fall.

[0029] Specifically, in a human-machine interaction scenario, the split robot adopts different movement strategies in an empty state and a non-empty state to avoid collision accidents.

[0030] Among them, the movement strategy is determined according to the state of the split robot and the task to be performed, including: determining the first business cabin for the task to be performed in the same safe transfer area as the charging pile according to the split robot in the unloaded state; controlling the split robot to move to the occupying area where the first business cabin is located, and lifting the first business cabin to perform the corresponding delivery task.

[0031] Optionally, the method also includes: searching for the position of the first occupying area closest to the current position according to the position of the charging pile where the split robot in the unloaded state is located; controlling the split robot in the unloaded state to move to the first occupying area according to the position of the first occupying area, and lifting the occupying cabin located on the first occupying area; moving the split robot with the lifted occupying cabin from the first occupying area to the position of the second business cabin for the task to be performed which is not in the same safe transfer area as the charging pile.

[0032] Furthermore, after the split robot moves to the position of the second business cabin, it also includes: placing the occupying cabin lifted by the split robot near the position of the second business cabin, and recording the occupying area where the occupying cabin is placed; controlling the chassis of the split robot to move out from the bottom of the occupying cabin, and moving to the bottom of the second business cabin to lift the second business cabin to perform the corresponding delivery task.

[0033] Optionally, determining the movement strategy according to the state of the split robot and the task to be performed also includes: obtaining the current position of the split robot in the non-empty state; judging whether the third business cabin for the task to be performed and the fourth business cabin currently lifted by the split robot in the non-empty state are in the same safe transfer area; based on the third business cabin and the fourth business cabin being in the same safe transfer area, controlling the split robot to place the fourth business cabin at the business cabin stop point, and controlling the chassis to move to the bottom of the third business cabin to lift the third business cabin, to perform the corresponding delivery task.

[0034] Optionally, the method also includes: controlling the split robot to place the fourth business cabin at the business cabin docking point; searching for the second occupying area position closest to the fourth business cabin according to the position of the fourth business cabin; controlling the split robot in a non-empty state to move to the second occupying area according to the position of the second occupying area, and lifting the occupying cabin located on the second occupying area; moving the split robot that has lifted the occupying cabin from the second occupying area position to the position of the third business cabin to be performed for the task which is not in the same safe transfer area as the fourth business cabin.

[0035] Furthermore, after the split robot moves to the position of the third business cabin, it also includes: placing the occupying cabin lifted by the split robot near the position of the third business cabin, and recording the occupying area where the occupying cabin is placed; controlling the chassis of the split robot to move out from the bottom of the occupying cabin, and moving to the bottom of the third business cabin to lift the third business cabin to perform a corresponding delivery task.

[0036] Optionally, when the occupied cabin is designated as the business cabin for the split robot to perform tasks, the split robot lifts the occupied cabin, leaves the occupied area, and performs the corresponding delivery task.

[0037] Optionally, if the split robot that has completed the delivery task has no new tasks to be executed, the split robot is controlled to return to the placeholder area near the charging pile, the currently lifted placeholder cabin is placed in the placeholder area, and the placeholder area where the placeholder cabin is placed is recorded; the chassis of the split robot is controlled to move out from the bottom of the placeholder cabin, the light and sound functions of the chassis are activated, and the robot is moved to the charging pile for charging.

[0038] It should be noted that by activating the light or sound function to prompt humans in the scene, when the split robot fails to lift the occupying cabin, an early warning is given to humans to avoid collision.

[0039] The present invention discloses a collision avoidance method, device, equipment and medium based on a split robot. The method comprises: determining a movement strategy according to the state of the split robot and the task to be performed, the state comprising an empty state and a non-empty state, wherein the non-empty state is that there is a lifted business cabin on the chassis of the split robot; controlling the split robot to move to a safe transfer area to perform operations on the occupied cabin according to the movement strategy, and raising the center of gravity position by lifting the occupied cabin when the split robot is in the empty state. By adopting the technical solution of the embodiment of the present invention, the movement strategy is determined according to the state of the split robot, and the movement of the split robot is controlled according to the movement strategy, which greatly avoids collisions with humans, improves the safety of the human-machine environment, and facilitates more efficient operation of the split robot.

[0040] Embodiment 2

[0041] According to an embodiment of the present invention, a schematic diagram of the structure of a split robot-based anti-collision device is provided, and the device can execute a split robot-based anti-collision method provided in the first embodiment above. Figure 3 As shown, the device includes: a determination module 310 and an execution module 320. Among them:

[0042] The determination module 310 is configured to determine the movement strategy according to the state of the split robot and the task to be performed, wherein the state includes an empty state and a non-empty state, wherein the non-empty state is that there is a lifted business cabin on the chassis of the split robot.

[0043] The execution module 320 is configured to control the split robot to move to the safe transfer area to perform operations on the seat-occupying cabin according to the movement strategy, and to raise the center of gravity of the split robot by lifting the seat-occupying cabin when the split robot is in the empty state.

[0044] Optionally, the determining module 310 includes:

[0045] A determination unit, configured to determine, according to the split robot in an unloaded state, a first business cabin of the task to be performed in the same safe transfer area as the charging pile;

[0046] The first control unit is used to control the split robot to move to the location of the first business cabin, and lift the first business cabin to perform a corresponding delivery task.

[0047] Furthermore, the position of the first occupying area closest to the current position is searched according to the position of the charging pile where the split robot in the unloaded state is located; the split robot in the unloaded state is controlled to move to the first occupying area according to the position of the first occupying area, and the occupying cabin located on the first occupying area is lifted; the split robot with the occupied cabin lifted is moved from the first occupying area to the position of the second business cabin for the task to be performed which is not in the same safe transfer area as the charging pile.

[0048] Furthermore, after the split robot moves to the position of the second business cabin, it also includes: placing the occupying cabin lifted by the split robot near the position of the second business cabin, and recording the occupying area where the occupying cabin is placed; controlling the chassis of the split robot to move out from the bottom of the occupying cabin, and moving to the bottom of the second business cabin to lift the second business cabin to perform the corresponding delivery task.

[0049] Optionally, the determining module 310 further includes:

[0050] An acquisition unit, used for acquiring the current position of the split robot in the non-empty state;

[0051] A judging unit, used to judge whether the third business cabin to be executed and the fourth business cabin currently lifted by the non-empty split robot are in the same safe transfer area;

[0052] The second control unit is used to control the split robot to place the fourth business cabin at a business cabin docking point according to the third business cabin and the fourth business cabin being in the same safe transfer area, and to control the chassis to move to the bottom of the third business cabin to lift the third business cabin to perform a corresponding delivery task.

[0053] Optionally, the split robot is controlled to place the fourth business cabin at the business cabin docking point; the position of the second place-occupying area closest to the fourth business cabin is searched according to the position of the fourth business cabin; the split robot in a non-empty state is controlled to move to the second place-occupying area according to the position of the second place-occupying area, and lift the place-occupying cabin located on the second place-occupying area; the split robot that has lifted the place-occupying cabin is moved from the position of the second place-occupying area to the position of the third business cabin to be performed for the task which is not in the same safe transfer area as the fourth business cabin.

[0054] Furthermore, after the split robot moves to the position of the third business cabin, it also includes: placing the occupying cabin lifted by the split robot near the position of the third business cabin, and recording the occupying area where the occupying cabin is placed; controlling the chassis of the split robot to move out from the bottom of the occupying cabin, and moving to the bottom of the third business cabin to lift the third business cabin to perform a corresponding delivery task.

[0055] Optionally, when the occupied cabin is designated as the business cabin for the split robot to perform tasks, the split robot lifts the occupied cabin, leaves the occupied area, and performs the corresponding delivery task.

[0056] Optionally, the device also includes a charging module, which is configured to control the split robot to return to the occupying area near the charging pile if the split robot that has completed the delivery task has no new task to be performed, place the currently lifted occupying cabin in the occupying area, and record the occupying area where the occupying cabin is placed; control the chassis of the split robot to move out from the bottom of the occupying cabin, activate the light and sound functions of the chassis, and move to the charging pile for charging.

[0057] The present invention discloses an anti-collision device based on a split robot. The device includes: a determination module, configured to determine a movement strategy according to the state of the split robot and the task to be performed, the state including an empty state and a non-empty state, wherein the non-empty state is that there is a lifted business cabin on the chassis of the split robot; an execution module, configured to control the split robot to move to a safe transfer area to perform operations on the occupied cabin according to the movement strategy, and the center of gravity position is increased by lifting the occupied cabin when the split robot is in the empty state. By adopting the technical solution of the embodiment of the present invention, the movement strategy is determined according to the state of the split robot, and the movement of the split robot is controlled according to the movement strategy, which greatly avoids collisions with humans, improves the safety of the human-machine environment, and is conducive to more efficient operation of the split robot.

[0058] Embodiment 3

[0059] Reference below Figure 4 , which shows a block diagram of an electronic device 400 suitable for implementing an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0060] like Figure 4 As shown, the electronic device 400 may include a processing device 410, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 420 or a program loaded from a storage device 480 into a random access memory (RAM) 430. The processing device 410 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processing device 410 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processing device 410 performs the various methods and processes described above.

[0061] In the RAM 430, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 410, the ROM 420, and the RAM 430 are connected to each other through a bus 440. An input / output (I / O) interface 450 is also connected to the bus 440.

[0062] Typically, the following devices may be connected to the I / O interface 450: an input device 460 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 470 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 480 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 490. The communication device 490 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 The electronic device 400 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0063] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 490, or installed from the storage device 480, or installed from the ROM 420. When the computer program is executed by the processing device 410, the above-mentioned functions defined in the method of the embodiment of the present invention are executed. Alternatively, in other embodiments, the processing device 410 may be configured to execute the method by any other appropriate means (for example, by means of firmware): determining a movement strategy according to the state of the split robot and the task to be performed, the state including an empty state and a non-empty state, wherein the non-empty state is that there is a lifted business cabin on the chassis of the split robot; controlling the split robot to move to the safe transfer area to perform operations on the occupied cabin according to the movement strategy, and raising the center of gravity position by lifting the occupied cabin when the split robot is in the empty state.

[0064] Embodiment 4

[0065] The computer-readable medium of the present invention can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0066] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0067] The computer-readable medium may be included in the electronic device, or may exist independently without being installed in the electronic device.

[0068] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device: determines a movement strategy according to the state of the split robot and the task to be executed, the state including an empty state and a non-empty state, wherein the non-empty state is that there is a lifted business cabin on the chassis of the split robot; controls the split robot to move to the safe transfer area according to the movement strategy to perform operations on the occupied cabin, and when the split robot is in the empty state, the center of gravity position is increased by lifting the occupied cabin.

[0069] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0070] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0071] The modules involved in the embodiments of the present invention may be implemented by software or hardware, wherein the name of a module does not limit the module itself in some cases.

[0072] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof, etc.

[0073] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0074] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0075] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0076] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0077] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services. The server may also be a server of a distributed system, or a server combined with a blockchain.

[0078] Artificial intelligence is a discipline that studies how to use computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.). It includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, machine learning / deep learning technology, big data processing technology, knowledge graph technology, and other major directions.

[0079] Cloud computing refers to a technology system that uses network access to elastically scalable shared physical or virtual resource pools. Resources can include servers, operating systems, networks, software, applications, and storage devices, and can be deployed and managed on demand and in a self-service manner. Cloud computing technology can provide efficient and powerful data processing capabilities for technical applications such as artificial intelligence and blockchain, as well as model training.

[0080] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution provided by the present invention can be achieved, and this document does not limit this.

[0081] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A collision avoidance method based on a split robot, characterized in that: The method comprises: Determine the movement strategy according to the state of the split robot and the task to be performed, the state includes an empty state and a non-empty state, wherein the non-empty state is that there is a lifted business cabin on the chassis of the split robot; The split robot is controlled to move to a safe transfer area according to the movement strategy to perform operations on the seat-occupying cabin, and the center of gravity position of the split robot is increased by lifting the seat-occupying cabin when the split robot is in the no-load state.

2. The method according to claim 1, characterized in that The step of determining the movement strategy according to the state of the split robot and the task to be performed includes: Determine, according to the split robot in the unloaded state, the first business cabin of the task to be performed in the same safe transfer area as the charging pile; The split robot is controlled to move to the position of the occupying area where the first business cabin is located, and lift the first business cabin to perform a corresponding delivery task.

3. The method according to claim 2, characterized in that The method further comprises: Searching for the first occupying area position closest to the current position according to the charging pile position where the split robot in the unloaded state is located; Control the split robot in an unloaded state to move to the first occupying area according to the position of the first occupying area, and lift the occupying cabin located on the first occupying area; The split robot that has lifted the occupying cabin is moved from the first occupying area to the position of the second business cabin to be performed which is not in the same safe transfer area as the charging pile.

4. The method according to claim 3, characterized in that After the split robot moves to the position of the second business cabin, the method further includes: Placing the seat-occupying cabin lifted by the split robot near the position of the second business cabin, and recording the seat-occupying area where the seat-occupying cabin is placed; The chassis of the split robot is controlled to move out from the bottom of the occupying cabin, and move to the bottom of the second business cabin to lift the second business cabin to perform the corresponding delivery task.

5. The method according to claim 1, characterized in that The step of determining the movement strategy according to the state of the split robot and the task to be performed also includes: Obtaining the current position of the split robot in the non-empty state; Determine whether the third business cabin to be executed and the fourth business cabin currently being lifted by the non-empty split robot are in the same safe transfer area; According to the third business cabin and the fourth business cabin being in the same safe transfer area, the split robot is controlled to place the fourth business cabin at a business cabin docking point, and the chassis is controlled to move to the bottom of the third business cabin to lift the third business cabin to perform the corresponding delivery task.

6. The method according to claim 5, characterized in that Also includes: Controlling the split robot to place the fourth business cabin at the business cabin docking point; Searching for the second seat area position closest to the fourth business class position according to the fourth business class position; According to the position of the second occupying area, the split robot in the non-empty state is controlled to move to the second occupying area, and the occupying cabin located on the second occupying area is lifted; The split robot that has lifted the seat-occupying cabin is moved from the second seat-occupying area to the third business cabin to be executed which is not in the same safe transfer area as the fourth business cabin.

7. The method according to claim 6, characterized in that After the split robot moves to the position of the third business cabin, the method further includes: Placing the seat-occupying cabin lifted by the split robot near the position of the third business cabin, and recording the seat-occupying area where the seat-occupying cabin is placed; The chassis of the split robot is controlled to move out from the bottom of the occupying cabin, and move to the bottom of the third business cabin to lift the third business cabin to perform the corresponding delivery task.

8. The method according to claim 1, characterized in that When the occupied cabin is designated as the business cabin for the split robot to perform tasks, the split robot lifts the occupied cabin, leaves the occupied area, and performs the corresponding delivery task.

9. The method according to any one of claims 1 to 8, characterized in that: If the split robot that has completed the delivery task has no new task to be performed, the split robot is controlled to return to the place-occupying area near the charging pile, the currently lifted place-occupying cabin is placed in the place-occupying area, and the place-occupying area where the place-occupying cabin is placed is recorded; The split robot chassis is controlled to move out from the bottom of the space-occupying cabin, the light and sound functions of the chassis are activated, and the split robot chassis is moved to the charging pile for charging.

10. An anti-collision device based on a split robot, characterized in that: The device comprises: A determination module is configured to determine a movement strategy according to a state of the split robot and a task to be performed, wherein the state includes an empty state and a non-empty state, wherein the non-empty state is when a lifted business cabin exists on the chassis of the split robot; The execution module is configured to control the split robot to move to the safe transfer area to perform operations on the seat-occupying cabin according to the movement strategy, and to raise the center of gravity of the split robot by lifting the seat-occupying cabin when the split robot is in the unloaded state.

11. The device according to claim 10, characterized in that The determining module comprises: A determination unit, configured to determine, according to the split robot in an unloaded state, a first business cabin of the task to be performed in the same safe transfer area as the charging pile; The first control unit is used to control the split robot to move to the location of the first business cabin, and lift the first business cabin to perform a corresponding delivery task.

12. The device according to claim 10, characterized in that The determining module further includes: An acquisition unit, used for acquiring the current position of the split robot in the non-empty state; A judging unit, used to judge whether the third business cabin to be executed and the fourth business cabin currently lifted by the non-empty split robot are in the same safe transfer area; The second control unit is used to control the split robot to place the fourth business cabin at a business cabin docking point according to the third business cabin and the fourth business cabin being in the same safe transfer area, and to control the chassis to move to the bottom of the third business cabin to lift the third business cabin to perform a corresponding delivery task.

13. The device according to any one of claims 10 to 12, characterized in that: It also includes a charging module, which is configured to control the split robot to return to the place-occupying area near the charging pile if the split robot that has completed the delivery task has no new task to be performed, place the currently lifted place-occupying cabin in the place-occupying area, and record the place-occupying area where the place-occupying cabin is placed; The split robot chassis is controlled to move out from the bottom of the space-occupying cabin, the light and sound functions of the chassis are activated, and the split robot chassis is moved to the charging pile for charging.

14. An electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor implements the method as described in any one of claims 1-9.

15. A computer-readable storage medium, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-9.

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