A robot movement method and related apparatus

Abstract

The application provides a robot moving method and related device. The method comprises the following steps: receiving at least one moving instruction from a server, wherein the at least one moving instruction comprises a first type of moving instruction and / or a second type of moving instruction; when the at least one moving instruction comprises the first type of moving instruction, moving to a first reserved path point according to a first moving field; when the at least one moving instruction comprises the second type of moving instruction, and a target robot satisfies a moving condition according to a condition field and a state of a reference robot, moving to a second reserved path point according to a second moving field. The moving efficiency of the robot can be improved, and the physical loss of the robot can be reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robots, and particularly relates to a robot moving method and related device. BACKGROUND

[0002] Currently, when a robot moves, it only moves based on a moving instruction issued by a system, and each robot is completely independent of other robots, and the robot body does not perceive other robots. Therefore, in order to ensure the safety of the robot when it moves, the instruction issued by the system needs to ensure that there is no collision risk between robots. Therefore, the system reserves a moving path for the robot for a certain distance, and other robots cannot reserve the moving path. When there is a conflict path point in the moving paths of multiple robots, the reserved path point corresponding to some robots can only reach before the conflict path point, that is, the moving end point in the moving instruction received by the robot is the reserved path point before the conflict path point. Then, the robot will move according to the default moving instruction, and the last position point indicated by the moving instruction is the moving end point. Therefore, the robot will slow down and stop before reaching the last position point, and then start moving again after receiving the next instruction. In this way, the robot needs to go through a process of deceleration to stop and then acceleration, which increases the physical loss of the robot and prolongs the time for the robot to reach the destination. SUMMARY

[0003] The present application provides a robot moving method and related device to improve the moving efficiency of the robot and reduce the physical loss of the robot.

[0004] In a first aspect, the present application provides a robot moving method applied to a target robot in a moving control system, the moving control system comprising at least one robot and a server, the at least one robot comprising the target robot, and the method comprising:

[0005] receiving at least one moving instruction from the server, the at least one moving instruction comprising a first type of moving instruction and / or a second type of moving instruction, the first type of moving instruction comprising a first moving field, the second type of moving instruction comprising a condition field and a second moving field, the first moving field comprising a first reserved path point, the second moving field comprising a second reserved path point, the second moving field and a third moving field in a first type of moving instruction received by a reference robot having a conflict path point, and the condition field being associated with the reference robot;

[0006] when the at least one moving instruction comprises the first type of moving instruction, moving to the first reserved path point according to the first moving field;

[0007] when the at least one movement instruction comprises the second type of movement instruction, and it is determined that the target robot satisfies a movement condition according to the condition field and a state of the reference robot, moving to the second reserved path point according to the second movement field.

[0008] Further, the method further comprises: in a case where the movement condition is not satisfied, moving at a current speed and decelerating until the reference robot leaves the conflict path point, and then moving at an accelerated speed to the second reserved path point.

[0009] Further, the determining that the target robot satisfies the movement condition according to the condition field and the state of the reference robot comprises: determining whether the reference robot has left the conflict path point before the target robot enters the conflict path point; and determining that the target robot satisfies the movement condition if the reference robot has left the conflict path point.

[0010] Further, the condition field comprises the conflict path point and a list of reference robots corresponding to the conflict path point, and the determining whether the reference robot has left the conflict path point comprises: obtaining a space-time motion curve of the reference robot, the space-time motion curve being used to indicate a relationship between a position and a time during movement of the reference robot; and determining whether the reference robot has left the conflict path point according to the space-time motion curve.

[0011] Further, the method further comprises: if it is determined that the reference robot has not arrived at the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determining a second time required for the target robot to move to the conflict path point; and determining that the target robot satisfies the movement condition if a time interval between the second time and the first time is greater than a preset interval.

[0012] Further, the method further comprises: if it is determined that the reference robot has not arrived at the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determining a second time required for the target robot to move to the conflict path point; and determining that the target robot satisfies the movement condition if the first time is less than the second time and a time interval between the second time and the first time is greater than a preset interval.

[0013] Further, the moving at a current speed and decelerating comprises: determining a last first reserved path point of the second reserved path point in the moving path as an end point when the moving condition is not met; determining an acceleration according to the end point; and moving to the end point at a decelerated speed based on the current speed and the acceleration.

[0014] Further, the moving at a current speed and decelerating comprises: obtaining a space-time motion curve of the reference robot, the space-time motion curve being used to indicate a relationship between a position and a time during movement of the reference robot; determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; obtaining a current distance between the target robot and the conflict path point; determining a target speed after deceleration according to a third time and the current distance, the third time being greater than the first time; and moving to the second reserved path point from the current speed to the target speed according to the second moving field.

[0015] In a second aspect, an embodiment of the present application provides a robot moving method, applied to a server in a moving control system, the moving control system comprising at least one robot and the server, the at least one robot comprising a target robot, and the method comprising:

[0016] sending at least one moving instruction to the target robot, the at least one moving instruction comprising a first type of moving instruction and / or a second type of moving instruction, the first type of moving instruction comprising a first moving field, the second type of moving instruction comprising a condition field and a second moving field, the first moving field comprising a first reserved path point, the second moving field comprising a second reserved path point, the second moving field and a third moving field in a first type of moving instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot, the first type of moving instruction being used to instruct the target robot to move to the first reserved path point in the first moving field, and the second type of moving instruction being used to instruct the target robot to move to the second reserved path point in the second moving field when it is determined that a preset condition is met according to the condition field and a state of the reference robot.

[0017] Further, before the sending of the at least one moving instruction to the target robot, the method further comprises: obtaining a starting point and a destination of the target robot; determining a moving path of the target robot according to the starting point and the destination; performing path point reservation according to the moving path to obtain the first reserved path point or the second reserved path point; and generating the at least one moving instruction based on the first reserved path point and / or the second reserved path point.

[0018] Further, the reserving a path point according to the movement path comprises: determining a to-be-reserved path point according to the movement path; reserving the to-be-reserved path point to obtain the first reserved path point when the to-be-reserved path point is in a release state; and obtaining the second reserved path point when the to-be-reserved path point is in an occupied state.

[0019] Further, the generating the at least one movement instruction based on the first reserved path point and / or the second reserved path point comprises: generating the first type of movement instruction based on the first reserved path point, the first type of movement instruction comprising the first movement field, and the first movement field comprising the first reserved path point; determining a reference robot corresponding to the second reserved path point, the reference robot being a robot that causes the second reserved path point to be in the occupied state; and generating the second type of movement instruction based on the second reserved path point and the reference robot, the second type of movement instruction comprising the second movement field and the condition field, the second movement field comprising the second reserved path point, and the condition field comprising a reference robot list.

[0020] In a third aspect, an embodiment of the present application provides a robot movement device applied to a target robot in a movement control system, the movement control system comprising at least one robot and a server, the at least one robot comprising the target robot, and the device comprising:

[0021] a receiving unit configured to receive at least one movement instruction from the server, the at least one movement instruction comprising a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction comprising a first movement field, the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reserved path point, the second movement field comprising a second reserved path point, the second movement field and a third movement field in a first type of movement instruction received by a reference robot having a conflict path point, and the condition field being associated with the reference robot;

[0022] a first moving unit configured to move to the first reserved path point according to the first movement field when the at least one movement instruction comprises the first type of movement instruction;

[0023] a second moving unit configured to move to the second reserved path point according to the second movement field when the at least one movement instruction comprises the second type of movement instruction and it is determined that the target robot satisfies a movement condition according to the condition field and a state of the reference robot.

[0024] In a fourth aspect, the embodiments of the present application provide a robot moving device, applied to a server in a moving control system, the moving control system comprising at least one robot and the server, the at least one robot comprising a target robot, and the device comprising:

[0025] a sending unit configured to send at least one moving instruction to the target robot, the at least one moving instruction comprising a first type of moving instruction and / or a second type of moving instruction, the first type of moving instruction comprising a first moving field, the second type of moving instruction comprising a condition field and a second moving field, the first moving field comprising a first reserved path point, the second moving field comprising a second reserved path point, the second moving field and a third moving field in a first type of moving instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot, the first type of moving instruction being used to instruct the target robot to move to the first reserved path point in the first moving field, and the second type of moving instruction being used to instruct the target robot to move to the second reserved path point in the second moving field when it is determined that a preset condition is met according to the condition field and a state of the reference robot.

[0026] In a fifth aspect, the embodiments of the present application provide a robot, comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, and the programs comprising instructions for performing the steps in the first aspect of the embodiments of the present application.

[0027] In a sixth aspect, the embodiments of the present application provide a server, comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, and the programs comprising instructions for performing the steps in the second aspect of the embodiments of the present application.

[0028] In a seventh aspect, the embodiments of the present application provide a computer storage medium having computer programs / instructions stored thereon, the computer programs / instructions being executed by a processor to implement the steps of the method in the first aspect or the second aspect.

[0029] It can be seen that, in the present application, when the target robot receives a movement instruction including the first type of movement instruction, the target robot moves to the first reserved path point according to the first movement field; when the movement instruction includes the second type of movement instruction, and the target robot satisfies the movement condition according to the condition field and the state of the reference robot, the target robot moves to the second reserved path point according to the second movement field. Therefore, when the current movement path of the target robot conflicts with the current movement path of another robot, the conflict path point of the conflict segment can also be reserved, and the target robot can not decelerate as much as possible on the premise that the target robot does not collide with another robot, thereby improving the efficiency of robot movement and reducing the physical loss of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0031] Figure 1 is a path conflict schematic diagram provided by an embodiment of the present application;

[0032] Figure 2 is a motion space-time curve diagram provided by an embodiment of the present application;

[0033] Figure 3 is a composition schematic diagram of a movement control system provided by an embodiment of the present application;

[0034] Figure 4 is a structural schematic diagram of an electronic device provided by an embodiment of the present application;

[0035] Figure 5 is a flowchart of a robot movement method provided by an embodiment of the present application;

[0036] Figure 6 is another path conflict schematic diagram provided by an embodiment of the present application;

[0037] Figure 7 is another motion space-time curve diagram provided by an embodiment of the present application;

[0038] Figure 8 is a flowchart of another robot movement method provided by an embodiment of the present application;

[0039] Figure 9 is a first functional unit composition block diagram of a robot movement device provided by an embodiment of the present application;

[0040] Figure 10is a second functional unit composition block diagram of a robot moving device provided by an embodiment of the present application;

[0041] Figure 11 is a third functional unit composition block diagram of a robot moving device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0043] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0044] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor does it necessarily refer to a particular embodiment that is preferred over other embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined with other embodiments.

[0045] Please refer to Figure 1 As Figure 1 As shown in the crossroads, robot A and robot B pass through the crossroads at similar times, that is, the moving paths of robot A and robot B have conflict path points. Robot A has reserved a moving path first. At this time, in order to avoid collision between robots, the server will only reserve a position before the crossroads when reserving a moving path for robot B, and will issue a moving instruction to robot B, which will only make robot B move to the front of the crossroads, so that robot B avoids robot A at the front of the crossroads. That is, as Figure 2As shown in FIG. 1, during the time period reserved by robot A, robot B cannot pass through the conflict path point, but can only decelerate to a standstill before the conflict path point and wait until the time period reserved by robot A ends (or robot A leaves the conflict path point). After robot A passes through the conflict path point, the conflict path point is released, the server reserves the conflict path point and the moving path after the conflict path point for robot B, and then issues a moving instruction to robot B again, and robot B starts to pass through and leave the intersection based on the moving instruction. That is, the moving instruction currently issued by the server is a first type of moving instruction. At this time, robot B needs to experience deceleration to a standstill and then acceleration to leave during the entire moving process, which increases the physical loss of the robot and prolongs the time for the robot to reach the destination.

[0046] To solve the above problems, embodiments of the present application provide a robot moving method and related devices, which will be described in detail below with reference to the accompanying drawings.

[0047] Referring to Figure 3 , Figure 3 FIG. 1 shows a moving control system 10 including a server 101 and a plurality of robots 102. The server 101 is in communication connection with the plurality of robots 102 respectively, and the plurality of robots 102 are also in communication connection with each other. The server 101 is configured to plan a moving path for each robot 102 and reserve a path point, and issue a moving instruction to the robot 102, and the robot 102 moves to a destination based on the moving instruction.

[0048] In specific implementation, referring to Figure 4 , the electronic device 20 can be used to refer to the robot 102 or the server 101 described above. The electronic device 20 includes a processor 120, a memory 130, a communication interface 140, and one or more programs 131. The one or more programs 131 are stored in the memory 130 and configured to be executed by the processor 120. The one or more programs 131 include instructions for performing any step in the following method embodiments. In specific implementation, the processor 120 is configured to perform any step in the following method embodiments performed by a target robot or a server, and when performing data transmission such as sending, the communication interface 140 can be selectively called to complete the corresponding operation.

[0049] Referring to Figure 5 , Figure 5 is a flowchart of a robot moving method provided by an embodiment of the present application. As shown in Figure 5 , the robot moving method includes the following steps.

[0050] S210, receiving at least one moving instruction from a server.

[0051] The at least one movement instruction includes a first type of movement instruction and / or a second type of movement instruction. The first type of movement instruction includes a first movement field, and the first movement field includes a first reserved path point. The second type of movement instruction includes a condition field and a second movement field, and the second movement field includes a second reserved path point. The second movement field and a third movement field in the first type of movement instruction received by the reference robot have a conflict path point, and the condition field is associated with the reference robot.

[0052] Specifically, the first type of movement instruction refers to that the robot can directly travel through the first reserved path point based on the first movement field in the movement instruction, and the second type of movement instruction refers to that the robot needs to pass through the second reserved path point in the second movement field based on the condition field being met, that is, whether the second reserved path point can be passed through depends on the state of the reference robot.

[0053] For example Figure 6 As shown, the reference robot currently moves based on the third movement field in the first type of movement instruction, and the reserved path point included in the third movement field is b point or f point and b point, that is, the reference robot needs to move from a point to b point at this time. The second reserved path point of the target robot includes c point, d point, f point and e point, or c point, d point and e point, that is, the target robot needs to move from c point to e point. The intersection f point of the two paths is the conflict path point.

[0054] In a specific implementation, since the server has reserved the movement path from a point to b point for the reference robot, the priority of the reference robot is higher than that of the target robot for the conflict path point. That is, the reference robot will preferentially pass through the conflict path point, and the target robot needs to pass through the conflict path point based on the state of the reference robot at the conflict path point.

[0055] S220, when the at least one movement instruction includes the first type of movement instruction, moving to the first reserved path point according to the first movement field.

[0056] When the target robot is currently executing a first type of movement instruction, it means that the target robot does not have path conflict with other robots at the pre-booking path point corresponding to the first type of movement instruction, or the priority of the target robot is higher than that of other robots having path conflict with the target robot. At this time, the target robot can directly move to the first pre-booking path point. At this time, the first pre-booking path point is the moving end point considered by the target robot. Therefore, in a specific implementation, the server can issue multiple first type of movement instructions for the target robot, and when the first pre-booking path points of the multiple first type of movement instructions are consecutive path points, the target robot can combine the multiple consecutive path points, and move based on the combined moving end point. At this time, the consecutive path points indicate that there is no second pre-booking path point in the path connected by multiple paths.

[0057] S230, when the at least one movement instruction includes the second type of movement instruction, and it is determined that the target robot satisfies the moving condition according to the condition field and the state of the reference robot, moving to the second pre-booking path point according to the second movement field.

[0058] In one possible embodiment, in the case where the moving condition is not satisfied, moving at a current speed and decelerating until the reference robot leaves the conflict path point, and then accelerating to the second pre-booking path point.

[0059] For example Figure 6 As shown, the second pre-booking path point is e point, or f point and e point. At this time, if the moving condition is satisfied, the target robot can directly move from c point to e point. Even if there is path conflict with the moving path of the reference robot, the target robot can directly move to e point. If the moving condition of the target robot is not satisfied, the target robot needs to move with d point as the end point, that is, decelerate at a speed of 0 to reach d point, and during the deceleration, when the moving condition is satisfied, that is, when the reference robot leaves the conflict path point f, the target robot accelerates through f point and moves to e point.

[0060] In one possible embodiment, the deceleration based on the current speed includes: in the case where the moving condition is not satisfied, determining the last first pre-booking path point of the second pre-booking path point in the moving path as the end point; determining the acceleration according to the end point; and decelerating to the end point based on the current speed and the acceleration.

[0061] For example Figure 6As shown, the second reserved path point of the target robot is f point, or f point and e point, and the previous first reserved path point of the second reserved path point is d point, and at this time the target robot determines the distance between the current position c point and the terminal d point, and then determines the acceleration based on the distance and the current speed, so that the target robot moves to d point at a reduced speed, if during the process of moving at a reduced speed, it is determined that the movement condition is met, the target robot can stop decelerating and move to f point or e point at an accelerated speed, or during the process of moving at a reduced speed, the movement condition is not met, and the target robot is in a static state when moving to d point, and waits for the movement condition to be met.

[0062] It can be seen that in the embodiment, when the movement condition is not met, the target robot moves at a reduced speed with the previous first reserved path point as the terminal point, and waits for the reference robot to leave the conflict path point, which can improve the safety of robot movement.

[0063] In one possible embodiment, the moving at a reduced speed based on the current speed comprises: obtaining a space-time motion curve of the reference robot, the space-time motion curve being used to indicate the relationship between the arrival position and the time in the movement process of the reference robot; determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; obtaining a current distance between the target robot and the conflict path point; determining a target speed after deceleration according to a third time and the current distance, the third time being greater than the first time; and moving to the second reserved path point from the current speed to the target speed according to the second movement field.

[0064] Wherein, each robot can determine the position point to be moved to based on the movement instruction sent by the server, and can determine the time when moving to each position point based on the movement speed of the robot, and then generate a future space-time motion curve. And publish the space-time motion curve, so that each robot can view the space-time motion curve published by other robots based on the demand to determine the movement of other robots.

[0065] In a specific implementation, each robot can bind a dedicated topic identifier under a Message Queuing Telemetry Transport for Sensor Networks (MQTT-SN) protocol of a sensor network, the topic identifier being used to identify a published spatiotemporal motion curve, and each robot can view the spatiotemporal motion curve published by other robots based on the topic identifier of the corresponding robot. In particular, the spatiotemporal motion curve can be generated based on a first type of movement instruction of the robot and a movement condition, and when a situation occurs in which a low-priority robot moves at a reduced speed until a high-priority robot leaves a conflict path point and then the low-priority robot accelerates to move to a second reserved path point, the low-priority robot updates the subsequent spatiotemporal motion curve based on the actual movement condition and publishes again.

[0066] In the process of obtaining the spatiotemporal motion curve of the reference robot, the target robot can also directly communicate with the reference robot and obtain the current position, movement speed of the reference robot and the path point reserved for the reference robot by the server, and then generate the future spatiotemporal motion curve of the reference robot based on the current position, movement speed and reserved path point of the reference robot.

[0067] As shown in Figure 6 based on the spatiotemporal motion curve published by the reference robot, the target robot can know the first time when the reference robot moves to the conflict path point f, at which time the target robot will not conflict with the reference robot as long as the target robot moves to the conflict path point f after the first time, and thus the target speed of the target robot can be determined based on the third time, i.e., the target robot moves to the conflict path point f at the target speed without conflicting with the reference robot after reducing to the target speed.

[0068] Please refer to Figure 7 , Figure 7 In the case where the target robot and the reference robot have a conflict path point, the black curve in the figure is the corresponding spatiotemporal motion curve of the target robot, in which the target robot determines the last first reserved path point of the second reserved path point as the end point, and then reduces to the end point after driving at a reduced speed. That is, at this time, the target robot waits for the reference robot to leave the conflict path point within the time period reserved by the reference robot, and then reserves the conflict path point, and then accelerates to move to the second reserved path point. Figure 7The middle blue curve is a time-space motion curve of the target robot moving to the second reserved path point at the target speed after deceleration when the target robot and the reference robot have a conflict path point. Based on the time gap between the two time-space motion curves, the moving efficiency of the target robot in the scheme can be intuitively felt, that is, when the target robot and the reference robot have a conflict path point, the target robot and the reference robot communicate to determine the time-space motion curve of the reference robot, determine the target speed according to the time-space motion curve of the reference robot, and decelerate to the target speed to move to the second reserved path point.

[0069] It can be seen that in the embodiment, the target robot moves to the conflict path point after the first time based on the target speed, which can avoid conflict with the reference robot, and can also avoid deceleration to a standstill and then acceleration, thereby reducing equipment loss.

[0070] In one possible embodiment, the determining that the target robot satisfies the moving condition according to the condition field and the state of the reference robot includes: determining whether the reference robot has left the conflict path point before the target robot enters the conflict path point; and determining that the target robot satisfies the moving condition if the reference robot has left the conflict path point.

[0071] Before the target robot enters the conflict path point, specifically, it can be when the target robot moves to the last first reserved path point before the conflict path point, or it can be when the distance between the position of the target robot and the conflict path point is less than a preset distance, which is not limited herein.

[0072] It can be seen that in the embodiment, if the reference robot leaves the conflict path point before the target robot arrives at the conflict path point, it means that the target robot and the reference robot will not collide at the conflict path point, and at this time, it is considered that the target robot satisfies the moving condition and can directly move to the second reserved path point.

[0073] In one possible embodiment, the condition field includes the conflict path point and a reference robot list corresponding to the conflict path point, and the determining whether the reference robot has left the conflict path point includes: obtaining a time-space motion curve of the reference robot, the time-space motion curve being used to indicate the relationship between the arrival position and the time in the moving process of the reference robot; and determining whether the reference robot has left the conflict path point according to the time-space motion curve.

[0074] The reference robot list includes identity information of the reference robot, the target robot can query the topic identifier of the reference robot based on the identity information, and access the topic corresponding to the topic identifier through the MQTT-SN protocol to obtain the space-time motion curve of the reference robot.

[0075] It can be seen that, in the embodiment, whether the reference robot leaves the conflict path point is determined based on the space-time motion curve of the reference robot, the calculation amount of the target robot is reduced, and the accuracy of judging the movement of the reference robot is improved.

[0076] In one possible embodiment, the method further includes: if it is determined that the reference robot has not arrived at the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determining a second time required for the target robot to move to the conflict path point; and if a time interval between the second time and the first time is greater than a preset interval, determining that the target robot satisfies the movement condition.

[0077] Wherein, before the target robot enters the conflict path point, the reference robot has not moved to the conflict path point, at this time, a first time and a second time required for the reference robot and the target robot to move to the conflict path point respectively can be determined. If a time interval between the first time and the second time is greater than a preset interval, that is, whether the reference robot arrives at the path conflict point first or the target robot arrives at the path conflict point first, the reference robot and the target robot will not collide, it is considered that the target robot satisfies the movement condition. That is, in this case, the target robot does not need to slow down, nor does it need to wait for the reference robot to pass through the conflict path point, and can move to the second reserved path point at the current speed.

[0078] It can be seen that, in the embodiment, when the time interval of the target robot and the reference robot moving to the conflict path point is large, the target robot can directly move to the second reserved path point at the current speed, which can improve the efficiency of robot movement.

[0079] In one possible embodiment, the method further includes: if it is determined that the reference robot has not arrived at the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determining a second time required for the target robot to move to the conflict path point; and if the first time is less than the second time, and a time interval between the second time and the first time is greater than a preset interval, determining that the target robot satisfies the movement condition.

[0080] If the second time and the first time have a time interval greater than a preset interval, it indicates that the target robot and the reference robot will not collide, and if the first time is less than the second time, it is determined that the target robot satisfies the moving condition, and the target robot can pass through the conflict path point in priority.

[0081] It can be seen that, in the embodiment, when the moving condition is satisfied, the target robot can leave the conflict path point in priority and directly move to the second reserved path point, so as to improve the efficiency of robot movement.

[0082] It can be seen that, in the embodiment, when the moving condition is satisfied, the target robot can leave the conflict path point in priority and directly move to the second reserved path point, so as to improve the efficiency of robot movement. Figure 8 The application further provides a robot moving method applied to a server in a moving control system, and the robot moving method comprises the following steps.

[0083] S810, at least one moving instruction is sent to the target robot.

[0084] The at least one moving instruction comprises a first type of moving instruction and / or a second type of moving instruction, the first type of moving instruction comprises a first moving field, the second type of moving instruction comprises a condition field and a second moving field, the first moving field comprises a first reserved path point, the second moving field comprises a second reserved path point, the second moving field and a third moving field in a first type of moving instruction received by a reference robot have a conflict path point, the condition field is associated with the reference robot, the first type of moving instruction is used to instruct the target robot to move to the first reserved path point in the first moving field, and the second type of moving instruction is used to instruct the target robot to move to the second reserved path point in the second moving field when it is determined that a preset condition is satisfied according to the condition field and a state of the reference robot.

[0085] In one possible embodiment, before the at least one moving instruction is sent to the target robot, the method further comprises: acquiring a starting point and a destination of the target robot; determining a moving path of the target robot according to the starting point and the destination; reserving path points according to the moving path to obtain the first reserved path point or the second reserved path point; and generating the at least one moving instruction based on the first reserved path point and / or the second reserved path point.

[0086] The server can determine at least one to-be-reserved path point based on the movement requirement of the target robot, and then determine whether there is a path point in a locked state in the at least one to-be-reserved path point. If there is, it means that the to-be-reserved path point has been reserved by a robot with a higher priority. At this time, it can be determined that the to-be-reserved path point reserved by the robot with a higher priority is the second reserved path point of the target robot, and other path points in the at least one to-be-reserved path point are the first reserved path points of the target robot.

[0087] It can be seen that, in the embodiment, the reserved path point is determined based on the corresponding situation of the movement path of the target robot, and the type of the reserved path point, thereby improving the intelligence of the path point reservation of the target robot.

[0088] In one possible embodiment, the path point reservation according to the movement path includes: determining a to-be-reserved path point according to the movement path; when the to-be-reserved path point is in a released state, reserving the to-be-reserved path point to obtain the first reserved path point; and when the to-be-reserved path point is in an occupied state, obtaining the second reserved path point.

[0089] The server can determine the type of the to-be-reserved path point in real time based on the actual reservation situation of the path point included in the current movement path, that is, if the to-be-reserved path point has been reserved by other robots, the to-be-reserved path point is considered as a second reserved path point, otherwise, the to-be-reserved path point is determined as a first reserved path point.

[0090] It can be seen that, in the embodiment, the server first determines the to-be-reserved path point, and then determines the type of the to-be-reserved path point according to the state of the to-be-reserved path, which can improve the flexibility of the server in determining the reserved path point.

[0091] In one possible embodiment, the generation of the at least one movement instruction based on the first reserved path point and / or the second reserved path point includes: generating the first type of movement instruction based on the first reserved path point, the first type of movement instruction including the first movement field, and the first movement field including the first reserved path point; determining the reference robot corresponding to the second reserved path point, the reference robot being a robot that causes the second reserved path point to be in the occupied state, and generating the second type of movement instruction based on the second reserved path point and the reference robot, the second type of movement instruction including the second movement field and the condition field, the second movement field including the second reserved path point, and the condition field including the reference robot list.

[0092] It can be seen that, in the embodiment, the server generates different movement instructions based on different types of reserved path points, so that the target robot can move based on the corresponding movement instructions, improving the intelligence and safety of the movement of the target robot.

[0093] Consistent with the above embodiments, please refer to Figure 9 As shown in Figure 9 The robot movement device 30 is applied to a target robot in a movement control system, the movement control system comprising at least one robot and a server, the at least one robot comprising the target robot, the robot movement device 30 comprising: a receiving unit 310 configured to receive at least one movement instruction from the server, the at least one movement instruction comprising a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction comprising a first movement field, the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reserved path point, the second movement field comprising a second reserved path point, the second movement field and a third movement field in a first type of movement instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot; a first movement unit 320 configured to move to the first reserved path point according to the first movement field when the at least one movement instruction comprises the first type of movement instruction; and a second movement unit 330 configured to move to the second reserved path point according to the second movement field when the at least one movement instruction comprises the second type of movement instruction and it is determined that the target robot satisfies a movement condition according to the condition field and a state of the reference robot.

[0094] In one possible embodiment, the second movement unit 330 is further configured to, in the case that the movement condition is not satisfied, move at a current speed at a deceleration until the reference robot leaves the conflict path point, and then move at an acceleration to the second reserved path point.

[0095] In one possible embodiment, in the aspect of determining that the target robot satisfies the movement condition according to the condition field and the state of the reference robot, the second movement unit 330 is specifically configured to: determine whether the reference robot has left the conflict path point before the target robot enters the conflict path point; and determine that the target robot satisfies the movement condition if the reference robot has left the conflict path point.

[0096] In a possible implementation, the condition field includes the conflict path point and the reference robot list corresponding to the conflict path point, and the second moving unit 330 is specifically configured to: obtain a space-time motion curve of the reference robot, the space-time motion curve being used to indicate a relationship between a position and a time in a movement of the reference robot; and determine whether the reference robot departs from the conflict path point according to the space-time motion curve.

[0097] In a possible implementation, the second moving unit 330 is further configured to: if it is determined that the reference robot does not arrive at the conflict path point, determine a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determine a second time required for the target robot to move to the conflict path point; and determine that the target robot satisfies the movement condition if a time interval between the second time and the first time is greater than a preset interval.

[0098] In a possible implementation, the second moving unit 330 is further configured to: if it is determined that the reference robot does not arrive at the conflict path point, determine a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determine a second time required for the target robot to move to the conflict path point; and determine that the target robot satisfies the movement condition if the first time is less than the second time and a time interval between the second time and the first time is greater than a preset interval.

[0099] In a possible implementation, in the case of moving at a speed reduced based on the current speed, the second moving unit 330 is specifically configured to: in the case that the movement condition is not satisfied, determine a last first reservation path point of the second reservation path point in a movement path as a terminal point; determine an acceleration according to the terminal point; and travel to the terminal point at a speed reduced based on the current speed and the acceleration.

[0100] In a possible implementation, in the case of moving at a speed reduced based on the current speed, the second moving unit 330 is specifically configured to: obtain a space-time motion curve of the reference robot, the space-time motion curve being used to indicate a relationship between a position and a time in a movement of the reference robot; determine a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; obtain a current distance between the target robot and the conflict path point; determine a target speed after speed reduction according to a third time and the current distance, the third time being greater than the first time; and move to the second reservation path point at a speed reduced from the current speed to the target speed according to the second moving field.

[0101] Please refer toFigure 10 The robot moving device 40 is applied to a server in a mobile control system, the mobile control system comprising at least one robot and the server, the at least one robot comprising a target robot, the robot moving device 40 comprising: a sending unit 410 configured to send at least one moving instruction to the target robot, the at least one moving instruction comprising a first type of moving instruction and / or a second type of moving instruction, the first type of moving instruction comprising a first moving field, the second type of moving instruction comprising a condition field and a second moving field, the first moving field comprising a first reserved path point, the second moving field comprising a second reserved path point, the second moving field and a third moving field in a first type of moving instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot, the first type of moving instruction being used to instruct the target robot to move to the first reserved path point in the first moving field, the second type of moving instruction being used to instruct the target robot to move to the second reserved path point in the second moving field when it is determined that a preset condition is met according to the condition field and a state of the reference robot.

[0102] In one possible implementation, before the sending of the at least one moving instruction to the target robot, the robot moving device 40 further comprises a generating unit configured to: obtain a starting point and a destination of the target robot; determine a moving path of the target robot according to the starting point and the destination; reserve a path point according to the moving path to obtain the first reserved path point or the second reserved path point; and generate the at least one moving instruction based on the first reserved path point and / or the second reserved path point.

[0103] In one possible implementation, in the aspect of reserving the path point according to the moving path, the robot moving device 40 further comprises a generating unit configured to: determine a to-be-reserved path point according to the moving path; reserve the to-be-reserved path point to obtain the first reserved path point when the to-be-reserved path point is in a release state; and obtain the second reserved path point when the to-be-reserved path point is in an occupied state.

[0104] In a possible implementation, in the generating the at least one movement instruction based on the first reserved path point and / or the second reserved path point, the robot movement device 40 further comprises a generating unit, which is specifically configured to: generate the first type of movement instruction based on the first reserved path point, the first type of movement instruction comprising the first movement field, and the first movement field comprising the first reserved path point; determine the reference robot corresponding to the second reserved path point, the reference robot being a robot that makes the second reserved path point in the occupied state, and generate the second type of movement instruction based on the second reserved path point and the reference robot, the second type of movement instruction comprising the second movement field and the condition field, the second movement field comprising the second reserved path point, and the condition field comprising the reference robot list.

[0105] It can be understood that, since the method embodiments and the device embodiments are different present forms of the same technical concept, the content in the method embodiments part of the present application should be synchronously adapted to the device embodiments part, which will not be repeated here.

[0106] In the case of employing integrated units, as Figure 11 shown. In Figure 11 particular, the robot movement device 50 comprises a processing module 512 and a communication module 511. The processing module 512 is configured to control and manage the actions of the robot movement device 50, for example, to perform the steps of the receiving unit 310, the first movement unit 320 and the second movement unit 330, or to perform the steps of the sending unit 410, and / or to perform other processes of the techniques described herein. The communication module 511 is configured to interact between the robot movement device 50 and other devices. As Figure 11 shown, the robot movement device 50 can further comprise a storage module 513, which is configured to store program codes and data of the robot movement device 50.

[0107] The processing module 512 can be a processor or a controller, for example, a Central Processing Unit (CPU), a general-purpose processor, a Digital Signal Processor (DSP), an ASIC, an FPGA or other programmable logic device, transistor logic device, hardware component or any combination thereof. It can implement or execute the various exemplary logical blocks, modules and circuits described in connection with the disclosure of the present application. The processor can also be a combination of implementing computing functions, for example, a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication module 511 can be a transceiver, an RF circuit or a communication interface, etc. The storage module 513 can be a memory.

[0108] All the related content of each scenario involved in the above method embodiments can be cited to the function description of the corresponding function module, which will not be repeated here. The above robot moving device 50 can perform the above Figure 5 the steps performed by the target robot in the robot moving method shown, or the above robot moving device 50 can perform the above Figure 8 the steps performed by the server in the robot moving method shown.

[0109] The scheme of the embodiments of the present application is introduced mainly from the perspective of the method execution process. It can be understood that the electronic device includes the hardware structure and software module corresponding to the execution of each function in order to implement the above functions. Those skilled in the art should easily realize that the units and algorithm steps of each example described in the embodiments provided in the present text can be implemented by hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0110] The electronic device can be divided into functional units according to the above method examples, for example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The integrated unit can be realized in the form of hardware or software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division. There can be another division way when actually implemented.

[0111] The embodiments of the present application also provide a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program causes a computer to execute part or all of the steps of any method described in the above method embodiments. The above computer includes an electronic device.

[0112] The embodiments of the present application also provide a computer program product, which includes a non-transitory computer readable storage medium storing a computer program. The computer program is operable to cause a computer to execute part or all of the steps of any method described in the above method embodiments. The computer program product can be a software installation package, and the computer includes an electronic device.

[0113] It should be noted that, for the foregoing method embodiments, the sequences of the described actions can be modified, and certain actions can be performed simultaneously or in different sequences. In addition, the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0114] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0115] In the several embodiments provided by the present application, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the apparatus embodiments described above are merely schematic; the division of the units is only a logical function division; there can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0116] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0117] In addition, each functional unit in the embodiments of the present application can be integrated in a processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware or software functional units.

[0118] The above integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the above-mentioned method of each embodiment of the present application. The aforementioned memory includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0119] A person of ordinary skill in the art can understand that all or part of the steps in the above-mentioned embodiments can be completed by programs instructing relevant hardware, and the programs can be stored in a computer readable memory, which can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0120] The embodiments of the present application are described in detail above, and the principles and implementation manners of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea; meanwhile, for a person of ordinary skill in the art, according to the idea of the present application, the specific implementation manner and application range can be changed, and the above description of the present application should not be understood as a limitation.

[0121] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements without departing from the spirit and scope of the present application, and can make various changes and modifications, including the combination of different functions and implementation steps, including the software and hardware implementation manners, which are all within the protection scope of the present application.

Claims

1. A robot movement method, characterized by, A target robot applied to a mobile control system, the mobile control system comprising at least one robot and a server, the at least one robot comprising the target robot, the method comprising: receiving at least one movement instruction from the server, the at least one movement instruction comprising a first type of movement instruction and a second type of movement instruction, or the at least one movement instruction comprising the second type of movement instruction, the first type of movement instruction comprising a first movement field, the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reserved path point, the second movement field comprising a second reserved path point, the second movement field and a third movement field in a first type of movement instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot; when the at least one movement instruction comprises the first type of movement instruction, moving to the first reserved path point according to the first movement field; when the at least one movement instruction comprises the second type of movement instruction, and it is determined that the target robot satisfies a movement condition according to the condition field and a state of the reference robot, moving to the second reserved path point according to the second movement field; wherein the condition field comprises the conflict path point and a list of reference robots corresponding to the conflict path point, and the determination that the target robot satisfies the movement condition according to the condition field and the state of the reference robot comprises: obtaining a space-time motion curve of the reference robot before the target robot enters the conflict path point, the space-time motion curve being used to indicate a relationship between a position and a time in a movement process of the reference robot; determining whether the reference robot has left the conflict path point according to the space-time motion curve; and determining that the target robot satisfies the movement condition if the reference robot has left the conflict path point; and the method further comprises: in a case where the movement condition is not satisfied, moving at a reduced speed based on a current speed until the reference robot leaves the conflict path point, and then moving at an accelerated speed to the second reserved path point.

2. The method of claim 1, wherein, The method further comprises: if it is determined that the reference robot has not arrived at the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determining a second time required for the target robot to move to the conflict path point; if a time interval between the second time and the first time is greater than a preset interval, determining that the target robot satisfies the movement condition.

3. The method of claim 1, wherein, The method further comprises: if it is determined that the reference robot has not arrived at the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determining a second time required for the target robot to move to the conflict path point; if the first time is less than the second time, and a time interval between the second time and the first time is greater than a preset interval, determining that the target robot satisfies the movement condition.

4. The method of claim 1, wherein, The moving based on the current speed includes: In the case where the moving condition is not met, determining a last first reserved path point of the second reserved path point in the moving path as a terminal point; Determining an acceleration according to the terminal point; Based on the current speed and the acceleration, decelerating to drive to the terminal point.

5. The method of claim 1, wherein, The moving based on the current speed includes: Obtaining a space-time motion curve of the reference robot, the space-time motion curve being used to indicate a relationship between a position and a time in a moving process of the reference robot; Determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; Obtaining a current distance between the target robot and the conflict path point; Determining a target speed after deceleration according to a third time and the current distance, the third time being greater than the first time; Moving from the current speed to the target speed according to the second moving field to the second reserved path point.

6. A robot movement method characterized by, A server applied to a mobile control system, the mobile control system including at least one robot and the server, the at least one robot including a target robot, the method including: Sending at least one moving instruction to the target robot, the at least one moving instruction including a first type of moving instruction and a second type of moving instruction, or the at least one moving instruction including the second type of moving instruction, the first type of moving instruction including a first moving field, the second type of moving instruction including a condition field and a second moving field, the first moving field including a first reserved path point, the second moving field including a second reserved path point, a conflict path point existing in the second moving field and a third moving field in a first type of moving instruction received by a reference robot, the condition field being associated with the reference robot, the first type of moving instruction being used to instruct the target robot to move to the first reserved path point in the first moving field, the second type of moving instruction being used to instruct the target robot to move to the second reserved path point in the second moving field when it is determined that a moving condition is met according to the condition field and a state of the reference robot, wherein the condition field includes the conflict path point and a list of the reference robot corresponding to the conflict path point, the determining that the target robot meets the moving condition according to the condition field and the state of the reference robot includes: obtaining a space-time motion curve of the reference robot before the target robot drives into the conflict path point, the space-time motion curve being used to indicate a relationship between a position and a time in a moving process of the reference robot; determining whether the reference robot has left the conflict path point according to the space-time motion curve; and determining that the target robot meets the moving condition if the reference robot has left the conflict path point; the method further including: in the case where the moving condition is not met, the target robot moving based on a current speed until the reference robot leaves the conflict path point, and then accelerating to move to the second reserved path point.

7. The method of claim 6, wherein, Before the sending of the at least one movement instruction to the target robot, the method further comprises: obtaining a starting point and a destination of the target robot; determining a movement path of the target robot according to the starting point and the destination; performing path point reservation according to the movement path, to obtain the first reserved path point or the second reserved path point; generating the at least one movement instruction based on the first reserved path point and / or the second reserved path point.

8. The method of claim 7, wherein, The performing of the path point reservation according to the movement path comprises: determining a to-be-reserved path point according to the movement path; when the to-be-reserved path point is in a released state, reserving the to-be-reserved path point to obtain the first reserved path point; when the to-be-reserved path point is in an occupied state, obtaining the second reserved path point.

9. The method of claim 8, wherein, The generating of the at least one movement instruction based on the first reserved path point and / or the second reserved path point comprises: generating the first type of movement instruction based on the first reserved path point, the first type of movement instruction including the first movement field, and the first movement field including the first reserved path point; determining a reference robot corresponding to the second reserved path point, the reference robot being a robot that causes the second reserved path point to be in the occupied state, generating the second type of movement instruction based on the second reserved path point and the reference robot, the second type of movement instruction including the second movement field and the condition field, the second movement field including the second reserved path point, and the condition field including a reference robot list.

10. A robotic mobile device, characterized by, A target robot applied to a mobile control system, the mobile control system including at least one robot and a server, the at least one robot including the target robot, the device comprising: a receiving unit configured to receive at least one movement instruction from the server, the at least one movement instruction including a first type of movement instruction and a second type of movement instruction, or the at least one movement instruction including the second type of movement instruction, the first type of movement instruction including a first movement field, the second type of movement instruction including a condition field and a second movement field, the first movement field including a first reserved path point, the second movement field including a second reserved path point, the second movement field and a third movement field in a first type of movement instruction received by a reference robot including a conflict path point, and the condition field being associated with the reference robot; a first moving unit configured to, when the at least one movement instruction includes the first type of movement instruction, move to the first reserved path point according to the first movement field. The second moving unit is configured to move to the second reserved path point according to the second moving field when the at least one moving instruction comprises the second type of moving instruction and it is determined that the target robot meets the moving condition according to the condition field and the state of the reference robot; wherein the condition field comprises the conflict path point and a reference robot list corresponding to the conflict path point, and the second moving unit is specifically configured to: obtain a space-time motion curve of the reference robot before the target robot enters the conflict path point, the space-time motion curve being used to indicate a relationship between a position and a time in a moving process of the reference robot; determine whether the reference robot has left the conflict path point according to the space-time motion curve; and determine that the target robot meets the moving condition if the reference robot has left the conflict path point.

11. A robotic mobile device, characterized by, A server applied to a mobile control system, the mobile control system comprising at least one robot and the server, the at least one robot comprising a target robot, and the device comprising: The sending unit is configured to send at least one movement instruction to the target robot, the at least one movement instruction comprising a first type of movement instruction and a second type of movement instruction, or the at least one movement instruction comprising the second type of movement instruction, the first type of movement instruction comprising a first movement field, the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reserved path point, the second movement field comprising a second reserved path point, the second movement field and a third movement field in a first type of movement instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot, the first type of movement instruction being used to instruct the target robot to move to the first reserved path point in the first movement field, and the second type of movement instruction being used to instruct the target robot to move to the second reserved path point in the second movement field when it is determined that a preset condition is met according to the condition field and a state of the reference robot; wherein the condition field comprises the conflict path point and a list of reference robots corresponding to the conflict path point, and the target robot is specifically configured to: obtain a spatiotemporal motion curve of the reference robot before the target robot enters the conflict path point, the spatiotemporal motion curve being used to indicate a relationship between a position and a time in a movement process of the reference robot; determine whether the reference robot has left the conflict path point according to the spatiotemporal motion curve; and determine that the target robot meets the movement condition if the reference robot has left the conflict path point; and the target robot is further configured to: move at a reduced speed based on a current speed in a case where the movement condition is not met, and move at an accelerated speed to the second reserved path point after the reference robot leaves the conflict path point.

12. A robot, characterized in that A computer program product comprising a processor, a memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps of the method of any one of claims 1-5.

13. A server, characterized by A computer program product comprising a processor, a memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps of the method of any one of claims 6-9.

14. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that, The computer program / instructions are executed by the processor to implement the steps of the method of any one of claims 1-5 or any one of claims 6-9.

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