Traffic supervision method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of computers, in particular to a traffic supervision method and device, electronic equipment and a storage medium, which are used for realizing supervision of mixed scenes of autonomous mobile equipment. The method comprises the steps that a topological map of a working area where the autonomous mobile device belongs is constructed, the topological map is issued to the autonomous mobile device, the topological map is composed of nodes and connecting lines between the nodes, and the connecting lines represent paths allowed to be driven by the autonomous mobile device in the working process; issuing the task data to the autonomous mobile device, so that the autonomous mobile device executes the target task based on the task data; receiving task progress data corresponding to the target task reported by the autonomous mobile device, determining whether the autonomous mobile device reaches the boundary of the traffic control area corresponding to the target task based on the executed progress percentage and the topological map contained in the task progress data, and determining whether the target task is executed when the autonomous mobile device reaches the boundary of the traffic control area. Traffic control is performed on the autonomous mobile device.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a traffic supervision method, device, electronic device and storage medium. Background Art

[0002] With the continuous improvement of industrial automation, more and more industrial manufacturing companies are using autonomous mobile devices such as autonomous mobile robots (AMRs) and automated guided vehicles (AGVs) to complete transportation work.

[0003] In the same work area, there will be multiple autonomous mobile devices performing tasks at the same time. Without any control constraints, conflicts or collisions will occur. Therefore, it is necessary to monitor and manage the autonomous mobile devices in mixed traffic scenarios so that the autonomous mobile devices can complete the tasks normally. Summary of the invention

[0004] The embodiments of the present application provide a traffic supervision method, device, electronic device and storage medium to achieve monitoring and management of mixed traffic scenarios of autonomous mobile devices.

[0005] The specific technical solutions provided by the embodiments of this application are as follows:

[0006] In a first aspect, a traffic supervision method is provided, comprising:

[0007] Construct a topological map of the working area of ​​the autonomous mobile device, and send the topological map to the autonomous mobile device, wherein the topological map is composed of nodes and connection lines between nodes, and the connection lines represent: the paths that the autonomous mobile device is allowed to travel during the working process;

[0008] Sending task data to the autonomous mobile device so that the autonomous mobile device performs the target task based on the task data;

[0009] Receive task progress data corresponding to the target task reported by the autonomous mobile device, and determine whether the autonomous mobile device has reached the boundary of the traffic control zone corresponding to the target task based on the executed progress percentage and the topological map contained in the task progress data, and perform traffic control on the autonomous mobile device when the autonomous mobile device reaches the boundary of the traffic control zone.

[0010] In a possible embodiment, before constructing a topological map of a working area of ​​an autonomous mobile device and sending the topological map to the autonomous mobile device, the process includes:

[0011] Send a connection request to the autonomous mobile device, where the connection request carries the IP address of the autonomous mobile device;

[0012] A connection response returned by the autonomous mobile device is received, and a two-way communication connection is established with the autonomous mobile device.

[0013] Through the above method, a persistent two-way data transmission channel is established between the supervision platform and the autonomous mobile device, ensuring the real-time, orderly, stable and secure transmission of the data required for the task issuance function of the supervision platform and the progress reporting function of the autonomous mobile device.

[0014] In a possible embodiment, constructing a topological map of a working area to which an autonomous mobile device belongs includes:

[0015] A topological map is constructed according to an actual environment map of a working area to which the autonomous mobile device belongs, wherein each node in the topological map represents an important location point in the working area.

[0016] Through the above method, the autonomous mobile device can move along the specified target path according to the topological map.

[0017] In a possible embodiment, the task data includes: a map identifier of a topological map, a device identifier of an autonomous mobile device, a first node identifier of a task start point, and a second node identifier of a task end point;

[0018] The task data is used to enable the autonomous mobile device to determine whether to execute the target task based on the map identifier or the device identifier, and when determining to execute the target task, execute the target task based on the first node identifier, the second node identifier and the topology map.

[0019] In a possible embodiment, the task progress data includes: task execution status and execution progress percentage;

[0020] Task execution status representation: whether the target task is executed normally;

[0021] The percentage of executed progress is: the percentage of the distance that the autonomous mobile device has traveled on the target path corresponding to the target task to the total length of the target path.

[0022] In a possible embodiment, determining whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task based on the executed progress percentage and the topological map included in the task progress data includes:

[0023] Traverse each path in the topological map to obtain the path intersection points of the target path corresponding to the target task and the intersecting paths, as well as the intersection point percentage corresponding to the target path. The intersection point percentage represents: the percentage of the distance from the path intersection point to the starting point of the target path to the total length of the target path;

[0024] Based on the intersection percentage and the executed progress percentage, it is determined whether the autonomous mobile device reaches the boundary of the traffic control zone.

[0025] Through the above method, the path intersections can be accurately identified, and the intersection percentage corresponding to the target path can be accurately calculated.

[0026] In a possible embodiment, determining whether the autonomous mobile device has reached the boundary of the traffic control zone based on the intersection percentage and the executed progress percentage includes:

[0027] Determine a first control threshold corresponding to the target path based on the intersection percentage and the tolerance percentage;

[0028] If the percentage of executed progress is equal to the first control threshold, it is determined that the autonomous mobile device has reached the boundary of the traffic control area.

[0029] Through the above method, it is possible to accurately determine whether the autonomous mobile device has reached the boundary of the traffic control area, thereby accurately supervising the autonomous mobile device.

[0030] In a possible embodiment, when the autonomous mobile device reaches a boundary of a traffic control zone, traffic control is performed on the autonomous mobile device, including:

[0031] If another autonomous mobile device on the intersecting path that intersects the target path corresponding to the target task is in the traffic control area, the autonomous mobile device is notified to stop and wait, and when the other autonomous mobile device leaves the traffic control area, the autonomous mobile device is notified to continue moving.

[0032] Through the above method, the autonomous mobile device is controlled to stop and wait when the path is congested, thereby ensuring the orderly passage of multiple autonomous mobile devices in the mixed traffic scene and avoiding collisions of autonomous mobile devices at intersections.

[0033] In a possible embodiment, the method further includes:

[0034] Calculate the position of the autonomous mobile device in the topology map based on the percentage of executed progress;

[0035] Based on the location and the icon corresponding to the autonomous mobile device, the real-time location of the autonomous mobile device is displayed.

[0036] Through the above method, the position of the autonomous mobile device is displayed in real time, visualization is achieved, and the user experience is improved.

[0037] In a second aspect, the present application provides a traffic supervision device, the device comprising:

[0038] A construction module is used to construct a topological map of the working area of ​​the autonomous mobile device and send the topological map to the autonomous mobile device, wherein the topological map is composed of nodes and connection lines between nodes, and the connection lines represent: paths that the autonomous mobile device is allowed to travel during the working process;

[0039] A sending module, used for sending task data to the autonomous mobile device, so that the autonomous mobile device performs the target task based on the task data;

[0040] The supervision module is used to receive the task progress data corresponding to the target task reported by the autonomous mobile device, and determine whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task based on the percentage of executed progress and the topological map contained in the task progress data, and perform traffic control on the autonomous mobile device when the autonomous mobile device reaches the boundary of the traffic control area.

[0041] In a possible embodiment, before constructing a topological map of a working area to which the autonomous mobile device belongs and sending the topological map to the autonomous mobile device, the apparatus further includes a communication module, the communication module being used to:

[0042] Send a connection request to the autonomous mobile device, where the connection request carries the IP address of the autonomous mobile device;

[0043] A connection response returned by the autonomous mobile device is received, and a two-way communication connection is established with the autonomous mobile device.

[0044] In a possible embodiment, when constructing a topological map of a working area to which an autonomous mobile device belongs, the construction module is further used to:

[0045] A topological map is constructed according to an actual environment map of a working area to which the autonomous mobile device belongs, wherein each node in the topological map represents an important location point in the working area.

[0046] In a possible embodiment, the task data includes: a map identifier of a topological map, a device identifier of an autonomous mobile device, a first node identifier of a task start point, and a second node identifier of a task end point;

[0047] The task data is used to enable the autonomous mobile device to determine whether to execute the target task based on the map identifier or the device identifier, and when determining to execute the target task, execute the target task based on the first node identifier, the second node identifier and the topology map.

[0048] In a possible embodiment, the task progress data includes: task execution status and execution progress percentage;

[0049] Task execution status representation: whether the target task is executed normally;

[0050] The percentage of executed progress is: the percentage of the distance that the autonomous mobile device has traveled on the target path corresponding to the target task to the total length of the target path.

[0051] In a possible embodiment, when determining whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task based on the executed progress percentage and the topological map included in the task progress data, the supervision module is further configured to:

[0052] Traverse each path in the topological map to obtain the path intersection points of the target path corresponding to the target task and the intersecting paths, as well as the intersection point percentage corresponding to the target path. The intersection point percentage represents: the percentage of the distance from the path intersection point to the starting point of the target path to the total length of the target path;

[0053] Based on the intersection percentage and the executed progress percentage, it is determined whether the autonomous mobile device reaches the boundary of the traffic control zone.

[0054] In a possible embodiment, when determining whether the autonomous mobile device has reached the boundary of the traffic control zone based on the intersection percentage and the executed progress percentage, the supervision module is further configured to:

[0055] Determine a first control threshold corresponding to the target path based on the intersection percentage and the tolerance percentage;

[0056] If the percentage of executed progress is equal to the first control threshold, it is determined that the autonomous mobile device has reached the boundary of the traffic control area.

[0057] In a possible embodiment, when the autonomous mobile device reaches the boundary of the traffic control zone, when traffic control is performed on the autonomous mobile device, the supervision module is further used to:

[0058] If another autonomous mobile device on the intersecting path that intersects the target path corresponding to the target task is in the traffic control area, the autonomous mobile device is notified to stop and wait, and when the other autonomous mobile device leaves the traffic control area, the autonomous mobile device is notified to continue moving.

[0059] In a possible embodiment, the device further includes a display module, and the display module is used to:

[0060] Calculate the position of the autonomous mobile device in the topology map based on the percentage of executed progress;

[0061] Based on the location and the icon corresponding to the autonomous mobile device, the real-time location of the autonomous mobile device is displayed.

[0062] According to a third aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods described in the first aspect are implemented.

[0063] According to a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in any one of the first aspects are implemented.

[0064] In a fifth aspect, the present application provides a computer program product, comprising: a computer program code, when the computer program code is run on a computer, the computer executes any one of the methods described in the first aspect.

[0065] In the embodiment of the present application, a topological map of the working area to which the autonomous mobile device belongs is constructed, and the topological map is sent to the autonomous mobile device, wherein the topological map is composed of each node and the connection lines between the nodes, and the connection lines represent: the path that the autonomous mobile device is allowed to travel during the working process, and then the task data is sent to the autonomous mobile device so that the autonomous mobile device performs the target task based on the task data, and then the task progress data corresponding to the target task reported by the autonomous mobile device is received, and based on the percentage of the executed progress contained in the task progress data and the topological map, it is determined whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task, and when the autonomous mobile device reaches the boundary of the traffic control area, the autonomous mobile device is subjected to traffic control. In this way, multiple functions such as topological map construction, task distribution, task progress monitoring, and autonomous mobile device traffic control are completed in one stop, and the monitoring and management of the mixed traffic scene of autonomous mobile devices are realized. In addition, combined with the percentage of the executed progress, it is determined whether the autonomous mobile device has reached the boundary of the traffic control area, and the autonomous mobile device is subjected to traffic control, which improves the accuracy of the control. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A diagram of the system architecture in an embodiment of the present application;

[0067] Figure 2 A flow chart of an implementation of a traffic supervision method provided in an embodiment of the present application;

[0068] Figure 3 A schematic diagram of the path relationship in the embodiment of the present application;

[0069] Figure 4 Another flow chart of a traffic supervision method provided in an embodiment of the present application;

[0070] Figure 5 A schematic diagram of the structure of a traffic supervision device provided in an embodiment of the present application;

[0071] Figure 6 Schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be arbitrarily combined with each other. In addition, although the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in an order different from that here.

[0073] The terms "first" and "second" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "comprising" and any of their variations are intended to cover non-exclusive protection. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. "Multiple" in the present application can mean at least two, for example, two, three or more, and the embodiments of the present application are not limited.

[0074] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description. It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, which should be considered as exemplary, and their purpose is only to illustrate the feasibility of the implementation of the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0075] In the technical solution of this application, the acquisition, transmission, storage, and use of data are in compliance with the requirements of relevant national laws and regulations.

[0076] To facilitate understanding of the technical solutions provided in the embodiments of the present application, some key terms used in the embodiments of the present application are explained here:

[0077] Topological map: refers to a statistical map in cartography, an abstract map that keeps the relative position relationship between points and lines correct but does not necessarily keep the shape and area, distance, and direction correct. If the indoor environment is represented as a topological structure diagram with nodes and related connecting lines, the nodes represent important locations in the environment (corners, elevators, stairs, doors, etc.), and the edges represent the connection relationship between nodes (corridors, etc.).

[0078] WebSocket: is a full-duplex communication protocol on a single TCP connection. It requires a "handshake" to be completed through the process of "browser sends a request and the server responds". After completing a handshake, a persistent connection can be established between the two parties, and two-way data transmission can be carried out. In actual operation, the browser can establish connections with different servers by creating multiple WebSocket instances.

[0079] The following is a brief introduction to the design concept of the embodiment of the present application:

[0080] With the continuous improvement of industrial automation, more and more industrial manufacturing companies are using autonomous mobile devices such as AMR and AGV to complete handling work.

[0081] In the same scene, there will be multiple autonomous mobile devices performing tasks at the same time. Without any control constraints, conflicts or collisions will occur. Therefore, it is necessary to monitor and manage the autonomous mobile devices in mixed traffic scenarios so that the autonomous mobile devices can complete the tasks normally.

[0082] In view of this, in the embodiment of the present application, a traffic supervision method, device, electronic device and storage medium are provided to construct a topological map of the working area to which the autonomous mobile device belongs, and send the topological map to the autonomous mobile device, wherein the topological map is composed of each node and the connection line between each node, and the connection line represents: the path allowed for the autonomous mobile device to travel during the working process, and then send the task data to the autonomous mobile device so that the autonomous mobile device performs the target task based on the task data, and finally receive the task progress data corresponding to the target task reported by the autonomous mobile device, and determine whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task based on the percentage of the executed progress contained in the task progress data and the topological map, and when the autonomous mobile device reaches the boundary of the traffic control area, the autonomous mobile device is subjected to traffic control. In this way, multiple functions such as topological map construction, task distribution, task progress monitoring, and autonomous mobile device traffic control are completed in one stop, and the monitoring and management of the mixed traffic scene of the autonomous mobile device are realized. In addition, combined with the percentage of the executed progress, it is determined whether the autonomous mobile device has reached the boundary of the traffic control area, and the autonomous mobile device is subjected to traffic control, which improves the accuracy of the control.

[0083] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments of the present application and the features in the embodiments may be combined with each other if there is no conflict.

[0084] See also Figure 1 The system architecture diagram in the embodiment of the present application is shown in FIG. The system architecture diagram includes a supervision platform 110 and autonomous mobile devices 120 (including autonomous mobile devices 1201, autonomous mobile devices 1202 ... autonomous mobile devices 120n).

[0085] The supervision platform 110 and the autonomous mobile device 120 are connected via WebSocket.

[0086] Autonomous mobile devices 120 include, but are not limited to, AMRs and AGVs.

[0087] It should be noted that Figure 1 The figure is only an example. In fact, the number of autonomous mobile devices 120 and supervision platforms 110 is not limited, and is not specifically limited in the embodiments of the present application.

[0088] See also Figure 2 As shown, it is an implementation flow chart of a traffic supervision method provided in an embodiment of the present application. The specific implementation process of the method is as follows:

[0089] Step 20: Construct a topological map of the working area of ​​the autonomous mobile device, and send the topological map to the autonomous mobile device.

[0090] The topological map is composed of nodes and connection lines between nodes. The connection lines represent the paths that autonomous mobile devices are allowed to travel during work. Each node represents an important location point in the work area (such as the working point, parking point, charging point, etc. of the autonomous mobile device). The connection lines connect each node to ensure the accessibility between important location points.

[0091] In the embodiment of the present application, a topological map is constructed based on an actual environment map of a working area to which the autonomous mobile device belongs.

[0092] The topological map includes location data, and the specific location data is: the location coordinates of the nodes, and the starting point identifier and the end point identifier of the connection line.

[0093] In this way, when the platform sends task data, the autonomous mobile device can move along the specified target path according to the topological map.

[0094] Optionally, in the embodiment of the present application, before issuing the topology map, the management platform needs to establish a connection with the autonomous mobile device. A possible embodiment is provided for establishing a connection with the autonomous mobile device. The specific steps are as follows:

[0095] Step A1: Send a connection request to the autonomous mobile device.

[0096] The connection request carries the IP address of the autonomous mobile device.

[0097] In the embodiment of the present application, the management platform sends a connection request to the autonomous mobile device. After the autonomous mobile device receives the connection request sent by the management platform, the autonomous mobile device returns a connection response to the management platform.

[0098] Step A2: Receive a connection response returned by the autonomous mobile device, and establish a two-way communication connection with the autonomous mobile device.

[0099] In the embodiment of the present application, the management platform establishes a two-way communication connection with the autonomous mobile device based on the received connection response.

[0100] Among them, the two-way communication connection can be a WebSocket connection, which is not limited in the embodiments of the present application.

[0101] In this way, a persistent two-way data transmission channel is established between the supervision platform and the autonomous mobile device, ensuring the real-time, orderly, stable and secure transmission of the data required for the task issuance function of the supervision platform and the progress reporting function of the autonomous mobile device.

[0102] In addition, it is worth noting that in an embodiment of the present application, a topological map is constructed for each work area. There are multiple autonomous mobile devices in a work area. The topological map of a work area is sent to the multiple autonomous mobile devices in the work area. When the topological map is sent to the multiple autonomous mobile devices in the work area, the map identifier of the topological map of the work area will also be sent together.

[0103] Step 21: Send the task data to the autonomous mobile device, so that the autonomous mobile device performs the target task based on the task data.

[0104] Among them, the task data includes: the map identifier of the topological map, the device identifier of the autonomous mobile device, the first node identifier of the task starting point, and the second node identifier of the task end point. The task data is used to enable the autonomous mobile device to determine whether to execute the target task based on the map identifier or the device identifier, and when determining to execute the target task, execute the target task based on the first node identifier, the second node identifier and the topological map.

[0105] In an embodiment of the present application, the supervision platform sends task data of the target task to the autonomous mobile device. After the autonomous mobile device receives the task data, the autonomous mobile device first verifies whether the map identifier in the task data is consistent with the map identifier of the locally stored topological map. If not, the target task will not be executed and reported to the supervision platform. In addition, it verifies whether the device identifier in the task data is consistent with its device identifier. If not, the target task will not be executed and reported to the supervision platform. Then, after the verification is passed, the autonomous mobile device queries the topological map based on the first node identifier and the second node identifier, finds the connecting line between the first node identifier and the second node identifier, obtains the target path corresponding to the target task, and runs from the task starting point along the target path to the task end point.

[0106] Step 22: Receive task progress data corresponding to the target task reported by the autonomous mobile device, and determine whether the autonomous mobile device has reached the boundary of the traffic control zone corresponding to the target task based on the executed progress percentage and the topological map contained in the task progress data, and perform traffic control on the autonomous mobile device when the autonomous mobile device reaches the boundary of the traffic control zone.

[0107] In addition, in the embodiment of the present application, there is no restriction on the number of traffic control zones.

[0108] The task progress data includes: task execution status and percentage of executed progress. The task execution status indicates whether the target task is executed normally. The percentage of executed progress is: the percentage of the distance traveled by the autonomous mobile device on the target path corresponding to the target task to the total length of the target path.

[0109] Exemplarily, the task execution status includes: not executed and normally executed. When the task execution status is not executed, the autonomous mobile device identifies the cause of the error and sets the execution progress percentage of the target task to zero. The cause of the error includes map identification error, device identification error, device failure or occupied device, etc.

[0110] The task progress data also includes: a map identifier of a topological map, a device identifier of an autonomous mobile device, a first node identifier of a task starting point, and a second node identifier of a task end point.

[0111] In the embodiment of the present application, the supervision platform verifies whether the autonomous mobile device belongs to the current working area based on the map identifier in the task progress data. If not, the task progress data will not be processed. The supervision platform determines which autonomous mobile device the task progress data belongs to based on the device identifier in the task progress data. The supervision platform queries the topological map corresponding to the autonomous mobile device based on the first node identifier and the second node identifier, finds the connection line between the first node identifier and the second node identifier, and obtains the target path corresponding to the target task.

[0112] Optionally, in an embodiment of the present application, a possible embodiment is provided to determine whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task based on the percentage of executed progress and the topological map, and the specific steps are as follows:

[0113] Step 220: traverse each path in the topological map to obtain the path intersection points of the target path corresponding to the target task and the intersecting paths, as well as the intersection point percentage corresponding to the target path.

[0114] The intersection percentage represents: the percentage of the distance from the path intersection to the starting point of the target path to the total length of the target path.

[0115] In addition, in the embodiment of the present application, there is no restriction on the number of path intersections, one path intersection corresponds to one traffic control area, and the path within a certain range near the path intersection is used as the corresponding traffic control area.

[0116] In an embodiment of the present application, based on a preset intersection judgment algorithm, it is determined whether the target path has an intersection with other paths in the topological map. When there is an intersecting path of the target path, based on a preset intersection calculation algorithm, the intersection coordinates of the path intersection of the target path and the intersecting path are calculated, and the distance from the path intersection to the starting point of the target path is calculated as a percentage of the total length of the target path, the distance from the path intersection to the end point of the target path is calculated as a percentage of the total length of the target path, the distance from the path intersection to the starting point of the intersecting path is calculated as a percentage of the total length of the intersecting path, and the distance from the path intersection to the end point of the intersecting path is calculated as a percentage of the total length of the intersecting path.

[0117] For example, see Figure 3 As shown in FIG. 1 , it is a schematic diagram of the path relationship in the embodiment of the present application. Assume that there are four nodes A(x1, y1), B(x2, y2), C(x3, y3), and D(x4, y4). There is a connecting line between node A and node B, and there is a connecting line between node C and node D. To determine whether line segment AB and line segment CD intersect, it is necessary to determine whether node C and node D are located on both sides of line segment AB and whether node A and node B are located on both sides of line segment CD. If both are true, the two line segments intersect, such as Figure 3 As shown in (a) in , otherwise, the two line segments do not intersect, such as Figure 3 As shown in (b) in FIG. 1 , in particular, when node C or node D is located on line segment AB and node A or node B is located on line segment CD, it also indicates that the two line segments intersect, as shown in FIG. Figure 3 As shown in (c) in .

[0118] Taking line segments AB and CD as examples, according to the calculation formula of the vector product of vectors, we can get:

[0119]

[0120] in, Represent the unit vectors of the x-axis, y-axis, and z-axis respectively. Obviously, The vector product of is a vector that is perpendicular to the plane in which the two are located and follows the right-hand rule. Specifically, put the four fingers of your right hand together, with the thumb perpendicular to the four fingers and the four fingers from Rotate in the direction of The direction of the thumb is The direction of the vector product is Figure 3 Take (a) in the figure as an example, The direction of the vector product is perpendicular to the paper and outward.

[0121] Similarly,

[0122]

[0123] by Figure 3 Take (a) in the figure as an example. Nodes C and D are located on both sides of line segment AB. Need to rotate clockwise, the direction of the vector product of the two is perpendicular to the paper surface and inward, It needs to be rotated counterclockwise, and the direction of the vector product of the two is perpendicular to the paper and outward, that is, The opposite direction. Figure 3 Taking (b) in Figure 1 as an example, nodes C and D are located on the same side of line segment AB. Need to rotate clockwise, by It also needs to rotate clockwise, and the direction of the vector product is perpendicular to the paper surface, that is, Same direction.

[0124] by For example, according to the calculation formula of the vector scalar product, we can get:

[0125]

[0126] Among them, θ is When nodes C and D are located on both sides of line segment AB, The direction is opposite, θ = π, cosθ = -1, The result is negative. When nodes C and D are on the same side of line segment AB, The same direction, θ = 0, cosθ = 1, The result is positive.

[0127] In particular, when node C is on line segment AB, the slopes of AB and AC are the same, and according to the slope calculation formula, we can get:

[0128]

[0129] Based on the above formula, we can get: Right now The result of is 0. Similarly, when node D is on line segment AB, The result is also 0.

[0130] Then calculate The result value can be used to comprehensively determine the positional relationship between nodes A, B and line segment CD, and the positional relationship between nodes C, D and line segment AB, and then determine whether line segments AB and CD intersect. If and only if the two endpoints of the first line segment are located on both sides of the second line segment, and the two endpoints of the second line segment are located on or on both sides of the first line segment, that is, when all the above four calculation results are non-negative and at most one is zero, the two line segments are determined to intersect.

[0131] If line segment AB and line segment CD intersect, solve the coordinates of the intersection point. According to the two-point calculation formula of the straight line equation, we can get:

[0132] (y-y2)(y2-y1)=(x-x2)(x2-x1)

[0133] (y-y4)(y4-y3)=(x-x4)(x4-x3)

[0134] By combining the above two formulas, we can get the coordinates of the intersection point (x, y).

[0135] Taking into account the bidirectional accessibility of the path, the percentage of the distance from the intersection of the two paths to nodes A, B, C, and D in the total length of paths AB, BA, CD, and DC is calculated in turn. This is used to supervise the autonomous mobile device in combination with the percentage of executed progress. Taking the calculation of the percentage of the distance from the intersection (x, y) to node A (x1, y1) in the total length of path AB as an example, the following is obtained:

[0136]

[0137] Obviously, the distance from the intersection point (x, y) to node B accounts for the percentage P of the total length of path BA BA =1-P AB Similarly, we can calculate the percentage P of the distance from the intersection (x, y) to the node C in the total length of the path CD. CD The percentage P of the distance from the intersection point (x, y) to node D in the total length of the path DC DC .

[0138] In this way, the path intersections can be accurately identified, and the percentage of intersections corresponding to the target path can be accurately calculated.

[0139] Step 221: Determine whether the autonomous mobile device reaches the boundary of the traffic control zone based on the intersection percentage and the executed progress percentage.

[0140] Optionally, in an embodiment of the present application, a possible embodiment is provided to determine whether the autonomous mobile device has reached the boundary of the traffic control area based on the intersection percentage and the executed progress percentage. The specific steps are as follows:

[0141] Step 2210: Determine a first control threshold corresponding to the target path based on the intersection percentage and the tolerance percentage.

[0142] In an embodiment of the present application, the difference between the intersection percentage and the tolerance percentage is calculated to obtain the first control threshold corresponding to the target path, the sum of the intersection percentage and the tolerance percentage is calculated to obtain the second control threshold corresponding to the target path, and the range from the first control threshold to the second control threshold corresponding to the target path is used as the traffic control zone for the path intersection.

[0143] For example, assuming that the intersection percentage corresponding to the target path is 40% and the tolerance percentage is 3%, the first control threshold corresponding to the target path is 40%-3%=37%, the second control threshold corresponding to the target path is 40%+3%=43%, and the traffic control area corresponding to the target path is (37%, 43%).

[0144] Step 2211: If the executed progress percentage is equal to the first control threshold, it is determined that the autonomous mobile device has reached the boundary of the traffic control area.

[0145] In the embodiment of the present application, it is determined whether the percentage of executed progress is equal to the first control threshold. If so, it is determined that the autonomous mobile device has reached the boundary of the traffic control area. If the percentage of executed progress is less than the first control threshold, it is determined that the autonomous mobile device has not reached the boundary of the traffic control area.

[0146] For example, assuming that the first control threshold corresponding to the target path is 37% and the percentage of executed progress corresponding to the autonomous mobile device is 37%, it is determined that the autonomous mobile device has reached the boundary of the traffic control area.

[0147] In this way, based on the first control threshold, it is possible to accurately determine whether the autonomous mobile device has reached the boundary of the traffic control area, thereby accurately supervising the autonomous mobile device.

[0148] Optionally, in an embodiment of the present application, a possible embodiment is provided for performing traffic control on an autonomous mobile device when the autonomous mobile device reaches the boundary of the traffic control area, and the specific steps are as follows:

[0149] Step 222: Determine whether another autonomous mobile device on the intersecting path that intersects the target path corresponding to the target task is within the traffic control area. If so, execute step 223; otherwise, execute step 224.

[0150] Step 223: Notify the autonomous mobile device to stop and wait, and notify the autonomous mobile device to continue moving when another autonomous mobile device leaves the traffic control area.

[0151] In an embodiment of the present application, if another autonomous mobile device on an intersecting path that intersects the target path corresponding to the target task is in a traffic control area, the autonomous mobile device is notified to stop and wait, and when the other autonomous mobile device leaves the traffic control area, the autonomous mobile device is notified to continue moving.

[0152] For example, assuming that paths AB intersect DC, the intersection percentage of path AB is 55%, the tolerance percentage is 3%, the first control threshold of path AB is 52%, the traffic control area corresponding to path AB is (52%, 58%), the intersection percentage of path DC is 40%, the tolerance percentage is 3%, the first control threshold of path DC is 37%, the traffic control area corresponding to path AB is (37%, 43%), the autonomous mobile device M moves from node A to node B along path AB, the execution progress percentage of autonomous mobile device M is 54%, and autonomous mobile device M is in the traffic control area. Autonomous mobile device N moves from node D to node C along path DC, and the execution progress percentage of autonomous mobile device N is 37%, the autonomous mobile device N is notified to stop and wait, and when autonomous mobile device M leaves the traffic control area (that is, when the execution progress percentage of autonomous mobile device M is greater than 58%), the autonomous mobile device N is notified to continue moving.

[0153] Step 224: The autonomous mobile device moves normally.

[0154] In the embodiment of the present application, if another autonomous mobile device on the intersecting path that intersects the target path corresponding to the target task is not within the traffic control area, the autonomous mobile device moves normally.

[0155] For example, assuming that the autonomous mobile device M has an execution progress percentage of 20%, the autonomous mobile device M is not in the traffic control area, the autonomous mobile device N moves from the node D to the node C along the path DC, and the execution progress percentage of the autonomous mobile device N is 37%, the autonomous mobile device N moves normally without stopping.

[0156] In this way, the autonomous mobile device is controlled to move normally when the path is unobstructed and to stop and wait when the path is congested, thereby ensuring the orderly passage of multiple autonomous mobile devices in mixed traffic scenarios and avoiding collisions of autonomous mobile devices at intersections.

[0157] Further, in the embodiment of the present application, after receiving the task progress data corresponding to the target task reported by the autonomous mobile device, the real-time position of the autonomous mobile device is displayed, and the specific steps are as follows:

[0158] Step B1: Calculate the position of the autonomous mobile device in the topology map based on the executed progress percentage.

[0159] In an embodiment of the present application, after confirming that the received task progress data is correct, the supervision platform queries the topology map based on the first node identifier and the second node identifier in the task progress data, finds the connecting line between the first node identifier and the second node identifier, obtains the target path corresponding to the target task, and calculates the position of the autonomous mobile device in the topology map based on the percentage of executed progress in the task progress data and the target path.

[0160] For example, assuming that the percentage of executed progress is 40%, the position of the autonomous mobile device in the topology map is the position corresponding to 40% of the target path.

[0161] Step B2: Based on the location and the icon corresponding to the autonomous mobile device, the real-time location of the autonomous mobile device is displayed.

[0162] In the embodiment of the present application, an icon corresponding to the autonomous mobile device is created based on the device identification of the autonomous mobile device, and the real-time location of the autonomous mobile device is dynamically displayed on the supervision platform.

[0163] In this way, the supervision platform can display the location of autonomous mobile devices in real time, achieve visualization, and improve user experience.

[0164] Based on the above embodiments, see Figure 4 FIG. 1 is another flow chart of the traffic supervision method in the embodiment of the present application, which specifically includes:

[0165] Step 40: The supervision platform sends a connection request to the autonomous mobile device.

[0166] Step 41: The autonomous mobile device returns a connection response.

[0167] Step 42: The supervision platform constructs a topology map based on the actual environment map of the working area to which the autonomous mobile device belongs.

[0168] Step 43: Send the topology map to the autonomous mobile device.

[0169] Step 44: Sending task data to the autonomous mobile device.

[0170] The task data includes: a map identifier of a topological map, a device identifier of an autonomous mobile device, a first node identifier of a task start point, and a second node identifier of a task end point.

[0171] Step 45: The autonomous mobile device performs the target task based on the task data.

[0172] The autonomous mobile device determines whether to execute the target task based on the map identifier or the device identifier, and when determining to execute the target task, executes the target task based on the first node identifier, the second node identifier and the topology map.

[0173] Step 46: The autonomous mobile device sends the task progress data to the supervision platform.

[0174] Step 47: The supervision platform traverses each path in the topology map to obtain the path intersection points of the target path corresponding to the target task and the intersecting path, as well as the intersection point percentage corresponding to the target path.

[0175] Step 48: Determine a first control threshold corresponding to the target path based on the intersection percentage and the tolerance percentage.

[0176] Step 49: When the percentage of executed progress is equal to the first control threshold, it is determined that the autonomous mobile device has reached the boundary of the traffic control area.

[0177] Step 410: Determine whether another autonomous mobile device on the intersecting path that intersects the target path corresponding to the target task is within the traffic control area. If so, execute step 411; otherwise, execute step 413.

[0178] Step 411: Notify the autonomous mobile device to stop and wait.

[0179] Step 412: When another autonomous mobile device leaves the traffic control area, notify the autonomous mobile device to continue moving.

[0180] Step 413: Do not notify the autonomous mobile device to stop and wait.

[0181] Based on the same inventive concept, a traffic supervision device is also provided in the embodiment of the present application, see Figure 5 FIG. 1 is a schematic diagram of the structure of a traffic supervision device in an embodiment of the present application, which specifically includes:

[0182] The construction module 501 is used to construct a topological map of the working area of ​​the autonomous mobile device and send the topological map to the autonomous mobile device, wherein the topological map is composed of nodes and connection lines between nodes, and the connection lines represent: the paths that the autonomous mobile device is allowed to travel during the working process;

[0183] A sending module 502 is used to send task data to the autonomous mobile device so that the autonomous mobile device performs the target task based on the task data;

[0184] The supervision module 503 is used to receive the task progress data corresponding to the target task reported by the autonomous mobile device, and determine whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task based on the percentage of executed progress and the topological map contained in the task progress data, and perform traffic control on the autonomous mobile device when the autonomous mobile device reaches the boundary of the traffic control area.

[0185] In a possible embodiment, before constructing a topological map of a working area of ​​an autonomous mobile device and sending the topological map to the autonomous mobile device, the apparatus further includes a communication module 504, and the communication module 504 is used to:

[0186] Send a connection request to the autonomous mobile device, where the connection request carries the IP address of the autonomous mobile device;

[0187] A connection response returned by the autonomous mobile device is received, and a two-way communication connection is established with the autonomous mobile device.

[0188] In a possible embodiment, when constructing a topological map of a working area to which an autonomous mobile device belongs, the construction module 501 is further used to:

[0189] A topological map is constructed according to an actual environment map of a working area to which the autonomous mobile device belongs, wherein each node in the topological map represents an important location point in the working area.

[0190] In a possible embodiment, the task data includes: a map identifier of a topological map, a device identifier of an autonomous mobile device, a first node identifier of a task start point, and a second node identifier of a task end point;

[0191] The task data is used to enable the autonomous mobile device to determine whether to execute the target task based on the map identifier or the device identifier, and when determining to execute the target task, execute the target task based on the first node identifier, the second node identifier and the topology map.

[0192] In a possible embodiment, the task progress data includes: task execution status and execution progress percentage;

[0193] Task execution status representation: whether the target task is executed normally;

[0194] The percentage of executed progress is: the percentage of the distance that the autonomous mobile device has traveled on the target path corresponding to the target task to the total length of the target path.

[0195] In a possible embodiment, when determining whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task based on the executed progress percentage and the topological map included in the task progress data, the supervision module 503 is further used to:

[0196] Traverse each path in the topological map to obtain the path intersection points of the target path corresponding to the target task and the intersecting paths, as well as the intersection point percentage corresponding to the target path. The intersection point percentage represents: the percentage of the distance from the path intersection point to the starting point of the target path to the total length of the target path;

[0197] Based on the intersection percentage and the executed progress percentage, it is determined whether the autonomous mobile device reaches the boundary of the traffic control zone.

[0198] In a possible embodiment, when determining whether the autonomous mobile device has reached the boundary of the traffic control zone based on the intersection percentage and the executed progress percentage, the supervision module 503 is further configured to:

[0199] Determine a first control threshold corresponding to the target path based on the intersection percentage and the tolerance percentage;

[0200] If the percentage of executed progress is equal to the first control threshold, it is determined that the autonomous mobile device has reached the boundary of the traffic control area.

[0201] In a possible embodiment, when the autonomous mobile device reaches the boundary of the traffic control zone and traffic control is performed on the autonomous mobile device, the supervision module 503 is further used to:

[0202] If another autonomous mobile device on the intersecting path that intersects the target path corresponding to the target task is in the traffic control area, the autonomous mobile device is notified to stop and wait, and when the other autonomous mobile device leaves the traffic control area, the autonomous mobile device is notified to continue moving.

[0203] In a possible embodiment, the device further includes a display module 505, and the display module 505 is used to:

[0204] Calculate the position of the autonomous mobile device in the topology map based on the percentage of executed progress;

[0205] Based on the location and the icon corresponding to the autonomous mobile device, the real-time location of the autonomous mobile device is displayed.

[0206] Based on the above embodiments, see Figure 6 Shown is a schematic diagram of the structure of an electronic device in an embodiment of the present application.

[0207] An embodiment of the present application provides an electronic device, which may include a processor 610 (Center Processing Unit, CPU), a memory 620, an input device 630 and an output device 640, etc. The input device 630 may include a keyboard, a mouse, a touch screen, etc., and the output device 640 may include a display device, such as a liquid crystal display (Liquid Crystal Display, LCD), a cathode ray tube (Cathode Ray Tube, CRT), etc.

[0208] The memory 620 may include a read-only memory (ROM) and a random access memory (RAM), and provides the processor 610 with program instructions and data stored in the memory 620. In the embodiment of the present application, the memory 620 may be used to store the program of any traffic control method in the embodiment of the present application.

[0209] The processor 610 calls the program instructions stored in the memory 620, and the processor 610 is used to execute any traffic supervision method in the embodiments of the present application according to the obtained program instructions.

[0210] Based on the above embodiments, in an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the traffic supervision method in any of the above method embodiments is implemented.

[0211] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0212] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0213] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0214] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0215] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A traffic supervision method, characterized in that: include: Constructing a topological map of the working area of ​​the autonomous mobile device, and sending the topological map to the autonomous mobile device, wherein the topological map is composed of nodes and connecting lines between the nodes, and the connecting lines represent: a path that the autonomous mobile device is allowed to travel during the working process; Sending task data to the autonomous mobile device so that the autonomous mobile device performs a target task based on the task data; Receive task progress data corresponding to the target task reported by the autonomous mobile device, and determine whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task based on the percentage of executed progress contained in the task progress data and the topological map, and perform traffic control on the autonomous mobile device when the autonomous mobile device reaches the boundary of the traffic control area.

2. The method according to claim 1, characterized in that Before constructing a topological map of the working area of ​​the autonomous mobile device and sending the topological map to the autonomous mobile device, the method includes: Sending a connection request to the autonomous mobile device, wherein the connection request carries the IP address of the autonomous mobile device; A connection response returned by the autonomous mobile device is received, and a two-way communication connection is established with the autonomous mobile device.

3. The method according to claim 1, characterized in that The constructing of a topological map of a working area of ​​the autonomous mobile device includes: The topological map is constructed according to the actual environment map of the working area to which the autonomous mobile device belongs, wherein each node in the topological map represents an important location point in the working area.

4. The method according to claim 1, characterized in that The task data includes: a map identifier of the topological map, a device identifier of the autonomous mobile device, a first node identifier of the task starting point, and a second node identifier of the task end point; The task data is used to enable the autonomous mobile device to determine whether to execute the target task based on the map identifier or the device identifier, and when determining to execute the target task, execute the target task based on the first node identifier, the second node identifier and the topology map.

5. The method according to claim 1, characterized in that The task progress data includes: task execution status and the percentage of the executed progress; The task execution status represents: whether the target task is executed normally; The executed progress percentage is: the percentage of the distance traveled by the autonomous mobile device on the target path corresponding to the target task to the total length of the target path.

6. The method according to claim 1, characterized in that The determining, based on the executed progress percentage included in the task progress data and the topological map, whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task includes: Traversing each path in the topological map, obtaining the path intersection points of the target path corresponding to the target task and the intersecting paths, and the intersection point percentage corresponding to the target path, wherein the intersection point percentage represents: the percentage of the distance from the path intersection point to the starting point of the target path to the total length of the target path; Based on the intersection percentage and the executed progress percentage, it is determined whether the autonomous mobile device has reached a boundary of the traffic control area.

7. The method according to claim 6, characterized in that The determining, based on the intersection percentage and the executed progress percentage, whether the autonomous mobile device has reached the boundary of the traffic control area comprises: Determining a first control threshold corresponding to the target path based on the intersection percentage and the tolerance percentage; If the executed progress percentage is equal to the first control threshold, it is determined that the autonomous mobile device has reached the boundary of the traffic control area.

8. The method according to claim 1, characterized in that When the autonomous mobile device reaches the boundary of the traffic control area, performing traffic control on the autonomous mobile device includes: If another autonomous mobile device on an intersecting path that intersects the target path corresponding to the target task is within the traffic control area, the autonomous mobile device is notified to stop and wait, and when the other autonomous mobile device leaves the traffic control area, the autonomous mobile device is notified to continue moving.

9. The method according to claim 1, characterized in that The method further comprises: Calculating the position of the autonomous mobile device in the topology map based on the executed progress percentage; Based on the location and an icon corresponding to the autonomous mobile device, the real-time location of the autonomous mobile device is displayed.

10. A traffic monitoring device, characterized in that: include: A construction module is used to construct a topological map of the working area of ​​the autonomous mobile device, and send the topological map to the autonomous mobile device, wherein the topological map is composed of nodes and connecting lines between the nodes, and the connecting lines represent: the paths that the autonomous mobile device is allowed to travel during the working process; A sending module, used for sending task data to the autonomous mobile device, so that the autonomous mobile device performs the target task based on the task data; The supervision module is used to receive the task progress data corresponding to the target task reported by the autonomous mobile device, and determine whether the autonomous mobile device has reached the boundary of the traffic control area corresponding to the target task based on the percentage of executed progress contained in the task progress data and the topological map, and perform traffic control on the autonomous mobile device when the autonomous mobile device reaches the boundary of the traffic control area.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

Images