Congested area determination method and device, equipment and storage medium

Abstract

The invention provides a congestion area determination method and device, equipment and a storage medium, relates to the technical field of robots, and is used for improving the recognition accuracy of a congestion area, and the method comprises the steps: obtaining the movement information of each robot in a target area; the moving information comprises a moving speed, a driving path and position information; based on the movement information of each robot, determining a congestion area in the target area; wherein the congestion area comprises N congestion robots, the moving speed of which is smaller than a preset speed, and N is a positive integer; the distance between every two adjacent congestion robots in the N congestion robots is smaller than or equal to a preset distance, and / or, one of every two adjacent congestion robots blocks the driving path of the other congestion robot.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a method, device, equipment and storage medium for determining a congested area. Background Art

[0002] In a warehousing environment, multiple robots often gather together to form congested areas. The existence of congested areas will cause low robot handling efficiency, thus affecting the overall work efficiency of the warehousing system. Therefore, it is of great significance to accurately identify congested areas in the warehousing environment and reasonably plan the robot's driving path. In related technologies, the judgment factors considered when determining congested areas are relatively one-sided, making it difficult to identify accurate congested areas, and often the identified congested areas are not actually congested. Summary of the invention

[0003] Based on the above technical problems, the present application provides a congestion area determination method, device, equipment and storage medium to improve the recognition accuracy of congestion areas.

[0004] In a first aspect, the present application provides a method for determining a congested area, the method comprising: obtaining movement information of each robot in a target area; the movement information comprises a movement speed, a driving path and a position information; based on the movement information of each robot, determining a congested area in the target area; wherein the congested area comprises N congested robots whose movement speed is less than a preset speed, N being a positive integer; and, the distance between each two adjacent congested robots among the N congested robots is less than or equal to a preset distance, and / or, one of each two adjacent congested robots blocks the driving path of the other.

[0005] In a possible implementation, based on the movement information of each robot, determining the congested area in the target area includes: determining the target robot; the target robot includes a robot in a non-moving state in the target area; determining at least one congested robot that meets preset conditions; the preset conditions include a moving speed less than a preset speed, a driving path blocked by the target robot, and a distance from the target robot less than a preset distance; determining the congested area based on the position information of at least one congested robot.

[0006] In a possible implementation, the target robot also includes a robot that satisfies one or more of the following conditions: the driving path is blocked by a robot in a non-moving state, the moving speed is less than a preset speed, and the distance from the robot in a non-moving state is less than a preset distance.

[0007] In a possible implementation, determining a congested area based on the position information of at least one congested robot includes: when the number of at least one congested robot is greater than a preset number, determining the congested area based on the position information of at least one congested robot.

[0008] In a possible implementation, determining a congestion area based on the position information of at least one congestion robot includes: determining a road section where at least one congestion robot is located in a target area according to the position information of each congestion robot, and using the road section as the congestion area.

[0009] In a possible implementation, determining a congestion area based on the position information of at least one congestion robot includes: determining, according to the position information of each congestion robot, a bounding figure including the position of at least one congestion robot as the congestion area.

[0010] In a possible implementation, the method further includes: resetting each congested robot to a target robot.

[0011] In a possible implementation, the method further includes: obtaining the number of congested areas in the target area to obtain a first statistical number of congested areas; updating the first statistical number based on statistical conditions to obtain a second statistical number of congested areas; the statistical conditions include treating the two congested areas as one congested area when there is an overlapping area between any two congested areas.

[0012] In a possible implementation, the method further includes: before the non-congested robot in the target area enters the congested area, replanning a driving path for the non-congested robot.

[0013] In a possible implementation, the method further includes: when there is an overlapping portion between the replanned driving route and the congested area, controlling the non-congested robot to stop and wait, and / or controlling the non-congested robot to enter an avoidable state; the avoidable state is used to instruct the non-congested robot to enter an avoidance point closest to the current position.

[0014] The congested area determination method provided by the present application obtains the movement information of each robot in the target area, and grasps the movement speed, driving path and position information of each robot from a global perspective. Furthermore, based on the movement information of each robot, the congested area in the target area is determined. Compared with the related art that only relies on the movement speed of a single robot to determine the congested area, the present application takes into account the driving correlation relationship between each robot on the basis of the movement speed of the robot, such as the distance between the front and rear robots and the blocking relationship. In this way, in the congested area determined by the present application, not only the driving speed of the robots is slow, but also the interval distance is close and the blocking relationship is clear, which can reasonably reflect the real congested scene, avoid the situation where two robots are far apart or have no blocking relationship and are still determined to be congested, and improve the accuracy of congested area identification.

[0015] In a second aspect, the present application provides a device for determining a congested area, the device comprising an acquisition unit and a determination unit; the acquisition unit is used to acquire movement information of each robot in a target area; the movement information comprises a movement speed, a driving path and position information; the determination unit is used to determine a congested area in the target area based on the movement information of each robot; wherein the congested area comprises N congested robots whose movement speed is less than a preset speed, N being a positive integer; and, the distance between each two adjacent congested robots among the N congested robots is less than or equal to the preset distance, and / or, one of each two adjacent congested robots blocks the driving path of the other.

[0016] In one possible implementation, the determination unit is specifically used to: determine a target robot; the target robot includes a robot in a non-moving state in a target area; determine at least one congested robot that meets preset conditions; the preset conditions include a moving speed less than a preset speed, a driving path blocked by the target robot, and a distance from the target robot less than a preset distance; determine a congested area based on the position information of at least one congested robot.

[0017] In a possible implementation, the target robot also includes a robot that satisfies one or more of the following conditions: the driving path is blocked by a robot in a non-moving state, the moving speed is less than a preset speed, and the distance from the robot in a non-moving state is less than a preset distance.

[0018] In a possible implementation manner, the determining unit is specifically configured to: determine a congested area based on position information of the congested robot when the number of at least one congested robot is greater than a preset number.

[0019] In a possible implementation, the determination unit is specifically configured to: determine a road section where at least one congestion robot is located in a target area according to the position information of each congestion robot, and use the road section as a congestion area.

[0020] In a possible implementation, the determination unit is specifically configured to: determine, according to the position information of each congestion robot, a bounding figure including the position of at least one congestion robot as a congestion area.

[0021] In a possible implementation manner, the determination unit is further configured to: reset each of the congested robots to the target robot.

[0022] In a possible implementation, the acquisition unit is further used to: obtain the number of congested areas in the target area to obtain a first statistical number of congested areas; based on statistical conditions, update the first statistical number to obtain a second statistical number of congested areas; the statistical conditions include treating the two congested areas as one congested area when there is an overlapping area between any two congested areas.

[0023] In a possible implementation, the determination unit is further configured to: re-plan a driving path for the non-congested robot in the target area before the non-congested robot enters the congested area.

[0024] In one possible implementation, the determination unit is further used to: when there is an overlapping portion between the replanned driving route and the congested area, control the non-congested robot to stop and wait, and / or control the non-congested robot to enter an avoidable state; the avoidable state is used to instruct the non-congested robot to drive to the avoidance point closest to the current position.

[0025] In a third aspect, the present application provides an electronic device, comprising: a processor and a memory; the memory stores instructions executable by the processor; when the processor is configured to execute the instructions, the electronic device implements the method of the first aspect above.

[0026] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium comprises: software instructions; when the software instructions are executed in an electronic device, the electronic device implements the method of the first aspect.

[0027] In a fifth aspect, the present application provides a computer program product. When the computer program product is executed in an electronic device, the electronic device executes the method related to the first aspect to implement the method of the first aspect.

[0028] The beneficial effects of the second to fifth aspects mentioned above can be referred to the first aspect and will not be elaborated on again. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 A schematic diagram of the structure of a congested area determination system provided in an embodiment of the present application;

[0031] Figure 2 A schematic diagram of the composition of an electronic device provided in an embodiment of the present application;

[0032] Figure 3 A schematic diagram of a flow chart of a method for determining a congested area provided in an embodiment of the present application;

[0033] Figure 4 A schematic diagram of determining a congested area provided in an embodiment of the present application;

[0034] Figure 5 Another schematic diagram for determining a congested area provided in an embodiment of the present application;

[0035] Figure 6 A schematic diagram of the path planning provided in the embodiment of the present application;

[0036] Figure 7 A schematic diagram of the composition of a congested path determination device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0038] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0039] In addition, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B. "And / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0040] Before explaining the embodiments of the present application in detail, some relevant terms and related technologies involved in the embodiments of the present application are first introduced.

[0041] A robot is a machine device that can perform work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated using artificial intelligence technology.

[0042] Mobile robots refer to robots that can autonomously navigate, locate and move through positioning technology. Mobile robots can be divided into wheeled robots, multi-legged robots and self-driving cars that operate indoors or in special places, etc. Mobile robots can be divided into sweeping robots, welcoming robots, food delivery robots, automated guided vehicles (AGVs) and educational robots with autonomous navigation functions, etc., according to their uses.

[0043] With the increasing automation in manufacturing and logistics industries, AGVs have been widely used. The AGVs are equipped with automatic guidance devices (e.g., electromagnetic guidance devices or optical guidance devices) and can automatically travel along a guidance path while carrying objects. The guidance path is usually planned for the AGV before it departs from an initial position.

[0044] In the actual application of AGV, it is usually applied in the form of a system. For example, in an AGV system in a logistics warehouse, it includes: a ground control device and multiple AGVs. The ground control device manages the multiple AGVs, for example, respectively plans corresponding guide paths for the multiple AGVs, and each AGV travels along the corresponding guide path.

[0045] Specifically, the ground control device pre-stores an electronic map of the target environment, and the electronic map is pre-set with multiple path points, each of which has a corresponding position in the target environment. When planning the driving path of the AGV, the ground control device sequentially selects multiple path points from the pre-set path points between the initial position of the AGV and the target position by using a path planning algorithm, and then the driving path of the AGV is composed of the initial position of the AGV, the selected multiple path points and the target position.

[0046] However, multiple AGVs often gather together in a warehouse environment, forming a congestion area. For example, if an AGV stops due to a fault, it will hinder the normal passage of the following AGVs, forming a congestion area. The existence of a congestion area will cause low AGV handling efficiency, thereby affecting the overall work efficiency of the warehouse system. Therefore, it is of great significance to accurately identify the congestion area in the warehouse environment and reasonably plan the AGV's driving path.

[0047] In some related technologies, the speed of the robot can be used to determine whether congestion occurs, and a rough congestion area can be estimated based on the position of the slow-moving robot. However, it is difficult to identify the exact congestion area, and the identified congestion area often does not actually cause congestion. For example, if an AGV needs to stop for unloading, the related technology may determine that the section of the road where the AGV is located is congested, and then determine that the section is congested. However, in fact, there is no congestion on this section of the road.

[0048] In view of the above problems, the embodiments of the present application provide a method, device, equipment and storage medium for determining a congested area. Compared with the related art that only relies on the moving speed of a single robot to determine the congested area, the present application takes into account the driving relationship between the robots, such as the distance between the front and rear robots and the blocking relationship, etc. on the basis of the moving speed of the robot. In this way, in the congested area determined by the present application, not only the driving speed of the robots is slow, but also the interval distance is close and the blocking relationship is clear, which can reasonably reflect the real congested scene, avoid the situation where two robots are far apart or have no blocking relationship and are still determined to be congested, and improve the accuracy of congested area identification.

[0049] The congestion area determination method provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0050] The congested area determination method provided in the embodiment of the present application can be applied to the congested area determination system. Figure 1 FIG. 2 shows a schematic diagram of the structure of the congestion area determination system. Figure 1 As shown, the congested area determination system 10 includes a congested area determination device 11 and a plurality of robots 12. The congested area determination device 11 and the robots 12 may be connected via a wired network or a wireless network.

[0051] The robot 12 may include a sweeping robot, a welcoming robot, a food delivery robot, an AGV, and an educational robot with autonomous navigation capabilities, etc.

[0052] Accordingly, multiple robots 12 can be deployed in a target area to perform preset tasks, such as deploying multiple AGVs in a logistics warehouse, which are responsible for transporting goods.

[0053] As described above, the congested area determining device 11 and the robot 12 may be connected via a wired network or a wireless network. The wired network or the wireless network may include a network capable of transmitting relevant data of the robot 12 to the congested area determining device 11 .

[0054] In some embodiments, the wired or wireless network may include one or more communication media that enable the robot 12 to send real-time driving data directly to the congested area determination device 11. In this embodiment, the robot 12 can modulate the driving data according to a communication standard (e.g., a wireless communication protocol) and send the modulated driving data to the congested area determination device 11. The one or more communication media may include wireless, and / or, wired communication media, such as a radio frequency (RF) spectrum or one or more physical transmission lines. Optionally, the one or more communication media may form part of a packet-based network, which may be, for example, a local area network, a wide area network, or a global network (e.g., the Internet). Optionally, the one or more communication media may also include routers, switches, base stations, or other devices that facilitate communication from the robot 12 to the congested area determination device 11.

[0055] The congested area determination device 11 can be used to determine the congested area in the target area according to the collected movement information of each robot 12. The specific determination process can refer to the congested area determination method introduced in the following method embodiment, which will not be repeated here.

[0056] In some embodiments, the congestion area determination device 11 may also manage multiple robots 12, for example, planning corresponding guide paths for the multiple robots 12, and each robot 12 travels along the corresponding guide path. Alternatively, the congestion area determination device 11 may also control the travel state of each robot 12, for example, controlling a certain robot 12 to stop moving.

[0057] The congested area determining device 11 may be an electronic device with a computing function, such as a computer or a server.

[0058] Among them, the server can be a single server, or it can be a server cluster consisting of multiple servers. In some implementations, the server cluster can also be a distributed cluster. Optionally, the server can also be implemented on a cloud platform, for example, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, and a multi-cloud, etc., or any combination thereof. The embodiments of the present application are not limited to this.

[0059] The execution subject of the congested area determination method provided in the embodiment of the present application may be the above-mentioned congested area determination device 11. As described above, the congested area determination device 11 may be an electronic device with computing and processing functions such as a computer or a server. Optionally, the congested area determination device 11 may also be a processor (such as a central processing unit (CPU)) in the aforementioned electronic device; or, the congested area determination device 11 may also be an application (APP) with a fault analysis function installed in the aforementioned electronic device; or, the congested area determination device 11 may also be a functional module with a fault analysis function in the aforementioned electronic device, etc. The embodiment of the present application does not limit this.

[0060] The method can be executed by electronic devices with computing capabilities such as storage devices, computers, and servers, and especially when integrated in storage devices, it can greatly improve the performance of storage devices and enhance the user experience of storage devices. For simplicity of description, the following uniformly takes the congestion area determination device 11 as an electronic device as an example for introduction.

[0061] Figure 2 The following is a schematic diagram of the composition of the electronic device provided in the embodiment of the present application. Figure 2 As shown, the electronic device may include: a processor 20 , a memory 21 , a communication line 22 , a communication interface 23 , and an input / output interface 24 .

[0062] The processor 20 , the memory 21 , the communication interface 23 and the input / output interface 24 may be connected via a communication line 22 .

[0063] The processor 20 is used to execute the instructions stored in the memory 21 to implement the congestion area determination method provided in the following embodiments of the present application. The processor 20 can be a CPU, a general-purpose processor network processor (network processor, NP), a digital signal processor (digital signal processing ing, DSP), a microprocessor, a microcontroller (microcontrol unit, MCU) / single-chip microcomputer / single-chip microcomputer, a programmable logic device (programmable logic device, PLD) or any combination thereof. The processor 20 can also be any other device with processing functions, such as a circuit, a device or a software module, which is not limited in the embodiments of the present application. In one example, the processor 20 may include one or more CPUs, such as Figure 2 As an optional implementation, the electronic device may include multiple processors, for example, in addition to the processor 20, it may also include a processor 25 ( Figure 2 The dashed line is used as an example.

[0064] The memory 21 is used to store instructions. For example, the instructions may be computer programs. Optionally, the memory 21 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage devices, etc., and the embodiments of the present application are not limited to this.

[0065] It should be noted that the memory 21 may exist independently of the processor 20, or may be integrated with the processor 20. The memory 21 may be located inside the electronic device, or may be located outside the electronic device, which is not limited in the embodiment of the present application.

[0066] The communication line 22 is used to transmit information between the components included in the electronic device.

[0067] The communication interface 23 is used to communicate with other devices (such as the above-mentioned storage device 12) or other communication networks. The other communication networks may be Ethernet, radio access networks (RAN), wireless local area networks (WLAN), etc. The communication interface 23 may be a module, a circuit, a transceiver or any device capable of achieving communication.

[0068] The input / output interface 24 is used to implement human-computer interaction between a user and an electronic device, for example, to implement action interaction or information interaction between a user and an electronic device.

[0069] Exemplarily, the input / output interface 24 may be a mouse, a keyboard, a display screen, or a touch display screen, etc. Action interaction or information interaction between a user and the electronic device may be achieved through a mouse, a keyboard, a display screen, or a touch display screen, etc.

[0070] It should be noted that Figure 2 The structure shown in the figure does not constitute a limitation on the electronic device, except Figure 2In addition to the components shown, the electronic device may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0071] The following introduces the congestion area determination method provided in the embodiment of the present application.

[0072] Figure 3 The flowchart of the method for determining a congested area provided in the embodiment of the present application is shown in FIG. Figure 2 The electronic device of the hardware structure shown is executed, such as Figure 3 As shown, the method includes S301 to S302.

[0073] S301, obtaining movement information of each robot in the target area.

[0074] The movement information includes movement speed, driving path and location information.

[0075] In some embodiments, multiple robots can be deployed in a target area to perform preset tasks, such as deploying multiple AGVs in a logistics warehouse, which are responsible for transporting goods. Each robot can report its own movement information to the electronic device through a wireless network. Correspondingly, the electronic device receives the movement information reported by each robot in the target area.

[0076] In some other embodiments, the target area can be defined according to user needs. For example, based on user needs, the electronic device can set a part of the area in the logistics warehouse as the target area. Or, the electronic device can set a certain automated workshop in the factory as the target area.

[0077] S302: Determine a congested area in the target area based on the movement information of each robot.

[0078] The congested area includes N congested robots whose moving speed is less than a preset speed, where N is a positive integer; and the distance between every two adjacent congested robots among the N congested robots is less than or equal to the preset distance, and / or one of every two adjacent congested robots blocks the driving path of the other.

[0079] In a possible implementation, the above S302 can be implemented as follows: S3021, determine the target robot, wherein the target robot includes a robot in a non-moving state in the target area. Further, S3022, determine at least one congestion robot that meets the preset conditions, wherein the preset conditions include a moving speed less than a preset speed, a driving path blocked by the target robot, and a distance from the target robot less than a preset distance. S3023, determine the congestion area based on the location information of at least one congestion robot.

[0080] In some embodiments, in order to determine the congested robots in the target area, the electronic device may detect each robot in the target area based on the moving speed, and determine the robot in the target area that is in a non-moving state as the first robot. Further, the electronic device detects each robot in the target area based on the driving path and position information, determines at least one congested robot blocked by the first robot, and obtains the congested robot set corresponding to the first robot. The electronic device may determine the congested robots in the target area based on the congested robot set corresponding to each target robot in the target area.

[0081] Specifically, the electronic device can determine the second robot from the congested robot set, wherein the moving speed of the second robot is less than or equal to a preset speed, and the distance between the second robot and the first robot is less than or equal to a preset distance. Further, the electronic device determines the congested robot in the target area based on the first robot and the second robot.

[0082] For example, the first robot and the second robot may be determined as congestion robots in the target area.

[0083] In some other embodiments, the target robot also includes a robot that satisfies one or more of the following conditions: the driving path is blocked by a robot in a non-moving state, the moving speed is less than a preset speed, and the distance to the robot in a non-moving state is less than a preset distance.

[0084] In some other embodiments, after the above step S3022, the method further includes: resetting each congestion robot to a target robot, that is, repeatedly executing the above steps S3021-S3022 until all congestion robots meeting the conditions in the target area are determined.

[0085] Exemplarily, when the electronic device detects that the first robot cannot move, it detects which robots' subsequent paths are blocked by the first robot, and records these blocked second robots as set Set 1. Further, the electronic device checks whether the distance between the second robot and the first robot in Set 1 is less than a certain threshold, and whether the speed is lower than a certain threshold. If these conditions are met, the second robot is reset to the first robot, and the above detection steps are repeated until all robots that meet the preset conditions are determined.

[0086] In some embodiments, after the congestion robots are determined, in order to determine the congestion area, the electronic device may determine the road section where at least one congestion robot is located in the target area according to the location information of each congestion robot, and use the road section as the congestion area.

[0087] In some other embodiments, the electronic device may determine, based on the location information of each congestion robot, that a bounding figure (such as a bounding rectangle) including at least one congestion robot is a congestion area.

[0088] In some embodiments, after determining at least one congested robot corresponding to the target robot, the electronic device may count the number of at least one congested robot. When the number of at least one congested robot is greater than a preset number, it is determined that congestion occurs, and a congested area is determined based on the location information of the congested robot. When the number of at least one congested robot is less than or equal to the preset number, it is determined that no congestion occurs.

[0089] It can be understood that, through the above method, the embodiment of the present application will only determine that congestion is sent when the number of congested robots reaches a certain level. If the number of congested robots is small, congestion will not be considered to have occurred, thereby raising the threshold for confirming the congested area and avoiding the situation where the congested area is easily determined but congestion does not actually occur in the area.

[0090] In some other embodiments, in order to facilitate the counting of congested areas, after determining the congested areas in the target area, the electronic device can obtain the number of congested areas in the target area to obtain a first statistical number of congested areas. Further, the electronic device updates the first statistical number based on a statistical condition to obtain a second statistical number of congested areas; the statistical condition includes treating the two congested areas as one congested area when there is an overlapping area between any two congested areas.

[0091] like Figure 4 As shown, assuming that the number threshold of congestion robots is 2, if Figure 4 There are three robots walking from left to right in the upper left corner, and the robot on the right head is in a non-moving state. The electronic device can identify the area formed by these three robots as a congested area, which is marked with a dotted box. Figure 4 There are two L-shaped congested areas in the lower left corner. Since these two areas overlap, the electronic device can count these two congested areas as one when counting the number of congested areas. Figure 4 Although the two robots on the right side of the middle have path interference, they are far apart and therefore do not generate a congestion area.

[0092] like Figure 5 As shown, if the number of a group of congested robots meets the requirements, when the congested area is determined by the circumscribed rectangle, the circumscribed rectangle needs to cover all the congested robots in the group. In addition, if the shelf box on the robot is larger than the robot, the shelf or box needs to be covered. The electronic device can use the minimum circumscribed rectangle side length plus the maximum length of half a robot to determine the congested area. For example, Figure 5The merged congested area in the lower left corner can be represented by a larger dotted rectangle.

[0093] The congested area determination method provided by the present application obtains the movement information of each robot in the target area, and grasps the movement speed, driving path and position information of each robot from a global perspective. Furthermore, based on the movement information of each robot, the congested area in the target area is determined. Compared with the related art that only relies on the movement speed of a single robot to determine the congested area, the present application takes into account the driving correlation relationship between each robot on the basis of the movement speed of the robot, such as the distance between the front and rear robots and the blocking relationship. In this way, in the congested area determined by the present application, not only the driving speed of the robots is slow, but also the interval distance is close and the blocking relationship is clear, which can reasonably reflect the real congested scene, avoid the situation where two robots are far apart or have no blocking relationship and are still determined to be congested, and improve the accuracy of congested area identification.

[0094] In some embodiments, after determining the congested area of ​​the target area, the electronic device can notify other robots in the target area so that other robots that want to pass through the area can bypass the congested area in time or cannot enter the congested area to avoid the expansion of the congested area.

[0095] Exemplarily, before a non-congested robot in a target area drives into a congested area, the electronic device may re-plan a driving path for the non-congested robot.

[0096] In some embodiments, when there is an overlap between the replanned driving route and the congested area, the electronic device can control the non-congested robot to stop and wait, and / or control the non-congested robot to enter an avoidable state; the avoidable state is used to instruct the non-congested robot to enter the avoidance point closest to the current position.

[0097] Exemplarily, after the electronic device determines the congested area, if the subsequent path of the robot outside the congested area needs to pass through the congested area, the corresponding planning strategy may at least include:

[0098] Strategy 1: Electronic devices can re-plan routes for non-congested robots. Figure 6 As shown, the original path Path_a of the robot on the far left passes through the congested area in the black dashed box, and the new path Path_b planned after replanning can avoid passing through the congested area.

[0099] In some embodiments, if the replanned new path still passes through a congested area, any of the following strategies may be implemented:

[0100] Strategy 2-1: The electronic device controls the non-congested robot that is about to enter the congested area to park.

[0101] Strategy 2-2: The electronic device controls the non-congested machine that is about to enter the congested area to enter the avoidance state, so as to instruct the non-congested machine to select an avoidable position where no vehicles are passing or a temporary residence point where no vehicles are temporarily staying.

[0102] In other embodiments, after the congested area is eliminated, the electronic device can control the parking robot to re-trigger movement.

[0103] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. It should be easy to realize that the technical goals in this field are combined with the units and algorithm steps of each example described in the embodiments disclosed in this article, and the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical goals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0104] In an exemplary embodiment, the present application also provides a device for determining a congested area. Figure 7 A schematic diagram of the composition of the congestion area determination device provided in an embodiment of the present application. Figure 7 As shown, the congested area determination device includes: an acquisition unit 401 and a determination unit 402.

[0105] The acquisition unit 401 is used to acquire the movement information of each robot in the target area; the movement information includes the movement speed, the driving path and the position information; the determination unit 402 is used to determine the congested area in the target area based on the movement information of each robot; wherein the congested area includes N congested robots whose movement speed is less than the preset speed, N is a positive integer; and the distance between every two adjacent congested robots among the N congested robots is less than or equal to the preset distance, and / or, one of every two adjacent congested robots blocks the driving path of the other.

[0106] In one possible implementation, the determination unit 402 is specifically used to: determine a target robot; the target robot includes a robot in a non-moving state in a target area; determine at least one congested robot that meets preset conditions; the preset conditions include a moving speed less than a preset speed, a driving path blocked by the target robot, and a distance from the target robot less than a preset distance; determine a congested area based on the position information of at least one congested robot.

[0107] In a possible implementation, the target robot also includes a robot that satisfies one or more of the following conditions: the driving path is blocked by a robot in a non-moving state, the moving speed is less than a preset speed, and the distance from the robot in a non-moving state is less than a preset distance.

[0108] In a possible implementation, the determining unit 402 is specifically configured to: determine a congested area based on position information of at least one congested robot when the number of at least one congested robot is greater than a preset number.

[0109] In a possible implementation, the determining unit 402 is specifically configured to: determine a road section where at least one congestion robot is located in the target area according to the position information of each congestion robot, and use the road section as the congestion area.

[0110] In a possible implementation, the determining unit 402 is specifically configured to: determine, according to the position information of each congestion robot, a circumscribed rectangle including the position of at least one congestion robot as the congestion area.

[0111] In a possible implementation, the determination unit 402 is further configured to: reset each congested robot to a target robot.

[0112] In a possible implementation, the acquisition unit 401 is further used to: obtain the number of congested areas in the target area to obtain a first statistical number of congested areas; based on statistical conditions, update the first statistical number to obtain a second statistical number of congested areas; the statistical conditions include treating the two congested areas as one congested area when there is an overlapping area between any two congested areas.

[0113] In a possible implementation, the determination unit 402 is further configured to: re-plan a driving path for the non-congested robot in the target area before the non-congested robot enters the congested area.

[0114] In one possible implementation, the determination unit 402 is further used to: when there is an overlapping portion between the re-planned driving path and the congested area, control the non-congested robot to stop and wait, and / or control the non-congested robot to enter an avoidable state; the avoidable state is used to instruct the non-congested robot to enter an avoidance point closest to the current position.

[0115] It should be noted that Figure 7 The division of modules in the example is schematic and is only a logical function division. There may be other division methods in actual implementation. For example, two or more functions may be integrated into one processing module. The above integrated modules may be implemented in the form of hardware or in the form of software functional units.

[0116] In an exemplary embodiment, the embodiment of the present application further provides a readable storage medium, including software instructions, which, when executed on an electronic device, enables the electronic device to execute any one of the methods provided in the above embodiments.

[0117] In an exemplary embodiment, the embodiment of the present application further provides a computer program product including computer-executable instructions, which, when executed on an electronic device, enables the electronic device to execute any one of the methods provided in the above embodiments.

[0118] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer-executable instructions. When the computer-executable instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer-executable instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer-executable instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with the medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a solid state disk (SSD), etc.

[0119] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the present application for which protection is sought, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the term "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple components. A single processor or other unit may implement several functions listed in a claim. Certain measures are recorded in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0120] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations 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.

[0121] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining a congested area, characterized in that: The method comprises: Acquire movement information of each robot in the target area; the movement information includes movement speed, driving path and position information; Based on the movement information of each robot, a congested area in the target area is determined; wherein the congested area includes N congested robots whose moving speed is less than a preset speed, and N is a positive integer; and, the distance between every two adjacent congested robots among the N congested robots is less than or equal to the preset distance, and / or, one of every two adjacent congested robots blocks the driving path of the other.

2. The method according to claim 1, characterized in that The determining of the congested area in the target area based on the movement information of each robot includes: Determining a target robot; the target robot includes a robot in a non-moving state in the target area; Determine at least one congestion robot that meets preset conditions; the preset conditions include a moving speed that is less than the preset speed, a driving path that is blocked by the target robot, and a distance between the robot and the target robot that is less than the preset distance; The congestion area is determined based on the position information of the at least one congestion robot.

3. The method according to claim 2, characterized in that The target robot also includes a robot that satisfies one or more of the following conditions: a driving path is blocked by the robot in the non-moving state, a moving speed is less than the preset speed, and a distance from the robot in the non-moving state is less than the preset distance.

4. The method according to claim 2 or 3, characterized in that: Determining the congestion area based on the position information of the at least one congestion robot includes: In a case where the number of the at least one congestion robot is greater than a preset number, the congestion area is determined based on position information of the at least one congestion robot.

5. The method according to claim 2 or 3, characterized in that: Determining the congestion area based on the position information of the at least one congestion robot includes: According to the position information of each congestion robot, the road section where the at least one congestion robot is located in the target area is determined, and the road section is used as the congestion area.

6. The method according to claim 2 or 3, characterized in that: Determining the congestion area based on the position information of the at least one congestion robot includes: According to the position information of each congestion robot, a circumscribed graph including the position of the at least one congestion robot is determined as the congestion area.

7. The method according to claim 2 or 3, characterized in that: The method further comprises: Each of the jammed robots is reset to the target robot.

8. The method according to claim 1, characterized in that: The method further comprises: Acquire the number of congested areas in the target area to obtain a first statistical number of congested areas; Based on statistical conditions, the first statistical quantity is updated to obtain a second statistical quantity of the congested area; the statistical conditions include treating any two congested areas as one congested area when there is an overlapping area between the two congested areas.

9. The method according to claim 1, characterized in that: The method further comprises: Before a non-congested robot in the target area enters the congested area, a driving path is replanned for the non-congested robot.

10. The method according to claim 9, characterized in that The method further comprises: In the case where there is an overlap between the re-planned driving path and the congested area, the non-congested robot is controlled to stop and wait, and / or the non-congested robot is controlled to enter an avoidable state; the avoidable state is used to instruct the non-congested robot to enter an avoidance point closest to the current position.

11. A device for determining a congested area, characterized in that: The device comprises an acquisition unit and a determination unit; The acquisition unit is used to acquire the movement information of each robot in the target area; the movement information includes movement speed, driving path and position information; The determination unit is used to determine the congested area in the target area based on the movement information of each robot; wherein the congested area includes N congested robots whose moving speed is less than a preset speed, N is a positive integer; and the distance between every two adjacent congested robots among the N congested robots is less than or equal to the preset distance, and / or, one of every two adjacent congested robots blocks the driving path of the other.

12. The device according to claim 11, characterized in that The determining unit is specifically configured to: Determining a target robot; the target robot includes a robot in a non-moving state in the target area; Determine at least one congestion robot that meets preset conditions; the preset conditions include a moving speed that is less than the preset speed, a driving path that is blocked by the target robot, and a distance between the robot and the target robot that is less than the preset distance; determining the congestion area based on the position information of the at least one congestion robot; And / or, the target robot also includes a robot that satisfies one or more of the following conditions: a driving path is blocked by the robot in the non-moving state, a moving speed is less than the preset speed, and a distance from the robot in the non-moving state is less than the preset distance; And / or, the determining unit is specifically configured to: When the number of the at least one congestion robot is greater than a preset number, determining the congestion area based on the position information of the congestion robot; And / or, the determining unit is specifically configured to: According to the position information of each congestion robot, determining the road section where the congestion robot is located in the target area, and taking the road section as the congestion area; And / or, the determining unit is specifically configured to: According to the position information of each congestion robot, determining an external figure including the position of the at least one congestion robot as the congestion area; And / or, the determining unit is further configured to: Resetting each of the congested robots to the target robot; And / or, the acquisition unit is further used for: Acquire the number of congested areas in the target area to obtain a first statistical number of congested areas; Based on a statistical condition, updating the first statistical quantity to obtain a second statistical quantity of the congested area; the statistical condition includes treating any two congested areas as one congested area when there is an overlapping area between the two congested areas; And / or, the determining unit is further configured to: Before a non-congested robot in the target area enters the congested area, replanning a driving path for the non-congested robot; And / or, the determining unit is further configured to: In the case where there is an overlap between the re-planned driving path and the congested area, the non-congested robot is controlled to stop and wait, and / or the non-congested robot is controlled to enter an avoidable state; the avoidable state is used to instruct the non-congested robot to enter an avoidance point closest to the current position.

13. An electronic device, characterized in that: include: Processor and memory; The memory stores instructions executable by the processor; When the processor is configured to execute the instructions, the electronic device implements the method according to any one of claims 1 to 10.

14. A computer-readable storage medium, characterized in that: The readable storage medium includes: software instructions; When the software instructions are executed in an electronic device, the electronic device implements the method according to any one of claims 1 to 10.

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