Guiding robot path planning method and device in transfer station, and electronic equipment

Abstract

The invention discloses a guiding robot path planning scheme in a transfer station, and belongs to the technical field of intelligent hardware, and the method comprises the steps: determining each transfer guiding road section of a guiding robot from a current position to a station target platform; respectively determining passenger density on each transfer guide road section; for each transfer guide road section, calculating the moving speed of a guide robot and the congestion degree of the transfer guide road section according to the passenger density on the transfer guide road section; determining an optimal transfer guide road section set according to the congestion degree of each transfer guide road section, the moving speed of the guide robot on each transfer guide road section, a preset objective function and a constraint condition; and controlling the guide robot to move according to the optimal transfer guide road section set. According to the scheme provided by the embodiment of the invention, the shortest time consumption of the total transfer guiding road section of the guiding robot, the shortest length of the total transfer guiding road section and the minimum maximum congestion degree of the transfer guiding road section can be ensured, so that the rationalization of the transfer guiding path is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent hardware, and in particular, to a method and device for path planning of a guiding robot in a transfer station, and an electronic device. Background Art

[0002] With the development of robot technology, more and more robots enter the indoor field, such as service robots, indoor transfer robots, etc. For indoor robots, due to the relatively complex and changeable environment, more accurate indoor positioning and path planning are required. Existing indoor robot path planning algorithms, such as RRT (Rapidly-exploring Random Trees), although capable of handling path planning tasks in a static environment, randomly select a guiding path when there are multiple optional guiding paths in the indoor guiding path, lacking rationality. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide a method and device for path planning of a guiding robot in a transfer station, and an electronic device, which can solve the problem of lack of rationality in indoor robot path planning existing in the prior art.

[0004] To solve the above technical problems, the present invention provides the following technical solutions:

[0005] The embodiments of the present invention provide a method for path planning of a guiding robot in a transfer station, which is applied to the guiding robot. Wherein, the method includes:

[0006] Determine each transfer guiding section between the current position of the guiding robot and the target platform of the station;

[0007] Respectively determine the passenger density on each of the transfer guiding sections;

[0008] For each of the transfer guiding sections, calculate the moving speed of the guiding robot and the congestion degree of the transfer guiding section according to the passenger density on the transfer guiding section;

[0009] According to the congestion degrees of each of the transfer guiding sections, the moving speeds of the guiding robot on each of the transfer guiding sections, a preset objective function, and constraint conditions, determine an optimal set of transfer guiding sections; wherein, the preset function selects the optimal set of transfer guiding sections with the objectives of: the shortest total time-consuming of the transfer guiding sections, the shortest total length of the transfer guiding sections, and the maximum congestion degree of the transfer guiding sections being less than the maximum congestion degree of the transfer guiding sections in other sets of transfer guiding sections;

[0010] Control the guiding robot to move from the current position to the target platform of the station according to the sorting of each target transfer guiding section in the optimal set of transfer guiding sections and the moving speed of the guiding robot in each of the target transfer guiding sections.

[0011] Optionally, the steps of determining each transfer guiding section for guiding the robot from the current position to the target platform of the station include:

[0012] Obtain the first position information of the target platform of the station to be reached and the second position information of the current position of the guiding robot;

[0013] Refer to the first position information and the second position information, and extract the passable roads from the operation scenario map information;

[0014] Mark the section endpoints on the passable roads according to the preset rules;

[0015] Determine the section formed by two adjacent section endpoints as the transfer guiding section.

[0016] Optionally, the steps of respectively determining the passenger density on each transfer guiding section include:

[0017] For each transfer guiding section, calculate the first predicted information of the passenger traffic volume on the transfer guiding section according to the historical passenger traffic data on the transfer guiding section;

[0018] Calculate the second predicted information of the passenger traffic volume on the transfer guiding section according to the information on the number of surrounding passengers recognized by the guiding robot in real time;

[0019] Calculate the passenger density on the transfer guiding section according to the first predicted information and the second predicted information.

[0020] Optionally, for each transfer guiding section, the steps of calculating the moving speed of the guiding robot and the congestion degree of the transfer guiding section according to the passenger density on the transfer guiding section include:

[0021] For each transfer guiding section, calculate the moving speed of the guiding robot on the transfer guiding section according to the maximum moving speed of the guiding robot preset in the system, the speed correction coefficient and the passenger density on the transfer guiding section;

[0022] For each transfer guiding section, calculate the congestion degree of the transfer guiding section according to the congestion degree correction coefficient preset in the system and the passenger density on the transfer guiding section.

[0023] Optionally, the steps of determining the optimal set of transfer guiding sections according to the congestion degrees of the transfer guiding sections, the moving speeds of the guiding robots on the transfer guiding sections, the preset objective function and the constraint conditions include:

[0024] For each set of planned guiding road segments, calculate the total time-consuming of the transfer guiding road segments, the total length of the transfer road segments, and the maximum congestion degree of the transfer guiding road segments corresponding to the set of planned guiding road segments according to the congestion degree of each transfer guiding road segment in the set of planned guiding road segments, the moving speed of the guiding robot on each transfer guiding road segment, and the constraint conditions;

[0025] Perform a weighted sum of the total time-consuming of the transfer guiding road segments, the total length of the transfer road segments, and the maximum congestion degree of the transfer guiding road segments, and calculate the objective function value of the set of planned guiding road segments;

[0026] Determine the set of planned guiding road segments with the minimum objective function value as the optimal transfer guiding road segment set.

[0027] An embodiment of the present invention further provides a path planning device for a guiding robot in a transfer station, which is applied to the guiding robot. The device includes:

[0028] A first determination module, configured to determine each transfer guiding road segment from the current position of the guiding robot to the target platform of the station;

[0029] A second determination module, configured to determine the passenger density on each transfer guiding road segment respectively;

[0030] A calculation module, configured to calculate the moving speed of the guiding robot and the congestion degree of the transfer guiding road segment for each transfer guiding road segment according to the passenger density on the transfer guiding road segment;

[0031] A third determination module, configured to determine the optimal transfer guiding road segment set according to the congestion degree of each transfer guiding road segment, the moving speed of the guiding robot on each transfer guiding road segment, a preset objective function, and constraint conditions; where the preset function selects the optimal transfer guiding road segment set with the objectives of the shortest total time-consuming of the transfer guiding road segments, the shortest total length of the transfer guiding road segments, and the maximum congestion degree of the transfer guiding road segments being less than the maximum congestion degree of the transfer guiding road segments in other sets of transfer guiding road segments;

[0032] A control module, configured to control the guiding robot to move from the current position to the target platform of the station according to the sorting of each target transfer guiding road segment in the optimal transfer guiding road segment set and the moving speed of the guiding robot in each target transfer guiding road segment.

[0033] Optionally, the first determination module includes:

[0034] A first sub-module, configured to obtain the first position information of the target platform of the station to be reached and the second position information of the current position of the guiding robot;

[0035] A second sub-module, configured to extract passable roads from the running scenario map information with reference to the first position information and the second position information;

[0036] A third sub-module, configured to mark the endpoints of road segments on the passable roads according to a preset rule;

[0037] A fourth sub-module, configured to determine the road segments formed by two adjacent road segment endpoints as transfer guiding road segments.

[0038] Optionally, the second determination module includes:

[0039] A fifth sub-module, configured to calculate the first prediction information of the passenger traffic volume on each transfer guiding road segment according to the historical passenger traffic data on the transfer guiding road segment;

[0040] A sixth sub-module, configured to calculate the second prediction information of the passenger traffic volume on the transfer guiding road segment according to the number of surrounding passengers recognized by the guiding robot in real time;

[0041] A seventh sub-module, configured to calculate the passenger density on the transfer guiding road segment according to the first prediction information and the second prediction information.

[0042] Optionally, the calculation module includes:

[0043] An eighth sub-module, configured to calculate the moving speed of the guiding robot on each transfer guiding road segment according to the maximum moving speed of the guiding robot preset in the system, the speed correction coefficient, and the passenger density on the transfer guiding road segment;

[0044] A ninth sub-module, configured to calculate the congestion degree of each transfer guiding road segment according to the congestion degree correction coefficient preset in the system and the passenger density on the transfer guiding road segment.

[0045] Optionally, the third determination module includes:

[0046] A reference calculation sub-module, configured to calculate the total time taken for the transfer guiding road segments, the total length of the transfer road segments, and the maximum congestion degree of the transfer guiding road segments corresponding to each planning guiding road segment set according to the congestion degree of each transfer guiding road segment in the planning guiding road segment set, the moving speed of the guiding robot on each transfer guiding road segment, and the constraint conditions;

[0047] A summation sub-module, configured to perform a weighted summation of the total time taken for the transfer guiding road segments, the total length of the transfer road segments, and the maximum congestion degree of the transfer guiding road segments to calculate the objective function value of the planning guiding road segment set;

[0048] The optimal set determination sub-module is used to determine the set of planned guiding sections with the smallest objective function value as the optimal transfer guiding section set.

[0049] An embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of any of the above-mentioned transfer station internal guiding robot path planning methods are implemented.

[0050] An embodiment of the present invention provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of any of the above-mentioned transfer station internal guiding robot path planning methods are implemented.

[0051] The transfer station internal guiding robot path planning solution provided by the embodiment of the present invention determines each transfer guiding section between the current position of the guiding robot and the target platform of the station; respectively determines the passenger density on each transfer guiding section; for each transfer guiding section, calculates the moving speed of the guiding robot and the congestion degree of the transfer guiding section according to the passenger density on the transfer guiding section; determines the optimal transfer guiding section set according to the congestion degree of each transfer guiding section, the moving speed of the guiding robot on each transfer guiding section, a preset objective function, and constraint conditions; and controls the guiding robot to move according to the optimal transfer guiding section set. The solution provided by the embodiment of the present application can ensure that the total time-consuming of the guiding robot on the transfer guiding section is the shortest, the total length of the transfer guiding section is the shortest, and the maximum congestion degree of the transfer guiding section is the smallest, thereby improving the rationality of the transfer guiding path. Description of the Drawings

[0052] Figure 1 is a flowchart showing the steps of a transfer station internal guiding robot path planning method according to an embodiment of the present application;

[0053] Figure 2 is a structural block diagram showing a transfer station internal guiding robot path planning device according to an embodiment of the present application. Detailed Embodiments

[0054] To make the technical problems, technical solutions, and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the drawings and specific embodiments.

[0055] The transfer station internal guiding robot path planning solution provided by the embodiment of the present application will be described in detail below with reference to the drawings, through specific embodiments and their application scenarios.

[0056] As shown in the attached Figure 1 figures, the transfer station internal guiding robot path planning method according to the embodiment of the present application includes the following steps:

[0057] Step 101: Determine each transfer guiding section for the guiding robot from its current position to the target platform of the station.

[0058] The method for path planning of a guiding robot in a transfer station provided by the embodiment of the present application is applied to a guiding robot in a transfer station. The guiding robot is an omnidirectional mobile robot that can move freely on the x and y planes and has the ability to rotate around the z axis. A control module (also called a robot processor) is provided on the guiding robot, which executes a preset path planning algorithm for the guiding robot in the transfer station to achieve optimal transfer path planning and guidance.

[0059] In an optional embodiment, the manner of determining each transfer guiding section for the guiding robot from its current position to the target platform of the station can be as follows:

[0060] First, obtain the first position information of the target platform of the station to be reached and the second position information of the current position of the guiding robot.

[0061] Second, with reference to the first position information and the second position information, extract the passable roads from the operation scenario map information.

[0062] Third, mark the section endpoints on the passable roads according to preset rules.

[0063] Finally, determine the section formed by two adjacent section endpoints as the transfer guiding section.

[0064] In the actual implementation process of determining each transfer guiding section, the guiding robot obtains the position of the target platform of the station to be reached through voice interaction, touch screen interaction or from the cloud platform. The guiding robot loads the operation scenario map information and obtains its own current position information, extracts the passable road information from the operation scenario map information, marks the section endpoints on the passable roads. Usually, the road intersection position is set as the section endpoint, or when the distance of a passable road exceeds a preset distance threshold, the middle position of the passable road is set as the section endpoint. The set of all section endpoints is z. Among them, if there is a direct connection between two section endpoints a and b without passing through other section endpoints, a transfer guiding section p from section endpoint a to section endpoint b can be established. a，b .

[0065] Step 102: Determine the passenger density on each transfer guiding section respectively.

[0066] The guiding robot cloud computing platform is guided to obtain the historical data of the passenger traffic volume on each transfer section in the transfer hub, and analyze and calculate the predicted information of the passenger traffic volume on each transfer section in the operation scenario map (i.e., the first predicted information of the passenger traffic volume described below). The guiding robot terminal real-time identifies the number of surrounding passengers, analyzes and calculates the predicted information of the passenger traffic volume on the current transfer section according to the information of the number of surrounding passengers identified in real time at the current moved position (i.e., the second predicted information of the passenger traffic volume described below), and updates the predicted information of the passenger traffic volume on the transfer section where the robot is currently located obtained by cloud analysis and calculation. Calculate the passenger density on each transfer section according to the changed predicted information of the passenger traffic volume on the transfer section.

[0067] An optionally way to respectively determine the passenger density on each transfer guiding section can be as follows:

[0068] For each transfer guiding section, based on the historical data of passenger traffic on the transfer guiding section, calculate the first predicted information of the passenger traffic volume on the transfer guiding section; based on the information of the number of surrounding passengers real-time identified by the guiding robot, calculate the second predicted information of the passenger traffic volume on the transfer guiding section; based on the first predicted information and the second predicted information, calculate the passenger density on the transfer guiding section.

[0069] An exemplary transfer guiding section p a，b The passenger density m(p a，b ) on it is calculated as follows:

[0070] m(p a，b ) = y(p a，b ) / r(p a，b )

[0071] Wherein, y(p a，b ) is the predicted information of the passenger traffic volume on the transfer guiding section p a，b (i.e., the second predicted information of the passenger traffic volume), and r(p a，b ) is the preset passenger traffic capacity on the transfer guiding section p a，b (i.e., the first predicted information of the passenger traffic volume).

[0072] Step 103: For each transfer guiding section, calculate the moving speed of the guiding robot and the congestion degree of the transfer guiding section according to the passenger density on the transfer guiding section.

[0073] An optionally way to calculate the moving speed of the guiding robot and the congestion degree of the transfer guiding section for each transfer guiding section according to the passenger density on the transfer guiding section can be as follows:

[0074] For each transfer guiding section, calculate the moving speed of the guiding robot on the transfer guiding section according to the maximum moving speed of the guiding robot preset in the system, the speed correction coefficient, and the passenger density on the transfer guiding section.

[0075] A feasible transfer guiding section p a，b The moving speed s(p a，b ) of the guiding robot on it is calculated as shown in the following formula;

[0076]

[0077] Wherein, s(p a，b ) is the moving speed of the guiding robot on the transfer section p a，b , (s max ) is the maximum moving speed of the guiding robot preset in the system, e is the natural constant, ψ is the speed correction coefficient preset in the system, and m(p a，b ) is the passenger density on the transfer guiding section p a，b .

[0078] For each transfer guiding section, calculate the congestion degree of the transfer guiding section according to the congestion degree correction coefficient preset in the system and the passenger density on the transfer guiding section.

[0079] A feasible transfer section p a，b The calculation formula for the congestion degree on it is as shown in the following formula:

[0080]

[0081] Wherein, J(p a，b ) is the congestion degree of the transfer guiding section p a，b , e is the natural constant, φ is the congestion degree correction coefficient preset in the system, and m(p a，b ) is the passenger density on the transfer guiding section p a，b .

[0082] Step 104: Determine the optimal transfer guiding section set according to the congestion degree of each transfer guiding section, the moving speed of the guiding robot on each transfer guiding section, the preset objective function, and the constraint conditions.

[0083] Among them, the preset function selects the optimal transfer guiding section set with the objectives of: the shortest total time of the transfer guiding section, the shortest total length of the transfer guiding section, and the maximum congestion degree of the transfer guiding section being less than the maximum congestion degree of the transfer guiding sections in other transfer guiding section sets.

[0084] The expression of the objective function of the planning model can be as follows:

[0085] C = ω t ·T A+ω d ·D A +ω y ·Y A

[0086] Among them, C is the objective function of the planning model for calculating the score value corresponding to the set of transfer guiding sections. A is the set of planned transfer guiding sections, Z is the set composed of section endpoints, and n is the number of elements in the set Z of section endpoints, is the target platform position of the station that the guiding robot needs to reach. ω t is the time weight coefficient of the transfer section preset by the system, T A is the total transfer section time of the set A of planned transfer guiding sections, ω d is the length weight coefficient of the transfer section preset by the system, D A is the total transfer section length of the set A of planned transfer guiding sections, ω y is the crowding degree weight coefficient of the transfer section preset by the system, Y A is the maximum crowding degree of the transfer sections in the set A of planned transfer guiding sections.

[0087] The constraint conditions can be as follows:

[0088] p ij (t) ≤ 1

[0089]

[0090] p ij (t) = N ij (t) / C ij

[0091] t = L ij / v ij (t)

[0092] The first constraint equation in the above constraint conditions indicates that the number of people on the section cannot exceed the section capacity. All channels can be passed before evacuation. Each person cannot choose the same section repeatedly, and only one section can be chosen each time. The second constraint equation indicates that all evacuation sections can be reached. Among them, i, j, and u represent whether the section can be passed. If it can be passed, it is 1; if it cannot be passed, it is 0. The third constraint equation is the definition of the population density (i.e., passenger density), which is the ratio of the number of people to be evacuated on the section to the evacuation capacity of the section. The fourth constraint equation describes the relationship between time, the actual length of the section, and the evacuation speed of people. The speed can also be the speed of people in groups and the speed in a panic state.

[0093] A method for determining an optimal transfer guiding road section set, which may optionally be based on the congestion degree of each transfer guiding road section, the moving speed of the guiding robot on each transfer guiding road section, a preset objective function, and constraint conditions, may include the following sub-steps:

[0094] Sub-step 1: For each planned guiding road section set, calculate the total transfer guiding road section time, the total transfer road section length, and the maximum congestion degree of the transfer guiding road section corresponding to the planned guiding road section set according to the congestion degree of each transfer guiding road section, the moving speed of the guiding robot on each transfer guiding road section, and the constraint conditions;

[0095] The planned transfer guiding road section set A is the total transfer road section time T A The calculation formula can be as follows:

[0096]

[0097] Where T A is the total transfer road section time of the planned transfer guiding road section set A, is the current position of the guiding robot itself, the position of the end point of the i-th road section to be reached in the planned transfer guiding road section set A. is the current position of the guiding robot itself to the position of the end point of the road section the length of the transfer guiding road section, is the position of the end point of the road section to the position of the end point of the road section the length of the transfer guiding road section. is the current position of the guiding robot itself to the position of the end point of the road section the moving speed of the guiding robot on the transfer road section, is the position of the end point of the road section to the position of the end point of the road section the moving speed of the guiding robot on the transfer road section.

[0098] The total transfer road section length D of the planned transfer guiding road section set A A The calculation formula can be as follows:

[0099]

[0100] Where D A is the total transfer road section length of the planned transfer guiding road section set A.

[0101] The maximum congestion degree Y of the transfer road section of the planned transfer guiding road section set A A The calculation formula can be as follows:

[0102]

[0103] Among them, Y A is the maximum congestion degree of the transfer sections in the planned transfer guidance section set A is the current location of the guiding robot itself to the end position of the section of the congestion degree of the transfer section is the end position of the section to the end position of the section of the congestion degree of the transfer section

[0104] Sub-step 2: Weighted sum the total transfer guidance section time, the total transfer section length, and the maximum congestion degree of the transfer guidance section to calculate the objective function value of the planned guidance section set;

[0105] Among them, the objective function value of the guidance section set is calculated through the following objective function:

[0106] C = ω t ·T A + ω d ·D A + ω y ·Y A

[0107] Repeating sub-step 1 to sub-step 2 can calculate the objective function values of each guidance section set.

[0108] Sub-step 3: Determine that the planned guidance section set with the minimum objective function value is the optimal transfer guidance section set.

[0109] Step 105: Control the guiding robot to move from the current position to the target platform of the station according to the sorting of each target transfer guidance section in the optimal transfer guidance section set and the moving speed of the robot in each target transfer guidance section.

[0110] The guiding robot plans and generates K sets of planned transfer guiding road segment sets according to the set Z composed of its own current location, the target platform location of the station to be reached, and the road segment endpoints. For each two adjacent road segment endpoints in the planned transfer guiding road segment set, the requirement that there is a direct connection without passing through other road segment endpoints should be satisfied. The planning methods of the guiding robot can include, but are not limited to, the random method, genetic algorithm, particle swarm algorithm, or deep learning algorithm. The guiding robot selects the transfer guiding road segment set with the smallest objective function value (i.e., the determined optimal transfer guiding road segment set) from the K sets of planned transfer guiding road segment sets generated according to the plan by using the calculation formula of the objective function value of the planning model. According to the order of the positions in the transfer guiding road segment set with the smallest objective function value and the calculated speed of passing through each transfer guiding road segment, the guiding robot moves from its own current location to each road segment endpoint location in turn and finally reaches the target platform location of the station to be reached to complete the transfer guiding task.

[0111] The method for guiding robot path planning in a transfer station provided by the embodiment of the present application determines each transfer guiding road segment between the current location of the guiding robot and the target platform of the station; respectively determines the passenger density on each transfer guiding road segment; for each transfer guiding road segment, calculates the moving speed of the guiding robot and the congestion degree of the transfer guiding road segment according to the passenger density on the transfer guiding road segment; determines the optimal transfer guiding road segment set according to the congestion degrees of each transfer guiding road segment, the moving speed of the guiding robot on each transfer guiding road segment, a preset objective function, and constraint conditions; and controls the guiding robot to operate according to the optimal transfer guiding road segment set. The method provided by the embodiment of the present application can ensure that the total time consumed by the guiding robot for the transfer guiding road segments is the shortest, the total length of the transfer guiding road segments is the shortest, and the maximum congestion degree of the transfer guiding road segments is the smallest, thereby improving the rationality of the optimal transfer guiding path.

[0112] The following uses specific examples to illustrate the method for guiding robot path planning in a transfer station provided by the embodiment of the present application.

[0113] The method for guiding robot path planning in a transfer station of this specific example includes the following steps:

[0114] Step 1: Guide the robot to receive the target platform position of the station to be reached through voice interaction, touch screen interaction, or from the cloud platform. Guide the robot to load the running scenario map information and obtain its own current position information, extract the passable road information in the running scenario map, mark the road section endpoints on the passable roads, usually set the road intersection positions as the road section endpoints, or when the distance of a passable road exceeds a preset distance threshold, set the middle position of the passable road as the road section endpoint. The set composed of all road section endpoints is z. Among them, if there is a direct connection between two road section endpoints a and b without passing through other road section endpoints, a transfer guide section p from road section endpoint a to road section endpoint b can be established. a，b .

[0115] Step 2: Guide the robot to obtain the historical data of the passenger traffic volume on each transfer guide section in the transfer hub from the cloud computing platform, and analyze and calculate the predicted information of the passenger traffic volume on each transfer guide section in the running scenario map (i.e., the first passenger traffic volume prediction information).

[0116] Step 3: Guide the robot to continuously identify the number of surrounding passengers in real time, analyze and calculate the predicted information of the passenger traffic volume on the current transfer guide section (i.e., the second passenger traffic volume prediction information) according to the information of the number of surrounding passengers identified in real time at the current moving position, and update the predicted information of the passenger traffic volume on the transfer guide section where the robot is currently located obtained by cloud analysis and calculation.

[0117] Step 4: Calculate the passenger density on each transfer guide section according to the changed predicted information of the passenger traffic volume on the transfer guide section.

[0118] The passenger density m(p a，b ) on the transfer guide section p a，b ) is calculated by the following formula:

[0119] m(p a，b ) = y(p a，b ) / r(p a，b )

[0120] Among them, y(p a，b ) is the predicted information of the passenger traffic volume on the transfer guide section p a，b (i.e., the second predicted information of the passenger traffic volume), and r(p a，b ) is the preset passenger traffic capacity on the transfer guide section p a，b (i.e., the first predicted information of the passenger traffic volume).

[0121] Step 5: Calculate the moving speed of the guiding robot according to the passenger density on the transfer guide section.

[0122] The transfer guide section pa，b The calculation formula for the guiding robot's moving speed s(p a，b ) on it is as follows;

[0123]

[0124] where s(p a，b ) is the guiding robot's moving speed on the transfer section p a，b , (s max ) is the maximum moving speed of the guiding robot preset by the system, e is the natural constant, ψ is the speed correction coefficient preset by the system, and m(p a，b ) is the passenger density on the transfer guiding section p a，b .

[0125] Repeatedly executing step 5 can determine the guiding robot's moving speed on each transfer guiding section in the set z composed of the section endpoints.

[0126] Step 6: Calculate the transfer section congestion degree according to the passenger density on the transfer guiding section.

[0127] The calculation formula for the congestion degree on the transfer section p a，b is as follows:

[0128]

[0129] where J(p a，b ) is the congestion degree on the transfer guiding section p a，b , e is the natural constant, φ is the congestion degree correction coefficient preset by the system, and m(p a，b ) is the passenger density on the transfer guiding section p a，b .

[0130] Repeatedly executing step 6 can determine the congestion degree of each transfer guiding section in the set z composed of the section endpoints.

[0131] Step 7: According to the guiding robot's moving speed on the transfer section and the transfer section congestion degree, find the optimal transfer guiding section for the guiding robot by taking the three objectives of the shortest total transfer section time, the shortest total transfer section length, and the minimum maximum congestion degree of the transfer section.

[0132] The objective function formula of the planning model is as follows:

[0133] C = ω t ·T A + ω d ·D A + ω y ·Y A

[0134] Among them, C is the objective function of the planning model, which is used to calculate the score value corresponding to the set of transfer guiding road segments. A is the set of planned transfer guiding road segments. Z is the set composed of the endpoints of the road segments, and n is the number of elements in the set Z of the road segment endpoints. is the target platform position of the station that the guiding robot needs to reach. ω t is the preset time weight coefficient of the transfer road segment in the system, T A is the total transfer road segment time of the set A of the planned transfer guiding road segments, ω d is the preset length weight coefficient of the transfer road segment in the system, D A is the total transfer road segment length of the set A of the planned transfer guiding road segments, ω y is the preset crowding degree weight coefficient of the transfer road segment in the system, Y A is the maximum crowding degree of the transfer road segments in the set A of the planned transfer guiding road segments.

[0135] The set A of the planned transfer guiding road segments is the total transfer road segment time T A The calculation formula can be as follows:

[0136]

[0137] Among them, T A is the total transfer road segment time of the set A of the planned transfer guiding road segments. is the current position of the guiding robot itself. The position of the road segment endpoint to be reached at the i-th place in the set A of the planned transfer guiding road segments. is the current position of the guiding robot itself to the position of the road segment endpoint The length of the transfer guiding road segment. is the position of the road segment endpoint to the position of the road segment endpoint The length of the transfer guiding road segment. is the current position of the guiding robot itself to the position of the road segment endpoint The moving speed of the guiding robot on the transfer road segment. is the position of the road segment endpoint to the position of the road segment endpoint The moving speed of the guiding robot on the transfer road segment.

[0138] The total transfer road segment length D of the set A of the planned transfer guiding road segments A The calculation formula can be as follows:

[0139]

[0140] Among them, D Ais the total transfer section length of the planned transfer guidance section set A.

[0141] The maximum congestion degree Y of the transfer sections in the planned transfer guidance section set A A The calculation formula can be as follows:

[0142]

[0143] Among them, Y A is the maximum congestion degree of the transfer sections in the planned transfer guidance section set A, is the current position of the guiding robot itself to the congestion degree of the transfer section at the end position of the section ; is the end position of the section to the congestion degree of the transfer section at the end position of the section ;

[0144] For each planned transfer guidance section set, the objective function value of each transfer guidance section set can be calculated through the objective function, and the set with the smallest objective function value among multiple transfer guidance section sets is determined as the optimal transfer guidance section set.

[0145] Step 8: The guiding robot generates K sets of planned transfer guidance section sets according to the set Z composed of its own current position, the target platform position of the station to be reached, and the end positions of the sections. For each two adjacent end positions of the sections within the planned transfer guidance section set, it is required that there is a direct connection without passing through other end positions of the sections. The planning methods of the guiding robot can include but are not limited to the random method, genetic algorithm, particle swarm algorithm, or deep learning algorithm. The guiding robot selects the transfer guidance section set with the smallest objective function value by using the calculation formula of the objective function value of the planning model for the K sets of planned transfer guidance section sets generated according to the plan. According to the order of the positions within the transfer guidance section set with the smallest objective function value and the calculated speeds passing through each transfer guidance section, the guiding robot moves from its own current position to each end position of the section in turn and finally reaches the target platform position of the station to be reached to complete the transfer guidance task.

[0146] When generating K sets of planned transfer guidance section sets, the following constraint conditions need to be combined:

[0147] p ij (t) ≤ 1

[0148]

[0149] p ij (t) = N ij (t) / C ij

[0150] t = L ij / v ij (t)

[0151] The first constraint equation in the above constraint conditions indicates that the number of people on a road section cannot exceed the capacity of the road section. All channels can be passed before evacuation. Each person's selected road section cannot be repeated, and only one can be selected each time. The second constraint equation indicates that all evacuation road sections can be reached. Among them, i, j, and u represent whether a road section can be passed, with 1 indicating that it can be passed and 0 indicating that it cannot be passed. The third constraint equation is the definition of the population density (i.e., passenger density), which is the ratio of the number of people to be evacuated on a road section to the capacity of the road section for evacuating people. The fourth constraint equation describes the relationship between time, the actual length of a road section, and the evacuation speed of people. The speed can also be the speed of people in a group or the speed in a panicked state.

[0152] Figure 2 It is a structural block diagram of a path planning device for a guiding robot in a transfer station to implement an embodiment of the present application.

[0153] The path planning device for a guiding robot in a transfer station provided by the embodiment of the present application is applied to a guiding robot and includes the following functional modules:

[0154] The first determination module 201 is configured to determine each transfer guiding road section between the current position of the guiding robot and the target platform of the station;

[0155] The second determination module 202 is configured to respectively determine the passenger density on each of the transfer guiding road sections;

[0156] The calculation module 203 is configured to calculate the moving speed of the guiding robot and the congestion degree of each transfer guiding road section according to the passenger density on each transfer guiding road section for each transfer guiding road section;

[0157] The third determination module 204 is configured to determine an optimal set of transfer guiding road sections according to the congestion degree of each transfer guiding road section, the moving speed of the guiding robot on each transfer guiding road section, a preset objective function, and constraint conditions; wherein, the preset function selects the optimal set of transfer guiding road sections with the following objectives: the shortest total time for transfer guiding road sections, the shortest total length of transfer guiding road sections, and the maximum congestion degree of transfer guiding road sections being less than the maximum congestion degree of transfer guiding road sections in other sets of transfer guiding road sections;

[0158] The control module 205 is configured to control the guiding robot to move from the current position to the target platform of the station according to the sorting of each target transfer guiding road section in the optimal set of transfer guiding road sections and the moving speed of the robot in each target transfer guiding road section.

[0159] Optionally, the first determination module includes:

[0160] A first sub-module, configured to obtain first position information of a target platform of a station to be reached in advance and second position information where the guiding robot is currently located;

[0161] A second sub-module, configured to extract passable roads from the operation scenario map information with reference to the first position information and the second position information;

[0162] A third sub-module, configured to mark section endpoints on the passable roads according to a preset rule;

[0163] A fourth sub-module, configured to determine a section formed by two adjacent section endpoints as a transfer guiding section.

[0164] Optionally, the second determination module includes:

[0165] A fifth sub-module, configured to calculate first prediction information on the passenger traffic volume on each transfer guiding section according to the historical passenger traffic data on the transfer guiding section;

[0166] A sixth sub-module, configured to calculate second prediction information on the passenger traffic volume on the transfer guiding section according to the number information of surrounding passengers recognized by the guiding robot in real time;

[0167] A seventh sub-module, configured to calculate the passenger density on the transfer guiding section according to the first prediction information and the second prediction information.

[0168] Optionally, the calculation module includes:

[0169] An eighth sub-module, configured to calculate the moving speed of the guiding robot on each transfer guiding section according to the maximum moving speed of the guiding robot preset in the system, a speed correction coefficient, and the passenger density on the transfer guiding section;

[0170] A ninth sub-module, configured to calculate the congestion degree of each transfer guiding section according to a congestion degree correction coefficient preset in the system and the passenger density on the transfer guiding section.

[0171] Optionally, the third determination module includes:

[0172] A reference calculation sub-module, configured to calculate the total time taken for the transfer guiding sections corresponding to each planned guiding section set, the total length of the transfer sections, and the maximum congestion degree of the transfer guiding sections according to the congestion degree of each transfer guiding section in the planned guiding section set, the moving speed of the guiding robot on each transfer guiding section, and constraint conditions;

[0173] A summation sub-module, configured to perform weighted summation on the total time taken for the transfer guiding sections, the total length of the transfer sections, and the maximum congestion degree of the transfer guiding sections, so as to calculate the objective function value of the set of planned guiding sections;

[0174] An optimal set determination sub-module, configured to determine the set of planned guiding sections with the minimum objective function value as the optimal transfer guiding section set.

[0175] The transfer station internal guiding robot path planning device provided by the embodiments of the present application determines each transfer guiding section for the guiding robot from the current position to the target platform of the station; respectively determines the passenger density on each transfer guiding section; for each transfer guiding section, calculates the moving speed of the guiding robot and the congestion degree of the transfer guiding section according to the passenger density on the transfer guiding section; determines the optimal transfer guiding section set according to the congestion degrees of the transfer guiding sections, the moving speeds of the guiding robot on the transfer guiding sections, a preset objective function, and constraint conditions; and controls the guiding robot to operate according to the optimal transfer guiding section set. The device provided by the embodiments of the present application can ensure that the total time taken for the guiding robot on the transfer guiding sections is the shortest, the total length of the transfer guiding sections is the shortest, and the maximum congestion degree of the transfer guiding sections is the minimum, thereby improving the rationality of the optimal transfer guiding path.

[0176] In the embodiments of the present application Figure 2 The transfer station internal guiding robot path planning device shown is arranged in the control system of an indoor robot. The control system provided with this device can be a device with an operating system. The operating system can be an Android operating system, can be an iOS operating system, or can also be other possible operating systems, which are not specifically limited in the embodiments of the present application.

[0177] The embodiments of the present application provide Figure 2 The transfer station internal guiding robot path planning device shown can implement Figure 1 each process implemented by the method embodiments. To avoid repetition, it will not be elaborated here.

[0178] Optionally, the embodiments of the present application further provide an electronic device, including a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, it implements each process executed by the above-mentioned transfer station internal guiding robot path planning device, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0179] It should be noted that the electronic device in the embodiments of the present application includes the above-mentioned server.

[0180] Among them, the processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, etc.

[0181] It should be noted that in this article, the term "including", "comprising", or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article, or device including that element.

[0182] The above is the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A path planning method for a guiding robot in a transfer station, which is applied to the guiding robot, characterized in that, The method includes: Determine each transfer guiding section for the guiding robot to move from the current position to the target platform of the station; Respectively determine the passenger density on each of the transfer guiding sections; For each of the transfer guiding sections, calculate the moving speed of the guiding robot and the congestion degree of the transfer guiding section according to the passenger density on the transfer guiding section; Determine the optimal set of transfer guiding sections according to the congestion degrees of the transfer guiding sections, the moving speeds of the guiding robot on the transfer guiding sections, a preset objective function, and constraint conditions; wherein, the objective of the preset function for selecting the optimal set of transfer guiding sections is: the shortest total time for the transfer guiding sections, the shortest total length of the transfer guiding sections, and the maximum congestion degree of the transfer guiding sections is less than the maximum congestion degree of the transfer guiding sections in other sets of transfer guiding sections; Control the guiding robot to move from the current position to the target platform of the station according to the sorting of each target transfer guiding section in the optimal set of transfer guiding sections and the moving speed of the robot in each of the target transfer guiding sections.

2. The method according to claim 1, wherein The step of determining each transfer guiding section for the guiding robot to move from the current position to the target platform of the station includes: Obtain the first position information of the target platform of the station to be reached and the second position information of the current position of the guiding robot; Extract the passable roads from the operation scenario map information with reference to the first position information and the second position information; Mark the section endpoints on the passable roads according to a preset rule; Determine the section formed by two adjacent section endpoints as a transfer guiding section.

3. The method according to claim 1, characterized in that, The step of respectively determining the passenger density on each of the transfer guiding sections includes: For each of the transfer guiding sections, calculate the first prediction information of the passenger volume on the transfer guiding section according to the historical passenger passage data on the transfer guiding section; Calculate the second prediction information of the passenger volume on the transfer guiding section according to the number of surrounding passengers recognized by the guiding robot in real time; Calculate the passenger density on the transfer guiding section according to the first prediction information and the second prediction information.

4. The method according to claim 1, wherein The step of calculating the moving speed of the guiding robot and the congestion degree of the transfer guiding section for each of the transfer guiding sections according to the passenger density on the transfer guiding section includes: For each of the transfer guiding sections, calculate the moving speed of the guiding robot on the transfer guiding section according to the maximum moving speed of the guiding robot preset in the system, the speed correction coefficient, and the passenger density on the transfer guiding section; For each of the transfer guiding sections, calculate the congestion degree of the transfer guiding section according to the congestion degree correction coefficient preset in the system and the passenger density on the transfer guiding section.

5. The method according to claim 1, wherein The step of determining the optimal set of transfer guiding sections according to the congestion degrees of the transfer guiding sections, the moving speeds of the guiding robot on the transfer guiding sections, a preset objective function, and constraint conditions includes: For each set of planned guiding road segments, calculate the total time taken for the transfer guiding road segments, the total length of the transfer road segments, and the maximum congestion degree of the transfer guiding road segments corresponding to the set of planned guiding road segments according to the congestion degree of each transfer guiding road segment in the set of planned guiding road segments, the moving speed of the guiding robot on each of the transfer guiding road segments, and the constraint conditions; Sum up the total time taken for the transfer guiding road segments, the total length of the transfer road segments, and the maximum congestion degree of the transfer guiding road segments with weights to calculate the objective function value of the set of planned guiding road segments; Determine the set of planned guiding road segments with the minimum objective function value as the optimal transfer guiding road segments set.

6. A path planning device for a guiding robot in a transfer station, applied to the guiding robot, characterized in that, The device includes: A first determination module, configured to determine each transfer guiding road segment between the current position of the guiding robot and the target platform of the station; A second determination module, configured to determine the passenger density on each of the transfer guiding road segments respectively; A calculation module, configured to calculate the moving speed of the guiding robot and the congestion degree of the transfer guiding road segment for each of the transfer guiding road segments according to the passenger density on the transfer guiding road segment; A third determination module, configured to determine the optimal transfer guiding road segments set according to the congestion degree of each of the transfer guiding road segments, the moving speed of the guiding robot on each of the transfer guiding road segments, a preset objective function, and the constraint conditions; wherein, the preset function selects the optimal transfer guiding road segments set with the objectives of the shortest total time taken for the transfer guiding road segments, the shortest total length of the transfer guiding road segments, and the maximum congestion degree of the transfer guiding road segments being less than the maximum congestion degree of the transfer guiding road segments in other sets of transfer guiding road segments; A control module, configured to control the guiding robot to move from the current position to the target platform of the station according to the sorting of each target transfer guiding road segment in the optimal transfer guiding road segments set and the moving speed of the robot in each of the target transfer guiding road segments.

7. The device according to claim 6, characterized in that, The first determination module includes: A first sub-module, configured to obtain the first position information of the target platform of the station to be reached and the second position information of the current position of the guiding robot; A second sub-module, configured to extract the passable roads from the operation scenario map information with reference to the first position information and the second position information; A third sub-module, configured to mark the endpoints of the road segments on the passable roads according to a preset rule; A fourth sub-module, configured to determine the road segment formed by two adjacent road segment endpoints as the transfer guiding road segment.

8. The device according to claim 6, characterized in that, The second determination module includes: A fifth sub-module, configured to calculate the first predicted information of the passenger volume on the transfer guiding road segment for each of the transfer guiding road segments according to the historical passenger passing data on the transfer guiding road segment; A sixth sub-module, configured to calculate the second predicted information of the passenger volume on the transfer guiding road segment according to the information on the number of surrounding passengers recognized by the guiding robot in real time; A seventh sub-module, configured to calculate the passenger density on the transfer guiding road segment according to the first predicted information and the second predicted information.

9. The device according to claim 6, characterized in that, The calculation module includes: The eighth sub-module is used to calculate the moving speed of the guiding robot on each of the transfer guiding sections according to the maximum moving speed of the guiding robot preset in the system, the speed correction coefficient, and the passenger density on the transfer guiding section. The ninth sub-module is used to calculate the congestion degree of each of the transfer guiding sections according to the congestion degree correction coefficient preset in the system and the passenger density on the transfer guiding section.

10. An electronic device, characterized in that, The electronic device includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor, and the program or instruction is executed by the processor to perform the steps of any one of the guiding robot path planning methods in the transfer station according to claims 1-5.

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