Moving body control method and device, server and storage medium

Abstract

The invention discloses a mobile body control method and device, a server and a storage medium, relates to the technical field of robots, and is at least used for carrying out fine collision prediction, avoiding an over-protection problem and improving the logistics space utilization rate and the logistics efficiency. The method comprises the following steps: acquiring a moving body space size and an obstacle space size; the space size of the moving body is used for indicating the plane size of the moving body in each height range. The space size of the obstacle is used for indicating the plane size of the obstacle in each height range. The obstacles include other moving bodies or stationary objects in front of the current path of the moving body. And determining a collision prediction result between the moving body and the obstacle based on the moving body spatial size and the obstacle spatial size. And when the collision prediction result indicates that the moving body collides with the obstacle within the at least one height range, instructing the moving body or the obstacle to execute an avoidance action.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a mobile body control method, device, server, and storage medium. Background Art

[0002] Currently, in automated logistics scenarios, robots can transport goods on shelves by moving them. Furthermore, shelves and goods vary in size, sometimes exceeding or exceeding the robot's dimensions. To prevent collisions with other robots or objects during handling, collision prediction is typically performed using the maximum horizontal projection of the robot, shelf, and goods as a safety protection range. However, this collision prediction method can easily lead to over-protection, reducing logistics space utilization and efficiency. Summary of the Invention

[0003] The embodiments of the present application provide a mobile body control method, device, server and storage medium for performing precise collision prediction, avoiding over-protection problems, and improving logistics space utilization and logistics efficiency.

[0004] To achieve the above objectives, the present invention provides the following technical solutions:

[0005] In a first aspect, a method for controlling a moving object is provided, comprising: obtaining a moving object spatial dimension and an obstacle spatial dimension. The moving object spatial dimension is used to indicate the planar dimension of the moving object within each height range. The obstacle spatial dimension is used to indicate the planar dimension of the obstacle within each height range. Obstacles include other moving objects or stationary objects in front of the current path of the moving object. Based on the moving object spatial dimension and the obstacle spatial dimension, a collision prediction result between the moving object and the obstacle is determined. The collision prediction result is used to indicate whether the moving object will collide with the obstacle within at least one height range if the moving object maintains the current path. If the collision prediction result indicates that the moving object will collide with the obstacle within at least one height range, the moving object or the obstacle is instructed to perform an avoidance action.

[0006] Based on this, the server can make precise collision predictions between mobile objects and obstacles in various height ranges in the longitudinal space, avoiding the over-protection problem that is easily caused when using the overall maximum projection size as the protection space range for safe avoidance. It can fully utilize three-dimensional space resources during the movement of the mobile object, reduce unnecessary avoidance caused by over-protection problems, and improve logistics space utilization and logistics efficiency while avoiding collisions between mobile objects and obstacles.

[0007] In one possible implementation, the mobile object's spatial dimensions include at least one of the following: robot spatial dimensions, shelf spatial dimensions, and cargo spatial dimensions. The robot spatial dimensions indicate the planar dimensions of the robot within various height ranges. The shelf spatial dimensions indicate the planar dimensions of the shelf within various height ranges. The cargo spatial dimensions indicate the planar dimensions of the cargo within various height ranges. The robot is used to move the shelf. The shelf is used to place cargo.

[0008] In one possible implementation, obtaining the mobile body's spatial dimensions includes obtaining the robot's spatial dimensions and robot load information. The robot's load information indicates whether the robot is carrying a load. A load may include an empty shelf or a loaded shelf. If the robot is not carrying a load, the robot's spatial dimensions are determined to be the mobile body's spatial dimensions. If the robot is carrying a load, the mobile body's spatial dimensions are determined based on the robot's spatial dimensions and the load's dimensions.

[0009] In one possible implementation, a collision prediction result between a moving object and an obstacle is determined based on the spatial dimensions of the moving object and the spatial dimensions of the obstacle, including: determining a minimum center-to-center distance and two relative boundaries between the moving object and the obstacle. The minimum center-to-center distance represents the minimum distance between the geometric center of the moving object and the geometric center of the obstacle on the current path, projected on a horizontal plane. The two relative boundaries include a first boundary on the moving object facing the obstacle, and a second boundary on the obstacle facing the moving object. The collision prediction result between the moving object and the obstacle is determined based on the minimum center-to-center distance, the length of the first boundary indicated by the spatial dimensions of the moving object within various height ranges, and the length of the second boundary indicated by the spatial dimensions of the obstacle within various height ranges.

[0010] In one possible implementation, a collision prediction result between a moving object and an obstacle is determined based on the minimum center distance, the length of the first boundary indicated by the moving object's spatial dimensions within each height range, and the length of the second boundary indicated by the obstacle's spatial dimensions within each height range, including: determining a protection height range corresponding to any height range indicated by the moving object's spatial dimensions. The lower limit of the protection height range is equal to the lower limit of any height range minus the longitudinal safety distance, and the upper limit of the protection height range is equal to the upper limit of any height range plus the longitudinal safety distance. The collision prediction result between the moving object and the obstacle is determined based on the minimum center distance, the maximum planar length of the first boundary within any height range, and the maximum planar length of the second boundary within the protection height range.

[0011] In one possible implementation, the collision prediction result between the mobile body and the obstacle is determined based on the minimum center distance, the maximum plane length of the first boundary in any height range, and the maximum plane length of the second boundary in the protection height range, including: determining the safety center distance corresponding to any height range based on the maximum plane length of the first boundary in any height range and the maximum plane length of the second boundary in the protection height range. The safety center distance is equal to the sum of the lateral safety distance, half of the maximum plane length of the first boundary in any height range, and half of the maximum plane length of the second boundary in the protection height range. If the minimum center distance is greater than or equal to the safety center distance corresponding to any height range, it is determined that the mobile body collides with the obstacle in any height range. If the minimum center distance is less than the safety center distance corresponding to any height range, it is determined that the mobile body does not collide with the obstacle in any height range.

[0012] In a possible implementation, the method further includes: controlling the moving body to maintain moving along the current path when the collision prediction result indicates that the moving body does not collide with an obstacle within each height range.

[0013] In a second aspect, a mobile body control device is provided, comprising: an acquisition unit, a processing unit and a control unit.

[0014] The acquisition unit is configured to acquire the spatial dimensions of the moving object and the spatial dimensions of the obstacle. The spatial dimensions of the moving object indicate the planar dimensions of the moving object within various height ranges. The spatial dimensions of the obstacle indicate the planar dimensions of the obstacle within various height ranges. Obstacles include other moving objects or stationary objects in front of the moving object's current path.

[0015] The processing unit is configured to determine a collision prediction result between the mobile object and the obstacle based on the spatial dimensions of the mobile object and the spatial dimensions of the obstacle. The collision prediction result indicates whether the mobile object will collide with the obstacle within at least one height range if the mobile object maintains its current path.

[0016] The control unit is configured to instruct the moving body or the obstacle to perform an avoidance action when the collision prediction result indicates that the moving body collides with the obstacle within at least one height range.

[0017] In one possible implementation, the mobile object's spatial dimensions include at least one of the following: robot spatial dimensions, shelf spatial dimensions, and cargo spatial dimensions. The robot spatial dimensions indicate the planar dimensions of the robot within various height ranges. The shelf spatial dimensions indicate the planar dimensions of the shelf within various height ranges. The cargo spatial dimensions indicate the planar dimensions of the cargo within various height ranges. The robot is used to move the shelf. The shelf is used to place cargo.

[0018] In one possible implementation, the acquiring unit is specifically configured to acquire the robot's spatial dimensions and robot load information. The robot's load information indicates whether the robot is carrying a load. A load includes an empty shelf or a loaded shelf. If the robot is not carrying a load, the robot's spatial dimensions are determined to be the mobile's spatial dimensions. If the robot is carrying a load, the mobile's spatial dimensions are determined based on the robot's spatial dimensions and the load's dimensions.

[0019] In one possible implementation, the processing unit is specifically configured to determine a minimum center-to-center distance and two relative boundaries between the moving object and the obstacle. The minimum center-to-center distance represents the minimum distance between the geometric center of the moving object and the geometric center of the obstacle on a horizontal projection plane on the current path. The two relative boundaries include a first boundary on the moving object facing the obstacle and a second boundary on the obstacle facing the moving object. A collision prediction result between the moving object and the obstacle is determined based on the minimum center-to-center distance, the length of the first boundary indicated by the spatial dimensions of the moving object within various height ranges, and the length of the second boundary indicated by the spatial dimensions of the obstacle within various height ranges.

[0020] In one possible implementation, the processing unit is specifically configured to determine a protected height range corresponding to any height range indicated by the spatial dimensions of the moving object. The lower limit of the protected height range is equal to the lower limit of the height range minus the longitudinal safety distance, and the upper limit of the protected height range is equal to the upper limit of the height range plus the longitudinal safety distance. A collision prediction result between the moving object and the obstacle is determined based on the minimum center distance, the maximum planar length of the first boundary within any height range, and the maximum planar length of the second boundary within the protected height range.

[0021] In one possible implementation, the processing unit is specifically used to determine the safety center distance corresponding to any height range based on the maximum plane length of the first boundary in any height range and the maximum plane length of the second boundary in the protection height range. The safety center distance is equal to the sum of the lateral safety distance, half of the maximum plane length of the first boundary in any height range, and half of the maximum plane length of the second boundary in the protection height range. If the minimum center distance is greater than or equal to the safety center distance corresponding to any height range, it is determined that the moving body collides with the obstacle in any height range. If the minimum center distance is less than the safety center distance corresponding to any height range, it is determined that the moving body does not collide with the obstacle in any height range.

[0022] In a possible implementation, the control unit is further configured to control the moving body to maintain moving along the current path when the collision prediction result indicates that the moving body does not collide with an obstacle within any height range.

[0023] In a third aspect, a server is provided, comprising: a processor and a memory. The processor is connected to the memory, the memory is used to store computer-executable instructions, and the processor executes the computer-executable instructions stored in the memory, thereby implementing any one of the methods provided in the first aspect.

[0024] In a fourth aspect, a readable storage medium is provided, comprising computer-executable instructions. When the computer-executable instructions are executed on a server, the server executes any one of the methods provided in the first aspect.

[0025] In a fifth aspect, a computer program product is provided, comprising computer execution instructions, which, when executed on a server, cause the server to execute any one of the methods provided in the first aspect.

[0026] The technical effects brought about by any implementation method in the second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of the structure of a computer device provided in an embodiment of the present application;

[0028] Figure 2 A schematic flow chart of a mobile object control method provided in an embodiment of the present application;

[0029] Figure 3 A schematic diagram of the appearance of a mobile object provided in an embodiment of the present application;

[0030] Figure 4 A schematic diagram of a moving object driving scenario provided in an embodiment of the present application;

[0031] Figure 5 A schematic diagram of another moving object driving scenario provided in an embodiment of the present application;

[0032] Figure 6 A schematic structural diagram of a mobile object control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] In the description of this application, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships can exist. 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, "at least one" means one or more, and "a plurality" means two or more. Words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not limit them to be necessarily different.

[0034] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0035] First, in order to facilitate understanding of this application, the relevant elements involved in this application are described.

[0036] Shelves are used to hold objects and come into direct contact with the robot. In other words, the robot moves objects by moving the shelves. It should be understood that objects can also be referred to as materials or other names that indicate the objects being moved, without limitation.

[0037] Object size refers to the plane projection size of objects placed on the shelf at various height ranges.

[0038] Oversize means that the size of the objects placed on the shelf exceeds the size of the shelf itself.

[0039] Oversized shelves refer to shelves where objects that exceed their size are placed.

[0040] The protected space is the range of spatial dimensions within which an entity cannot be invaded within a certain height range. This entity can be a robot, a shelf, or an object; it can also be a shelf and an object placed on it; or it can be a robot and the shelf it is carrying.

[0041] Next, a brief introduction to the application scenarios involved in this application is given.

[0042] In automated logistics scenarios, robots need to move loads such as empty shelves or fully loaded shelves within the logistics area.

[0043] To prevent robots from colliding with other robots or objects during movement, objects placed on shelves are generally restricted to a certain size. In this case, the robot uses the shelf's maximum projected size as its safe avoidance area.

[0044] However, if the objects placed on the shelves are restricted to a certain size, given the diverse sizes of objects in logistics scenarios, shelves must be designed based on object size to accommodate all sizes. If all shelves are designed with a uniform size based on the largest object, this can lead to wasted shelf space when carrying smaller objects. Designing shelves of different sizes for different object sizes can lead to inconsistent shelf sizes, making management difficult.

[0045] Therefore, it's considered possible to not impose size restrictions on objects placed on shelves. In this case, when an object on a shelf exceeds its size, the maximum projected size of the object and the shelf is generally used as the safe avoidance space. However, this approach can underutilize the logistics space when dealing with objects of varying heights and sizes, potentially leading to over-protection issues.

[0046] For example, for an object that is smaller in the lower height range and larger in the higher height range, the robot will not collide with other robots or objects that invade the overall maximum projection size in the lower height range while carrying the object. If the overall maximum projection size is used as the protection space range for safe avoidance, it is easy to determine that the robot will collide with other robots or objects, resulting in inadequate utilization of logistics space. Moreover, in this case, the robot needs to safely avoid other robots or objects (such as taking a detour or pausing transportation, etc.), reducing logistics efficiency. Therefore, this method is difficult to support the realization of precise collision prediction.

[0047] To address the above-mentioned issues, an embodiment of the present application provides a method for controlling a mobile body, wherein a server can obtain the planar dimensions of a mobile body and an obstacle within various height ranges to further determine whether the mobile body collides with an obstacle within at least one height range while maintaining its current path. Furthermore, when the collision prediction results indicate that the mobile body collides with an obstacle within at least one height range, the server can instruct the mobile body or the obstacle to perform an avoidance action. Based on this, the server can perform precise collision predictions for the mobile body and the obstacle within various height ranges in the longitudinal space, avoiding the over-protection problem that is easily caused when using the overall maximum projection size as the protection space range for safe avoidance. This allows for full utilization of three-dimensional space resources during the mobile body's travel, reduces unnecessary avoidance caused by over-protection, and improves logistics space utilization and efficiency while avoiding collisions between the mobile body and the obstacle.

[0048] Next, a brief introduction is given to the implementation environment (implementation architecture) involved in this application.

[0049] The present invention provides a method for controlling a mobile object, which can be applied to a server in a robotic system. The server can be connected to each robot in the robotic system to centrally dispatch the robots.

[0050] The server can store the spatial dimensions of robots, shelves, and objects within the material area, and can manage the handling tasks of each robot. The server can identify the robot's load information based on the robot's handling tasks. Furthermore, the server can determine the spatial dimensions of the moving object formed by the robot and the load based on the robot's spatial dimensions and the load's spatial dimensions. Furthermore, the server can obtain the robot's position information through its connection with the robot to further identify obstacles such as robots, shelves, or objects located in the vicinity of the robot's current path, as well as the spatial dimensions of the obstacles. Furthermore, the server can perform collision predictions based on the moving object's spatial dimensions and the obstacles' spatial dimensions, allowing for accurate and timely control of the moving object for safe avoidance.

[0051] Optionally, the server can be a single physical or logical server, or it can be a server cluster. A server cluster can implement the various functions of the server by using two or more physical or logical servers that share different responsibilities and work together. Optionally, a server cluster can also be referred to as a computing device cluster. In some implementations, the server cluster can also be a distributed cluster. This application does not limit the form of the server.

[0052] The robot may have functions such as environmental perception and position measurement. For example, the robot may be equipped with sensors. These sensors can obtain information such as the robot's speed and direction. These sensors may include visual sensors, gyroscope sensors, and speed sensors. The visual sensor may be a monocular or binocular camera, used to capture images of the robot's surroundings. A gyroscope sensor can be used to determine the robot's motion posture. A speed sensor is used to measure the robot's speed. The embodiments of this application do not impose any restrictions on the specific form of the robot.

[0053] In terms of hardware implementation, the above server can be implemented as follows Figure 1 The hardware structure shown is implemented. Figure 1 , which is a structural diagram of a computer device provided in an embodiment of the present application.

[0054] Figure 1 The computer device shown may include: a processor 101 , a memory 102 , a communication interface 103 , and a bus 104 . The processor 101 , the memory 102 , and the communication interface 103 may be connected via the bus 104 .

[0055] The processor 101 is the control center of the computer device, and can be a general-purpose central processing unit (CPU) or other general-purpose processors, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0056] As an example, the processor 101 may include one or more CPUs, such as Figure 1 CPU 0 and CPU 1 are shown in Figure 1.

[0057] The memory 102 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0058] In one possible implementation, the memory 102 may exist independently of the processor 101. The memory 102 may be connected to the processor 101 via a bus 104 and used to store data, instructions, or program codes. When the processor 101 calls and executes the instructions or program codes stored in the memory 102, the mobile object control method provided in the embodiments of the present application can be implemented.

[0059] In another possible implementation, the memory 102 may also be integrated with the processor 101 .

[0060] Communication interface 103 is used to connect the computer device to other robots or central dispatch equipment via a communication network. The communication network can be Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. Communication interface 103 can include a receiving unit for receiving data and a transmitting unit for sending data.

[0061] The bus 104 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, Figure 1 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0062] It should be pointed out that Figure 1 The structure shown in the figure does not constitute a limitation on the computer equipment, except Figure 1 In addition to the components shown, a computer device may include more or fewer components than shown, or combine certain components, or arrange components differently.

[0063] For ease of understanding, the mobile object control method provided in this application is described in detail below with reference to the accompanying drawings.

[0064] like Figure 2 FIG. 1 is a flow chart of a mobile object control method provided by the present application. The method includes: S201-S203.

[0065] S201: Obtain the spatial size of the moving object and the spatial size of the obstacle.

[0066] The spatial size of the moving object is used to indicate the plane size of the moving object within each height range.

[0067] A mobile object is a whole that moves. For example, if a robot is unloaded, it can be considered a mobile object. Alternatively, if a robot is carrying a load, the whole of the robot and the load can be considered a mobile object.

[0068] The overall height of a moving object in three-dimensional space can be divided into multiple height ranges. These height ranges do not overlap. The planar dimensions of a moving object within a height range can be understood as the horizontal projection dimensions of the moving object as a whole, if the portion of the moving object within that height range is considered as a whole. The planar dimensions of a moving object within each height range refer to the horizontal projection dimensions of the moving object within each height range.

[0069] For example, the server can divide the overall height of the moving object in the three-dimensional space into multiple height ranges based on the planar dimensions of the moving object at each height. If the planar dimensions of the moving object at multiple consecutive heights are the same or similar, the server can divide the multiple consecutive heights into a single height range. In this way, the planar dimensions of the moving object at each height within a height range can be the same or similar, and two adjacent height ranges can have different planar dimensions, and two non-adjacent height ranges can have the same or different planar dimensions, thereby achieving a fine division of the spatial protection dimensions of the moving object, thereby supporting the implementation of fine-grained collision prediction.

[0070] Furthermore, the mobile object's spatial dimensions may include at least one of the following: robot spatial dimensions, shelf spatial dimensions, and cargo spatial dimensions. The robot spatial dimensions indicate the planar dimensions of the robot within various height ranges. The shelf spatial dimensions indicate the planar dimensions of the shelf within various height ranges. The cargo spatial dimensions indicate the planar dimensions of the cargo within various height ranges. Robots can be used to transport shelves. Shelves can be used to place cargo. For example, cargo can be pre-placed on shelves. Furthermore, robots can transport shelves by lifting or other means, enabling convenient and efficient cargo handling.

[0071] For example, if the robot is unloaded, meaning it is not carrying shelves or goods, then it can be considered a mobile object. In this case, the robot's spatial dimensions are the same as the mobile object's spatial dimensions.

[0072] For example, if a robot is carrying a load, such as a shelf and cargo, the robot, shelf, and cargo can be considered a single moving object. In this case, the server can determine the spatial dimensions of the moving object based on the robot's spatial dimensions, the shelf's spatial dimensions, and the cargo's spatial dimensions, allowing for more precise collision prediction during the moving object's movement.

[0073] Obstacles can include other moving objects or stationary objects in front of the moving object's current path. For example, an unloaded or loaded robot in motion or stopped in front of the moving object's current path. Another example is a stationary shelf in front of the moving object's current path. The obstacle space size indicates the planar dimensions of the obstacle within various height ranges.

[0074] In one possible implementation, a server can pre-store the spatial dimensions and positions of each shelf and object within the robot deployment area, as well as the spatial dimensions of each robot. Furthermore, the server can be connected to each robot to obtain the position of each robot in real time or periodically. Based on this, the server determines the spatial dimensions of the robot's corresponding moving object based on the robot's spatial dimensions, or further combined with the spatial dimensions of the shelf the robot is handling, or the spatial dimensions of the object on the shelf.

[0075] Furthermore, while controlling the robot to travel along its current path, the server can identify other robots, shelves, and / or objects in front of the robot's current path and determine that the other robots, shelves, and / or objects in front of the robot's current path are obstacles, thereby further reading pre-stored obstacle spatial dimensions. For example, the server can identify obstacles and determine the obstacle spatial dimensions using a vision module configured on the mobile object. The method for determining the obstacle spatial dimensions by the server can be understood by referring to the description of determining the spatial dimensions of the mobile object described above and is not further described here.

[0076] S202: Determine a collision prediction result between the moving object and the obstacle based on the moving object space size and the obstacle space size.

[0077] The collision prediction result is used to indicate whether the moving object will collide with an obstacle within at least one height range if the moving object keeps moving along the current path.

[0078] For example, the server may predict the position of the moving object on the current path where the distance between the moving object and the obstacle is the smallest, for example, the position of the moving object when the moving object is traveling side by side with the obstacle while maintaining the current path.

[0079] The server can then determine the distance between the mobile object and the obstacle at that location within each height range. If the distance between the mobile object and the obstacle within each height range is greater than or equal to the safe distance, it can indicate that a collision between the mobile object and the obstacle will not occur. The server can then determine that the collision prediction result between the mobile object and the obstacle is that a collision between the mobile object and the obstacle will not occur.

[0080] If the distance between the mobile object and the obstacle is less than the safe distance within any height range, it may indicate that a collision between the mobile object and the obstacle is likely. The server may then determine that the collision prediction result between the mobile object and the obstacle is that if the mobile object maintains the current path, the mobile object will collide with the obstacle within at least one height range.

[0081] S203: When the collision prediction result indicates that the moving object collides with an obstacle within at least one height range, instruct the moving object or the obstacle to perform an avoidance action.

[0082] The avoidance action may include stopping driving or switching to another path.

[0083] If the collision prediction results indicate that maintaining the current path will result in a collision with an obstacle within at least one height range, the server may instruct the mobile object to perform an avoidance maneuver to prevent a collision with the obstacle. For example, if the obstacle is a stationary object, the server may instruct the mobile object to change its path. Alternatively, if the obstacle is another moving object, the server may instruct the mobile object to pause and wait for the other object to move away.

[0084] Alternatively, if the obstacle is another moving object, the server may instruct the other moving object to perform an avoidance action to prevent the moving object from colliding with the obstacle. For example, the server may instruct the other moving object to switch paths.

[0085] In one embodiment, in the above S201, that is, when the server obtains the spatial size of the mobile object, the embodiment of the present application provides an optional implementation method, including: S2011-S2013.

[0086] S2011: Get robot space dimensions and robot load information.

[0087] The robot load information indicates whether the robot has a load. The load may include a shelf without goods or a shelf with goods.

[0088] In one possible implementation, when determining that the robot needs to be controlled to move, the server may read the pre-stored robot space dimensions and determine whether the robot needs to carry a load when moving.

[0089] For example, if the server identifies that the robot's current movement is triggered by a no-load scheduling task, it can determine that the robot's load information indicates that the robot is not carrying a load. A no-load scheduling task can be a task that schedules the robot to move to a first designated location while no-load. The designated location can be a charging station location, a material inbound location, or a material outbound location.

[0090] For another example, if the server identifies that the robot's current movement is triggered by a load-handling task, it may determine that the robot's load information indicates that the robot has a load. The load-handling task may be a task that schedules the robot to move the load to a second designated location. The load may be an empty shelf, and the second designated location may be a material entry location. Alternatively, the load may be a shelf with materials, and the second designated location may be a material exit location.

[0091] S2012: If the robot does not have a load, determine that the robot space size is the mobile body space size.

[0092] If the robot does not have a payload, the robot can be considered a mobile object. The server can determine the robot's spatial dimensions as the mobile object's spatial dimensions.

[0093] S2013: If the robot has a load, determine the space size of the moving body based on the space size of the robot and the size information of the load.

[0094] If the load is a shelf without goods placed on it, the size information of the load may include the shelf space size. If the load is a shelf with goods placed on it, the size information of the load may include the shelf space size and the goods space size.

[0095] If the robot is carrying a payload, the robot and payload together form a single mobile object. The server can read the payload's dimensions and determine the mobile object's dimensions based on the robot's dimensions and the payload's dimensions.

[0096] For example, Figure 3 , which is a schematic diagram of the appearance of a moving object provided in an embodiment of the present application. Figure 3 An example of the appearance of the robot, shelves and goods is shown in FIG. Figure 3 In the figure, the robot space size can be used to indicate the robot's planar dimensions from height 0 to height h, and from height h to height H0. The shelf space size can be used to indicate the shelf's planar dimensions from height 0 to height H1. The cargo space size can be used to indicate the cargo's planar dimensions from height 0 to height H2, from height H2 to height H3, and from height H3 to height H4.

[0097] In this case, the server can determine the plane size of the robot from height 0 to height h as Figure 3 The plane size of the moving body from height 0 to height h, the plane size of the shelf from height 0 to height H1 is determined as Figure 3 The plane dimensions of the moving body from height h to height h+H1, and the plane dimensions of the cargo from height 0 to height H2 are determined as Figure 3 The plane dimensions of the moving body at height h+H1 to height h+H1+H2, and the plane dimensions of the cargo at height H2 to height H3 are determined as Figure 3 The plane dimensions of the moving body at heights h+H1+H2 to h+H1+H3, and the plane dimensions of the cargo at heights H3 to H4 are determined as Figure 3 The plane dimensions of the moving body at heights h+H1+H3 to h+H1+H4 are determined, and the plane dimensions of the moving body above height h+H1+H4 are determined to be zero, thereby obtaining the spatial dimensions of the moving body.

[0098] In a possible embodiment, in the above S201, that is, when the server obtains the obstacle space size, the embodiment of the present application provides an optional implementation method, including: S2014-S2015.

[0099] S2014: Identify obstacles ahead of the current path of the moving object.

[0100] S2015: Determine an object space size corresponding to the obstacle among the multiple object space sizes as the obstacle space size.

[0101] The multiple object space dimensions may include multiple shelf space dimensions, multiple cargo space dimensions, and multiple robot space dimensions recorded by the server.

[0102] For example, the server can pre-record the spatial dimensions of each shelf and each piece of cargo within the mobile body's activity area, and can update the spatial dimensions of both unladen and loaded robots within the mobile body's activity area in real time. In this way, the server can use the mobile body's vision module to identify the identity information (such as an identification code) of the obstacle ahead and match it with the spatial dimensions of multiple objects to determine the obstacle's spatial dimensions.

[0103] In an optional embodiment, in the above S202, that is, when the server determines the collision prediction result between the mobile body and the obstacle based on the spatial size of the mobile body and the spatial size of the obstacle, the embodiment of the present application provides an optional implementation method, including: S2021-S2022.

[0104] S2021: Determine the minimum center distance and two relative boundaries between the moving object and the obstacle.

[0105] The minimum center distance represents the minimum distance between the geometric center of the moving object and the geometric center of the obstacle on the current path, projected on a horizontal plane. For example, the minimum center distance can be the minimum distance between the geometric centers of the moving object and the obstacle when the moving object is traveling side by side on the current path, projected on a horizontal plane.

[0106] The two opposing boundaries include a first boundary on the moving object facing the obstacle, and a second boundary on the obstacle facing the moving object. For example, the first boundary on the moving object facing the obstacle during travel may be a side of the minimum bounding rectangle of the robot that is perpendicular to the robot's travel direction. The second boundary on the obstacle facing the moving object may be a side of the minimum bounding rectangle of the obstacle that is perpendicular to the robot's travel direction.

[0107] S2022: Determine a collision prediction result between the moving object and the obstacle based on the minimum center distance, the length of the first boundary indicated by the moving object space size within each height range, and the length of the second boundary indicated by the obstacle space size within each height range.

[0108] For example, the server may arbitrarily select a height range from the various height ranges indicated by the moving object's spatial size as the first height range. Furthermore, the server may determine the length of the first boundary of the moving object's spatial size indication within the first height range, and the length of the second boundary of the obstacle's spatial size indication within the first height range.

[0109] Furthermore, the server may determine the sum of the lengths of the first boundary and the second boundary between the geometric center of the moving object and the geometric center of the obstacle, and determine whether the sum of the lengths of the first boundary and the second boundary between the geometric centers of the moving object and the obstacle is greater than or equal to the minimum center distance. If the sum of the lengths of the first boundary and the second boundary between the geometric centers of the moving object and the obstacle is greater than or equal to the minimum center distance, the server may determine that the moving object and the obstacle will collide within the first height range. If the sum of the lengths of the first boundary and the second boundary between the geometric centers of the moving object and the obstacle is less than the minimum center distance, the server may determine that the moving object and the obstacle will not collide within the first height range.

[0110] For example, the geometric center of the moving object on the horizontal projection plane can be located on the centerline of the first boundary, and the geometric center of the obstacle on the horizontal projection plane can be located on the centerline of the second boundary. In this case, the sum of the lengths of the first boundary and the second boundary between the two geometric centers can be half the sum of the length of the first boundary within the first height range and the length of the second boundary within the first height range.

[0111] In an optional embodiment, in the above S2022, that is, when the server determines the collision prediction result between the moving body and the obstacle based on the minimum center distance, the length of the first boundary indicated by the spatial size of the moving body within each height range, and the length of the second boundary indicated by the spatial size of the obstacle within each height range, the embodiment of the present application provides an optional implementation method, including: S20221-S20222.

[0112] S20221: Determine a protection height range corresponding to any height range indicated by the spatial dimensions of the moving object.

[0113] The lower limit of the protected height range is equal to the lower limit of any height range minus the longitudinal safety distance. The upper limit of the protected height range is equal to the upper limit of any height range plus the longitudinal safety distance. The longitudinal safety distance is the required longitudinal distance between the moving object and the obstacle to avoid collision.

[0114] In order to ensure that the mobile body maintains a safe distance from obstacles in the longitudinal direction in a dynamic environment, the server can determine the protection height range corresponding to each height range in the various height ranges indicated by the spatial dimensions of the mobile body, so as to accurately predict whether the mobile body will collide with obstacles in each height range.

[0115] S20222: Determine a collision prediction result between the moving object and the obstacle based on the minimum center distance, the maximum plane length of the first boundary within any height range, and the maximum plane length of the second boundary within the protection height range.

[0116] After determining the protection height range corresponding to any height range indicated by the spatial dimension of the moving object, the server may further determine the maximum plane length of the second boundary within the protection height range based on the length of the second boundary indicated by the spatial dimension of the obstacle within each height range.

[0117] For example, the obstacle spatial dimensions may indicate the planar length of the second boundary from height 0 to height Ha, the planar length of the second boundary from height Ha to height Hb, and the planar length of the second boundary from height Hb to height Hc. Furthermore, the protected altitude range corresponding to any altitude range indicated by the moving object spatial dimensions may be from height Ha to height Hc. The server may then determine the maximum planar length of the second boundary within the protected altitude range from Ha to Hc based on the planar length of the second boundary from height Ha to height Hb and the planar length of the second boundary from height Hb to height Hc indicated by the obstacle spatial dimensions.

[0118] In this way, the server can determine whether the sum of the lengths of the first boundary and the second boundary between the geometric centers of the moving object and the obstacle is greater than or equal to the minimum center distance based on the minimum center distance, the maximum plane length of the first boundary within any height range, and the maximum plane length of the second boundary within the protection height range, so as to obtain the collision prediction result between the moving object and the obstacle.

[0119] In an optional embodiment, in the above S20222, that is, when the server determines the collision prediction result between the mobile object and the obstacle based on the minimum center distance, the maximum plane length of the first boundary within any height range, and the maximum plane length of the second boundary within the protection height range, the embodiment of the present application provides an optional implementation method, including: steps a-c.

[0120] Step a: Determine the safety center distance corresponding to any height range based on the maximum plane length of the first boundary within any height range and the maximum plane length of the second boundary within the protection height range.

[0121] The safe center distance is the sum of the lateral safety clearance, half the maximum planar length of the first boundary within any height range, and half the maximum planar length of the second boundary within the protected height range. The safe center distance represents the safe distance required between the geometric center of the moving object and the geometric center of the obstacle to prevent a collision between the moving object and the obstacle.

[0122] The lateral safety distance is the safe distance required laterally between a moving object and an obstacle to avoid collision.

[0123] Step b: If the minimum center distance is greater than or equal to the safety center distance corresponding to any height range, it is determined that the moving object collides with the obstacle in any height range.

[0124] Step c: If the minimum center distance is less than the safety center distance corresponding to any height range, it is determined that the moving object does not collide with the obstacle in any height range.

[0125] For example, Figure 4 The figure shows a schematic diagram of a moving object driving scenario provided by an embodiment of the present application. There is a lateral spacing, longitudinal spacing, and center distance between two moving objects as shown in the figure. If the lateral spacing between the two moving objects is greater than or equal to the lateral safety spacing, and the longitudinal spacing is greater than or equal to the longitudinal safety spacing, the two moving objects will not collide.

[0126] For example, assume that the minimum center distance between the moving object and the obstacle is S, the lateral safety distance is D, and the longitudinal safety distance is Z.

[0127] If the spatial size of the moving body indicates that the maximum plane length of the first boundary at height 0 to height Ha is L1. The server can determine that the protection height range corresponding to the height 0 to height Ha indicated by the spatial size of the moving body is height 0 to height Ha+Z, and can further determine that the maximum plane length of the second boundary at height 0 to height Ha+Z is L2 based on the spatial size of the obstacle. In this case, the safety center distance between the moving body and the obstacle is (L1+L2) / 2+D. If S≥(L1+L2) / 2+D, the server can determine that there will be no collision between the moving body and the obstacle at height 0 to height Ha. If S<(L1+L2) / 2+D, the server can determine that a collision will occur between the moving body and the obstacle at height 0 to height Ha.

[0128] If the spatial size of the moving body indicates that the maximum plane length of the first boundary at height Ha to height Hb is L3. The server can determine that the protection height range corresponding to the height Ha to height Hb indicated by the spatial size of the moving body is height Ha-Z to height Hb+Z, and can further determine that the maximum plane length of the second boundary at height Ha-Z to height Hb+Z is L4 based on the spatial size of the obstacle. In this case, the safety center distance between the moving body and the obstacle is (L3+L4) / 2+D. If S≥(L3+L4) / 2+D, the server can determine that there will be no collision between the moving body and the obstacle at height Ha to height Hb. If S<(L3+L4) / 2+D, the server can determine that a collision will occur between the moving body and the obstacle at height Ha to height Hb.

[0129] Based on this, the server can determine whether there is interference between the moving body and the obstacle in each height range by obtaining the planar dimensions of the moving body and the obstacle in each height range, thereby achieving comprehensive consideration of the horizontal space and vertical space in the three-dimensional logistics space, and reasonably setting up the moving body collision protection space. While avoiding collisions during cargo handling, it improves the overall utilization rate of the three-dimensional logistics space.

[0130] In one embodiment, the mobile object control method provided in the embodiment of the present application further includes: S301.

[0131] S301: When the collision prediction result indicates that the moving object does not collide with an obstacle in any height range, the moving object is controlled to maintain moving along the current path.

[0132] For example, Figure 5 , which is a schematic diagram of another moving object driving scenario provided in an embodiment of the present application. Figure 5 The obstacle shown by a in FIG. 1 is a shelf. Figure 5 The obstacle shown by b in FIG. 1 is a shelf carrying goods. Figure 5 The obstacle shown in c is a robot that moves shelves and goods.

[0133] The server can make precise collision predictions between the moving object and the obstacle in different height ranges based on the plane dimensions of the moving object and the obstacle in different height ranges. Figure 5 In the scenarios a, b, and c shown in Figure 1, the server accurately predicts that the moving object and the obstacle will not collide at all height ranges, eliminating the need for avoidance. However, if the server were to predict collisions based on the maximum projected size of the moving object and obstacle, it would incorrectly determine that a collision would occur, reducing traffic efficiency.

[0134] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the method. It is understandable that, in order to realize the above functions, the server includes at least one of the hardware structure and software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, 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 personnel 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.

[0135] The embodiment of the present application can divide the server into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical functional division. In actual implementation, there may be other division methods.

[0136] For example, Figure 6 FIG2 shows a schematic diagram of the structure of a mobile control device. The mobile control device 20 can be used to execute the method involved in the above embodiment. The mobile control device 20 includes: an acquisition unit 401, a processing unit 402 and a control unit 403.

[0137] Acquisition unit 401 is configured to acquire the spatial dimensions of the moving object and the spatial dimensions of the obstacle. The spatial dimensions of the moving object indicate the planar dimensions of the moving object within various height ranges. The spatial dimensions of the obstacle indicate the planar dimensions of the obstacle within various height ranges. Obstacles include other moving objects or stationary objects in front of the moving object's current path.

[0138] The processing unit 402 is configured to determine a collision prediction result between the mobile object and the obstacle based on the spatial dimensions of the mobile object and the spatial dimensions of the obstacle. The collision prediction result indicates whether the mobile object will collide with the obstacle within at least one height range if the mobile object maintains the current path.

[0139] The control unit 403 is configured to instruct the moving object or the obstacle to perform an avoidance action when the collision prediction result indicates that the moving object collides with an obstacle within at least one height range.

[0140] In one possible embodiment, the mobile object's spatial dimensions include at least one of the following: robot spatial dimensions, shelf spatial dimensions, and cargo spatial dimensions. The robot spatial dimensions indicate the planar dimensions of the robot within various height ranges. The shelf spatial dimensions indicate the planar dimensions of the shelf within various height ranges. The cargo spatial dimensions indicate the planar dimensions of the cargo within various height ranges. The robot is used to move the shelf. The shelf is used to place cargo.

[0141] In one possible embodiment, the acquisition unit 401 is specifically configured to acquire the robot's spatial dimensions and robot load information. The robot's load information indicates whether the robot is carrying a load. A load includes an empty shelf or a loaded shelf. If the robot is not carrying a load, the robot's spatial dimensions are determined to be the mobile's spatial dimensions. If the robot is carrying a load, the mobile's spatial dimensions are determined based on the robot's spatial dimensions and the load's dimensions.

[0142] In one possible embodiment, processing unit 402 is specifically configured to determine a minimum center-to-center distance and two relative boundaries between the moving object and the obstacle. The minimum center-to-center distance represents the minimum distance between the geometric center of the moving object and the geometric center of the obstacle on a horizontal projection plane on the current path. The two relative boundaries include a first boundary on the moving object facing the obstacle and a second boundary on the obstacle facing the moving object. A collision prediction result between the moving object and the obstacle is determined based on the minimum center-to-center distance, the length of the first boundary indicated by the spatial dimensions of the moving object within various height ranges, and the length of the second boundary indicated by the spatial dimensions of the obstacle within various height ranges.

[0143] In one possible embodiment, processing unit 402 is specifically configured to determine a protected height range corresponding to any height range indicated by the spatial dimensions of the moving object. The lower limit of the protected height range is equal to the lower limit of the height range minus the longitudinal safety distance, and the upper limit of the protected height range is equal to the upper limit of the height range plus the longitudinal safety distance. A collision prediction result between the moving object and the obstacle is determined based on the minimum center distance, the maximum planar length of the first boundary within any height range, and the maximum planar length of the second boundary within the protected height range.

[0144] In a possible embodiment, the processing unit 402 is specifically used to determine the safety center distance corresponding to any height range based on the maximum plane length of the first boundary in any height range and the maximum plane length of the second boundary in the protection height range. The safety center distance is equal to the sum of the lateral safety distance, half of the maximum plane length of the first boundary in any height range, and half of the maximum plane length of the second boundary in the protection height range. If the minimum center distance is greater than or equal to the safety center distance corresponding to any height range, it is determined that the moving body collides with the obstacle in any height range. If the minimum center distance is less than the safety center distance corresponding to any height range, it is determined that the moving body does not collide with the obstacle in any height range.

[0145] In a possible embodiment, the control unit 403 is further configured to control the moving body to maintain moving along the current path when the collision prediction result indicates that the moving body does not collide with an obstacle within any height range.

[0146] For the detailed description of the above optional methods, please refer to the above method embodiments, which will not be repeated here. In addition, the explanation and description of the beneficial effects of any of the above mobile object control devices 20 can refer to the above corresponding method embodiments, which will not be repeated here.

[0147] As an example, combined with Figure 1 , Figure 6The functions of the acquisition unit 401, the processing unit 402 and the control unit 403 of the mobile body control device 20 can be partially or completely realized by Figure 1 Processor 101 executes Figure 1 The program code in the memory 102 is implemented.

[0148] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is run on a server, the server executes any of the methods executed by the server provided above.

[0149] For explanations of the relevant contents and descriptions of the beneficial effects of any of the computer-readable storage media provided above, reference may be made to the corresponding embodiments described above, and no further details will be given here.

[0150] The present application also provides a computer program product comprising instructions that, when executed on a server, cause the server to perform any of the methods described in the above embodiments. The computer program product comprises one or more computer instructions. When the computer program instructions are loaded and executed on the server, the process or functionality according to the present application is fully or partially generated.

[0151] It should be noted that the above-mentioned devices for storing computer instructions or computer programs provided in the embodiments of the present application, such as but not limited to the above-mentioned memories, computer-readable storage media, etc., are all non-transitory.

[0152] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using a software program, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a server, the processes or functions according to the embodiments of the present application are generated in whole or in part.

[0153] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0154] Although the present application has been described with reference to specific features and embodiments thereof, it is apparent 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 illustrative of the present application as defined by the appended claims and are deemed to cover 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, the present application is intended to include such modifications and variations as fall within the scope of the claims of the present application and their equivalents.

Claims

1. A mobile object control method, characterized in that: include: Obtain the spatial dimensions of the moving object and the spatial dimensions of the obstacle; The spatial size of the moving object is used to indicate the plane size of the moving object within each height range; The obstacle spatial size is used to indicate the planar size of the obstacle within each height range; the obstacle includes other moving objects or stationary objects in front of the current path of the moving object; determining a collision prediction result between the mobile object and the obstacle based on the spatial size of the mobile object and the spatial size of the obstacle; the collision prediction result indicating whether the mobile object will collide with the obstacle within at least one height range if the mobile object maintains the current path; When the collision prediction result indicates that the moving object collides with the obstacle within at least one height range, the moving object or the obstacle is instructed to perform an avoidance action.

2. The method according to claim 1, characterized in that The mobile body space size includes at least one of the following: robot space size, shelf space size and cargo space size; the robot space size is used to indicate the plane size of the robot within each height range; the shelf space size is used to indicate the plane size of the shelf within each height range; the cargo space size is used to indicate the plane size of the cargo within each height range; the robot is used to carry the shelf; and the shelf is used to place the cargo.

3. The method according to claim 2, characterized in that The obtaining of the spatial size of the moving object includes: Acquiring the robot space size and robot load information; the robot load information is used to indicate whether the robot has a load; the load includes a shelf without goods or a shelf with goods; If the robot does not have a load, determining the robot space size to be the mobile body space size; If the robot has a load, the space size of the moving body is determined based on the space size of the robot and the size information of the load.

4. The method according to claim 1, wherein The determining, based on the spatial size of the moving object and the spatial size of the obstacle, a collision prediction result between the moving object and the obstacle includes: determining a minimum center distance and two relative boundaries between the moving object and the obstacle; the minimum center distance being used to represent the minimum distance between the geometric center of the moving object and the geometric center of the obstacle on the current path, on a horizontal projection plane; the two relative boundaries comprising a first boundary on the moving object facing the obstacle, and a second boundary on the obstacle facing the moving object; A collision prediction result between the moving object and the obstacle is determined based on the minimum center distance, the length of the first boundary indicated by the moving object space size in each height range, and the length of the second boundary indicated by the obstacle space size in each height range.

5. The method according to claim 4, characterized in that The determining, based on the minimum center distance, the length of the first boundary within each height range indicated by the spatial size of the moving object, and the length of the second boundary within each height range indicated by the spatial size of the obstacle, a collision prediction result between the moving object and the obstacle includes: Determine a protection height range corresponding to any height range indicated by the spatial dimension of the mobile object; the lower limit of the protection height range is equal to the lower limit of the any height range minus the longitudinal safety distance, and the upper limit of the protection height range is equal to the upper limit of the any height range plus the longitudinal safety distance; A collision prediction result between the moving object and the obstacle is determined according to the minimum center distance, the maximum plane length of the first boundary within any height range, and the maximum plane length of the second boundary within the protection height range.

6. The method according to claim 5, characterized in that The determining, based on the minimum center distance, the maximum plane length of the first boundary within any height range, and the maximum plane length of the second boundary within the protection height range, a collision prediction result between the mobile object and the obstacle includes: Determine a safety center distance corresponding to any height range based on the maximum planar length of the first boundary within any height range and the maximum planar length of the second boundary within the protection height range; the safety center distance is equal to the sum of the lateral safety spacing, one-half of the maximum planar length of the first boundary within any height range, and one-half of the maximum planar length of the second boundary within the protection height range; If the minimum center distance is greater than or equal to the safety center distance corresponding to any one of the height ranges, it is determined that the moving object collides with the obstacle within the any one of the height ranges; If the minimum center distance is less than the safety center distance corresponding to any height range, it is determined that the moving object does not collide with the obstacle within any height range.

7. The method according to claim 1, characterized in that The method further comprises: When the collision prediction result indicates that the moving object does not collide with the obstacle in each height range, the moving object is controlled to maintain the current path.

8. A mobile body control device, characterized in that: include: Acquisition unit, processing unit and control unit; The acquisition unit is used to acquire the spatial size of the moving object and the spatial size of the obstacle; The moving object spatial size is used to indicate the plane size of the moving object within various height ranges; the obstacle spatial size is used to indicate the plane size of the obstacle within various height ranges; the obstacle includes other moving objects or stationary objects in front of the current path of the moving object; The processing unit is configured to determine a collision prediction result between the mobile object and the obstacle based on the spatial size of the mobile object and the spatial size of the obstacle; the collision prediction result is configured to indicate whether the mobile object will collide with the obstacle within at least one height range if the mobile object maintains the current path; The control unit is configured to instruct the moving object or the obstacle to perform an avoidance action when the collision prediction result indicates that the moving object collides with the obstacle within at least one height range.

9. A server, characterized in that: include: processor; The processor is connected to a memory, the memory is used to store computer-executable instructions, and the processor executes the computer-executable instructions stored in the memory, so that the server implements the method according to any one of claims 1 to 7.

10. A readable storage medium, characterized in that: Used to store computer instructions, which, when executed on a server, cause the server to execute the method according to any one of claims 1 to 7.

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