Control method and apparatus of mobile device, and electronic device

Abstract

Embodiments of the present disclosure provide a control method and device of a mobile device and an electronic device, and relate to the field of intelligent warehousing. The method comprises: determining a following mode of a second mobile device following a first mobile device according to at least one of position information, path information and environment information of the first mobile device and / or the second mobile device, the first mobile device being located at a front side of a moving direction of the second mobile device; and sending a target moving point to the second mobile device based on the following mode, so that the second mobile device moves to the target moving point. The second mobile device can follow the first mobile device, the second mobile device can start and accelerate in advance, the waiting time of the mobile device is reduced, and the working efficiency of the mobile device is improved.

Description

Technical Field

[0001] This disclosure relates to the field of control technology, and in particular to a control method, apparatus, and electronic device for a mobile device. Background Technology

[0002] The Robot Management System (RMS) controls robot movement by issuing waiting points. Conventional following methods cannot achieve close-range following, and the robot following behind needs to execute the following action based on the waiting points issued by the robot in front. The robot starts and accelerates late, resulting in problems such as long waiting time and low work efficiency. Summary of the Invention

[0003] This disclosure provides a control method, apparatus, and electronic device for a mobile device. The following technical solutions are disclosed in this disclosure:

[0004] A first aspect of this disclosure provides a control method for a mobile device, the method comprising: determining a following mode of the second mobile device following the first mobile device based on at least one of location information, path information, and environmental information of a first mobile device and / or a second mobile device, wherein the first mobile device is located in front of the second mobile device in the direction of movement; and sending a target movement point to the second mobile device based on the following mode, so that the second mobile device moves to the target movement point.

[0005] In some embodiments, sending a target mobile point to a second mobile device based on a follow-up method includes: sending the target mobile point to the second mobile device in advance, provided that the envelope of the first mobile device has not left the target mobile point, based on a follow-up method.

[0006] In some embodiments, determining the following mode of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device includes: determining whether a first condition is met based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device; and determining the following mode if the first condition is met.

[0007] In some embodiments, determining the following mode when a first condition is met includes: when the first condition is met, determining whether a second condition is met based on the location information of the first mobile device and / or the second mobile device; when the second condition is met, determining that the following mode of the second mobile device following the first mobile device is a first following mode, wherein the second condition includes: the first mobile device has reached a first moving point, and the first moving point is a moving point currently covered by the envelope of the first mobile device.

[0008] In some embodiments, sending a target movement point to a second mobile device based on a follow-up method includes: sending a first movement point as the target movement point to the second mobile device, wherein the second mobile device activates an automatic obstacle avoidance function while moving to the target movement point.

[0009] In some embodiments, determining the following mode when a first condition is met includes: when the first condition is met, determining whether a third condition is met based on the location information of the first mobile device and / or the second mobile device; when the third condition is met, determining that the following mode of the second mobile device following the first mobile device is a second following mode, wherein the third condition includes: the following mode of the first mobile device following the third mobile device is not a second following mode, the first mobile device and the second mobile device are in the same direction, the first mobile device is not in a turning state, and the third mobile device is located in front of the first mobile device in the direction of movement.

[0010] In some embodiments, sending a target mobile point to a second mobile device based on a follow-up method includes: dividing the road segment between the back end of the first mobile device and the front end of the second mobile device into multiple segments, each segment having a length less than the length of a base road segment, the base road segment being the road segment between two adjacent mobile points; selecting the segment farthest from the second mobile device among the multiple segments as the target segment; and sending the center point of the target segment as the target mobile point to the second mobile device.

[0011] In some embodiments, sending a target mobile point to a second mobile device based on a follow-up method includes: dividing the road segment between the front end of the first mobile device and the front end of the second mobile device into multiple segments, each segment having a length less than the length of a base road segment, the base road segment being the road segment between two adjacent mobile points; designating the segment furthest from the second mobile device among the multiple segments as the target segment; sending the center point of the target segment as the target mobile point to the second mobile device, the target segment having an overlapping area with the envelope of the first mobile device; and activating automatic obstacle avoidance function on the second mobile device while moving to the target mobile point.

[0012] In some embodiments, determining the following mode when a first condition is met includes: when the first condition is met, determining whether a fourth condition is met based on the location information of the first mobile device and / or the second mobile device; when the fourth condition is met, determining that the following mode of the second mobile device following the first mobile device is a third following mode, wherein the fourth condition includes: the envelope of the first mobile device has left the second moving point, and when the second moving point is assigned as the target moving point to the second mobile device, the envelopes of the first mobile device and the second mobile device do not overlap.

[0013] In some embodiments, sending a target movement point to a second mobile device based on a follow-up method includes: sending the second movement point as a target movement point to the second mobile device, wherein the second movement point is the first movement point behind the first mobile device.

[0014] In some embodiments, the first condition includes at least one of the following: the type of the second mobile device conforms to a preset type; the movement point on the road segment between the first and second mobile devices is not currently occupied by a third mobile device or an obstacle; the movement point on the road segment between the first and second mobile devices is not occupied by a third mobile device or an obstacle when the second mobile device moves to the movement point; the second mobile device and / or the first mobile device are not in a deadlock loop, where mobile devices in the deadlock loop mutually occupy movement points required by other mobile devices; the first mobile device has been assigned a new movement point; the envelope of the first mobile device reaching the new movement point does not overlap with the envelope of the second mobile device reaching the target movement point; the first movement path of the first mobile device and the second movement path of the second mobile device conform to the path condition; the first mobile device has reached the movement point required by the second mobile device; the first mobile device is not at a turning point, which is used for the mobile device to turn the transported shelf.

[0015] In some embodiments, the path conditions include at least one of the following: both the first and second movement paths are straight lines, and the first and second movement paths are in the same direction; the first movement path is a straight line, the second movement path is a turning arc, the movement direction of the first movement path is the same as the movement direction of the second movement path before or after the turn, and the paths do not overlap, and the starting point or ending point of the first movement path is different from the starting point or ending point of the second movement path; the second movement path is a straight line, the first movement path is a turning arc, the first movement path overlaps with the first movement path before the turn, or if the ending point of the second movement path overlaps with the turning point of the first movement path, then the following continues after the first movement path completes the turn; the first movement path, the second movement path... All movement paths are curved curves. The curved curves of the first and second movement paths coincide, or the starting point of the first movement path's turn coincides with the ending point of the second movement path's turn. Alternatively, if the ending point of the second movement path after its turn coincides with the turning point of the first movement path, then the device continues to follow after the first movement path completes its turn. If the first movement path is a straight line and the second movement path is a U-turn curved curve, the starting point of the first movement path coincides with the ending point of the second movement path after its U-turn, or the first movement device has already left the starting point of the first movement path before the second movement device makes its U-turn along the second movement path. If the second movement path is a straight line and the first movement path is a U-turn curved curve, the first movement path is in the same direction as the second movement path before the U-turn. If the first movement path is a U-turn curved curve... The second movement path is a turning arc, and the movement direction of the first movement path before the turn is the same as the movement direction of the second movement path after the turn; the second movement path is a turning arc, and the first movement path is a turning arc, and the movement direction of the second movement path after the turn is the same as the movement direction of the second movement path before the turn, or if the second movement path coincides with the first movement path during the turn, then it continues to follow after the first movement path completes the turn; both the first and second movement paths are turning arcs, the first and second movement paths coincide, or the starting point of the turn in the first movement path coincides with the ending point of the turn in the second movement path; the first movement path is a turning arc, and the second movement path is an obstacle avoidance arc, and the ending point of the second movement path coincides with the first... If the starting points of the U-turns on the movement paths coincide, or if the ending points of the U-turns on the first movement path coincide with the ending points of the obstacle avoidance on the second movement path, then continue following after the U-turn on the first movement path is completed; if the second movement path is a U-turn arc and the first movement path is an obstacle avoidance arc, and the ending point of the U-turn on the second movement path coincides with the starting point of the obstacle avoidance on the first movement path; if the first movement path is a straight line and the second movement path is an obstacle avoidance arc, and the ending point of the obstacle avoidance on the second movement path coincides with the starting point of the first movement path, or the second movement path is in the same direction as the first movement path before obstacle avoidance; if the second movement path is a straight line and the first movement path is an obstacle avoidance arc, and the ending point of the second movement path coincides with the starting point of the first movement path, or the starting point of the second movement path coincides with the starting point of the first movement path.The first movement path is an obstacle avoidance arc, and the second movement path is a turning arc, with the end point of the second movement path coinciding with the start point of the first movement path; or the second movement path is an obstacle avoidance arc, the first movement path is a turning arc, and the end point of the second movement path coincides with the start point of the first movement path, or the direction of the second movement path after obstacle avoidance is the same as the direction of the first movement path after turning; or both the first and second movement paths are obstacle avoidance arcs, and the end point of the second movement path coincides with the start point of the first movement path.

[0016] In some embodiments, the method further includes: after determining the following mode, monitoring the status of the first mobile device and / or the second mobile device in real time; and updating the following mode according to the status of the first mobile device and / or the second mobile device.

[0017] In some embodiments, the following mode is updated according to the state of the first mobile device and / or the second mobile device, including at least one of the following: when the following mode is the second following mode and the state of the first mobile device changes from not following to following, the second following mode is updated to the third following mode; when the following mode is the first following mode and the second mobile device detects an obstacle or detects that the distance to the first mobile device is less than a preset distance after the second mobile device has enabled the automatic obstacle avoidance function, the first following mode is updated to the third following mode.

[0018] In some embodiments, the method further includes sending a follow instruction to a second mobile device and / or a first mobile device, the follow instruction being used to indicate whether the follow function of the second mobile device and / or the first mobile device is turned on or off.

[0019] In some embodiments, the follow instruction is sent to the second mobile device and / or the first mobile device via a first field in the path instruction message, the path instruction message including a path planned by the first system for the second mobile device and / or the first mobile device.

[0020] A second aspect of this disclosure provides a method for controlling a mobile device, the method comprising: receiving a target movement point sent by a first system, the target movement point corresponding to a following mode determined by the first system based on at least one of location information, path information, and environmental information of a first mobile device and / or a second mobile device, wherein the first mobile device is located in front of the movement direction of the second mobile device; and moving to the target movement point.

[0021] In some embodiments, receiving the target mobile point sent by the first system includes: receiving the target mobile point sent in advance by the first system in a follow mode, provided that the envelope of the first mobile device has not left the target mobile point.

[0022] In some embodiments, moving to a target mobile point includes at least one of the following: in a first following mode, moving to a first mobile point and activating automatic obstacle avoidance during the movement to the first mobile point, wherein the first mobile point is a mobile point currently covered by the envelope of the first mobile device; in a second following mode, moving to the center point of a target segment, wherein the target segment is the segment furthest from the second mobile device among multiple segments, wherein the multiple segments are obtained by dividing the road segment between the rear end of the first mobile device and the front end of the second mobile device, and the length of each segment is less than the length of the basic road segment, wherein the basic road segment is the road segment between two adjacent mobile points; in a third following mode, moving to a second mobile point, wherein the second mobile point is the first mobile point behind the first mobile device.

[0023] In some embodiments, the method further includes: receiving a follow instruction; and in response to the follow instruction, enabling or disabling the follow function.

[0024] In some embodiments, the follow instruction is indicated by a first field in a path instruction message, which includes a path planned by the first system for the second mobile device and / or the first mobile device.

[0025] In some embodiments, the method further includes: when the follow function is turned off and an obstacle is detected, decelerating to a first speed and stopping at a first distance in front of the obstacle; when the follow function is turned on and an obstacle is detected, continuing to travel at the original speed and stopping at a second distance in front of the obstacle, the second distance being less than the first distance.

[0026] In some embodiments, in the area follow mode, the second distance is a fixed value; or in the full scene follow mode, the second distance is equal to the length of the mobile device minus the width of the mobile device.

[0027] In some embodiments, when the mobile device is a second mobile device and the model type of the mobile device is a preset model type, the speed of the first mobile device is determined; based on the speed of the first mobile device, the speed of the second mobile device is adjusted so that the second mobile device can achieve automatic obstacle avoidance function.

[0028] A third aspect of this disclosure provides a control device for a mobile device, comprising: a processing module, configured to determine a following mode of the second mobile device following the first mobile device based on at least one of location information, path information, and environmental information of a first mobile device and / or a second mobile device, wherein the first mobile device is located in front of the second mobile device in the direction of movement; and a transceiver module, configured to send a target movement point to the second mobile device based on the following mode, so that the second mobile device moves to the target movement point.

[0029] A fourth aspect of this disclosure provides a control device for a mobile device, comprising: a transceiver module for receiving a target movement point sent by a first system, the target movement point corresponding to a following mode determined by the first system based on at least one of location information, path information, and environmental information of a first mobile device and / or a second mobile device, wherein the first mobile device is located in front of the movement direction of the second mobile device; and a processing module for moving to the target movement point.

[0030] A fifth aspect of this disclosure provides an electronic device, including: a processor and a memory; the memory for storing computer-executable instructions; and the processor for reading instructions from the memory and executing the instructions to implement the method in any implementation of the first aspect, or to implement the method in any implementation of the second aspect.

[0031] A sixth aspect of this disclosure provides a computer-readable storage medium storing computer instructions configured to cause the computer to perform a method in any implementation of the first aspect or a method in any implementation of the second aspect.

[0032] A seventh aspect of this disclosure provides a computer program product including a computing program stored on a computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform a method in any implementation of the first aspect or a method in any implementation of the second aspect.

[0033] A sixth aspect of this disclosure provides a warehousing system, comprising: a first system for implementing the method in any implementation of the first aspect; and a mobile device for implementing the method in any implementation of the second aspect.

[0034] The control method, apparatus, and electronic device for mobile devices provided in this disclosure can send a movement point to the mobile device behind it in advance when certain conditions are met. The mobile device behind it can start and accelerate in advance, shorten the following distance, reduce waiting time, and improve the working efficiency of the mobile device. Attached Figure Description

[0035] Figure 1 A schematic diagram of a warehousing system 100 provided in an embodiment of this disclosure is shown;

[0036] Figure 2 This is a flowchart illustrating a control method for a mobile device according to an embodiment of this disclosure;

[0037] Figure 3 This is a flowchart illustrating a control method for a mobile device according to an embodiment of this disclosure;

[0038] Figure 4 This is a flowchart illustrating a control method for a mobile device according to an embodiment of this disclosure;

[0039] Figure 5A This is a schematic diagram of a following method proposed in an embodiment of this disclosure;

[0040] Figure 5B This is a schematic diagram of a following method proposed in an embodiment of this disclosure;

[0041] Figure 5C This is a schematic diagram of a following method proposed in an embodiment of this disclosure;

[0042] Figure 5D This is a schematic diagram of a following method proposed in an embodiment of this disclosure;

[0043] Figure 5E This is a schematic diagram of a following method proposed in an embodiment of this disclosure;

[0044] Figure 5F This is a schematic diagram of a following method proposed in an embodiment of this disclosure;

[0045] Figure 5G This is a schematic diagram of a following method proposed in an embodiment of this disclosure;

[0046] Figure 6A This is a schematic diagram of the structure of a control device 600 for a mobile device according to an embodiment of this disclosure;

[0047] Figure 6B This is a schematic diagram of the structure of another control device 610 for a mobile device according to an embodiment of this disclosure;

[0048] Figure 7 This is a schematic diagram of the structure of an electronic device 700 for implementing the control method of the above-described mobile device, according to an exemplary embodiment. Detailed Implementation

[0049] Numerous specific details are set forth in the following description to provide a full understanding of this disclosure. However, this disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific implementations disclosed below.

[0050] The terminology used in one or more embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this disclosure. The singular forms “a,” “the,” and “the” as used in one or more embodiments of this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0051] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this disclosure, and similarly, second may also be referred to as first. Depending on the context, the word “if” as used herein may be interpreted as “when”, “in response to a determination”, or “when…”.

[0052] This disclosure provides a warehouse management method, and also relates to a warehouse management device, a warehouse system, a computing device, a computer program product, and a computer-readable storage medium, which will be described in detail in the following embodiments.

[0053] The following describes the solutions of the embodiments of this disclosure with reference to examples.

[0054] In warehouse management, the Resource Management System (RMS) controls robot movement by issuing waiting points. The robot can only reach the issued waiting point, after which it must wait for the RMS to issue the next instruction. Therefore, the robot's acceleration and deceleration range is from its current position to the latest waiting point. In some methods, the waiting point is only issued to the robot behind after the envelope of the preceding robot has completely left the waiting point. This method of issuing waiting points places high demands on the range of the cell occupied by the robot's envelope. The following robot's start-up and acceleration times are late, resulting in low robot following efficiency.

[0055] In warehousing, a waiting point indicates the next position a robot needs to move to in order to follow the movement of the robot in front. A cell is a region defined by dividing the warehouse area; for example, the warehouse can be divided into multiple cells. Each cell can have a marker at its center for the robot to determine its position, such as a QR code or reflective sticker. The location of the QR code is the waiting point. In one approach, the waiting point can be a preset position within the cell, such as the cell's center point or another location.

[0056] To address the aforementioned issues, embodiments of this disclosure propose a control method for mobile devices. This method can allocate the envelope segment to the rear robot in advance when the front robot already has a new waiting point, allowing the rear robot to start and accelerate earlier, improving cell utilization, and ultimately enhancing overall efficiency.

[0057] In some embodiments, the method of this solution can be performed by a mobile device. Optionally, the mobile device can be a handling device, which can be a mobile robotic device such as a device for handling shelves, goods or boxes, or a device for picking up and placing goods or boxes. For example, a device for handling goods can be a handling robot.

[0058] Optionally, the method of this solution can be applied to warehouse system 100, such as... Figure 1 As shown, this is a warehousing system proposed in this disclosure. The warehousing system includes a first system 10 and a mobile device 20. The first system can determine the following mode of the mobile device based on the relevant information of the mobile device, and when the following mode meets the conditions, it sends a movement point (waiting point) to the mobile device in advance to realize the following of the mobile device and reduce the waiting time of the mobile device. When the mobile device receives the movement point sent in advance, it can start and accelerate in advance to reduce the waiting time, and can avoid collisions during the following process based on the obstacle avoidance system.

[0059] Optionally, the first system is a system for scheduling or controlling warehouse equipment, including handling equipment, sorting equipment, etc. The first system can be, but is not limited to, a management system, a scheduling system, a control system, etc. For example, the first system can be a robot management system (RMS).

[0060] In some embodiments, the handling device may be a robot that handles goods and / or containers. The robot may be, for example, a bin robot (e.g., an RS robot), or a self-propelled robot such as a lurking robot (e.g., a P40 robot) or a climbing robot.

[0061] Figure 2 This is a flowchart illustrating a control method for a mobile device according to an embodiment of this disclosure, as shown below. Figure 2As shown, the method includes the following steps:

[0062] Step 201: Determine the following method of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device.

[0063] In some embodiments, the first mobile device is located in front of the second mobile device in the direction of movement. When controlling the movement of the mobile device by issuing movement points, the first system typically releases the movement point and issues it to the second mobile device only after the envelope of the first mobile device has completely left the movement point required by the second mobile device. Follow mode refers to the first system issuing the movement point to the second mobile device in advance, even before the envelope of the second mobile device has completely left the movement point, allowing the second mobile device to start and accelerate earlier. The first mobile device's envelope completely leaving the movement point required by the second mobile device can mean that the envelope area of ​​the first mobile device does not cover the movement point required by the second mobile device, or that the envelope area of ​​the first mobile device does not overlap with the area corresponding to the movement point required by the second mobile device. For example, when the movement point is a QR code, the area corresponding to the movement point can be the QR code area. In this case, if the envelope area of ​​the first mobile device does not overlap with the QR code, it can be determined that the envelope of the first mobile device has completely left the movement point required by the second mobile device.

[0064] The envelope of a mobile device is used to represent the envelope area obtained by drawing an envelope line centered on the mobile device. The envelope line can be a circular arc curve or an elliptical curve, etc. The area within the envelope line that contains the mobile device is the envelope area. That is, the envelope area can be a polygonal area, a circle, or an ellipse, etc. The envelope of a mobile device can be understood as the space area required by the mobile device when it moves. The envelope area of ​​a mobile device is usually larger than the area occupied by the mobile device itself, or the envelope area of ​​a mobile device can be set according to the actual scenario. This disclosure does not limit this.

[0065] In the embodiments of this disclosure, the front and rear sides of the mobile device refer to the front and rear positions of the mobile device body, such as the positions in the forward direction and the rear direction relative to the direction of travel of the mobile device. The front and rear sides are used to describe different orientations. The front end and rear end of the mobile device refer to the front end and rear end of the mobile device itself, which can be points on the mobile device body. The front end and rear end are used to describe different positions on the mobile device body.

[0066] In some embodiments, the location information may be the location information of the mobile device, such as the region where the mobile device is located, the road segment where the mobile device is located, the cell where the mobile device is located, the coordinates of the mobile device's location, etc. The region may be, for example, a workstation region, a highway region, a transport region, or a region obtained by dividing a warehouse region, such as a cell region, etc., which are not limited in this disclosure.

[0067] In some embodiments, the path information may be the path through which the mobile device performs the transport task, such as the initial path planned by the first system for the mobile device. Optionally, the first system may send a path indication message to the mobile device, the path indication message including the path planned by the first system for the second mobile device and / or the first mobile device. Optionally, the first system may send a follow instruction to the second mobile device and / or the first mobile device, the follow instruction being used to indicate whether the follow function of the second mobile device and / or the first mobile device is enabled or disabled. When the follow function is enabled, and the first mobile device and the second mobile device meet the follow conditions, the second mobile device may follow the first mobile device. The follow instruction is sent to the second mobile device and / or the first mobile device through a first field in the path indication message.

[0068] In the above embodiments, the first system can be configured to allow mobile devices to follow in different scenarios. For example, scenario-based follow parameters can be configured to indicate whether to follow in a specific scenario. These parameters may include at least one of the following: the `path.dispatching.enabled StationFollow` parameter, indicating whether mobile devices are allowed to follow in a workstation scenario; and the `path.dispatching.enabled Global Follow` parameter, indicating whether mobile devices can enable global follow, i.e., whether mobile devices can perform follow in any scenario. When follow is enabled, a follow instruction can be sent to the mobile device, indicating that the follow function of the mobile device can be enabled. Alternatively, even if the first system is configured not to follow, the follow instruction can still instruct the mobile device to enable the follow function. In this case, although the mobile device has the follow function enabled, it does not meet the follow conditions, and therefore the mobile device cannot perform follow.

[0069] In some embodiments, environmental information may be environmental information surrounding the planned path of the mobile device, such as whether there are obstacles on the path of the mobile device, whether there are obstacles around the planned path of the mobile device, or whether there are other items that affect the safety of the mobile device following. Obstacles may be static obstacles, such as fallen items, or they may be dynamic, such as other mobile devices performing handling tasks or walking staff, etc. This disclosure does not limit them.

[0070] In some embodiments, determining the following mode of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device includes: determining whether a first condition is met based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device; and determining the following mode if the first condition is met.

[0071] In some embodiments, when the follow mode is not enabled, when the envelope of the first mobile device covers the required movement point on the planned path of the second mobile device, the first system needs to determine that the envelope of the first mobile device has completely left the movement point before sending the movement point to the second mobile device. When the follow mode is enabled, the first mobile device can send the movement point to the second mobile device in advance before the envelope of the first mobile device has completely left the movement point. At this time, the second mobile device can move directly to the sent movement point without waiting for the envelope of the first mobile device to completely leave.

[0072] In the scheme disclosed herein, the mobile device's envelope completely leaving the moving point can mean that the mobile device's envelope does not cover the moving point, the mobile device's envelope area does not cover the moving point, or the mobile device's envelope area does not overlap with the area where the moving point is located. The area where the moving point is located can be the area occupied by the moving point. For example, if the moving point is the center point of a cell or a QR code identifier, the area where the moving point is located can be the QR code area. That is, when the mobile device's envelope area does not overlap with the QR code area, it can be determined that the mobile device's envelope has completely left the moving point. Similarly, the mobile device's envelope not completely leaving the moving point can mean that the mobile device's envelope area completely covers the area where the moving point is located, i.e., the mobile device's envelope area completely covers the QR code; or it can mean that the mobile device's envelope area overlaps with the area where the moving point is located, but does not completely cover the QR code area, etc.

[0073] Step 202: Based on the follow method, send the target movement point to the second mobile device so that the second mobile device moves to the target movement point.

[0074] In some embodiments, the following method may include a first following method, a second following method, and a third following method. The first following method may be a center point following method, in which the target movement point is the center point of the cell. The second following method may be a close following method, in which the path can be segmented and the target movement point is the center point of the segment. The third following method may be a conservative following method, in which the target movement point is the center point of the cell. The first following method and the third following method issue the center point of different cells.

[0075] In some embodiments, sending a target movement point to a second mobile device based on a follow-up method includes: sending the target movement point to the second mobile device in advance, even when the envelope of the first mobile device has not left the target movement point. That is, in a follow-up scenario, the target movement point can be sent to the second mobile device in advance even when the envelope of the first mobile device has not left the target movement point, allowing the second mobile device to move to the target movement point earlier and reducing waiting time.

[0076] In the scheme disclosed herein, the mobile device's envelope completely leaving the moving point can mean that the mobile device's envelope does not cover the moving point, the mobile device's envelope area does not cover the moving point, or the mobile device's envelope area does not overlap with the area where the moving point is located. The area where the moving point is located can be the area occupied by the moving point. For example, if the moving point is the center point of a cell or a QR code identifier, the area where the moving point is located can be the QR code area. That is, when the mobile device's envelope area does not overlap with the QR code area, it can be determined that the mobile device's envelope has completely left the moving point. Similarly, the mobile device's envelope not completely leaving the moving point can mean that the mobile device's envelope area completely covers the area where the moving point is located, i.e., the mobile device's envelope area completely covers the QR code; or it can mean that the mobile device's envelope area overlaps with the area where the moving point is located, but does not completely cover the QR code area, etc.

[0077] In some embodiments, the following result can be recorded after the second mobile device completes following. The completion of following can be the mobile device moving to the target movement point in advance, or the mobile device completing a following path and exiting the following mode, or the mobile device failing to follow the task and exiting the following mode, etc. That is, the mobile device can record a following result when it moves to a target movement point while in following mode, or the mobile device can record a following result after a following task is completed, etc. This disclosure does not limit this. Optionally, the following result can include the following path, following status, following distance, current location, etc., where the following status is used to indicate whether the following task was successful, the reason for the following task failure, etc.

[0078] In summary, the above embodiments of this disclosure enable the rear mobile device to follow the front mobile device, allowing the rear mobile device to start and accelerate earlier, reducing the waiting time of the mobile device and improving the working efficiency of the mobile device.

[0079] Figure 3 This is a flowchart illustrating a control method for a mobile device according to an embodiment of this disclosure, as shown below. Figure 3 As shown, the method also includes the following steps:

[0080] Step 301: Determine whether the first condition is met based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device.

[0081] In some embodiments, a first condition can be used to determine whether a mobile device can perform a following operation. When the first condition is met, it can be determined whether the mobile device meets the conditions for different following methods. For example, it can be determined whether the mobile device meets the conditions corresponding to a second following method. When the conditions are met, the second mobile device can perform close following. The first condition includes at least one of the following: the type of the second mobile device conforms to a preset type; the movement point on the road segment between the first and second mobile devices is not currently occupied by a third mobile device or an obstacle; the movement point on the road segment between the first and second mobile devices is not occupied by a third mobile device or an obstacle when the second mobile device moves to the movement point; the second mobile device and / or the first mobile device are not in a deadlock loop, where mobile devices in a deadlock loop mutually occupy movement points needed by other mobile devices; the first mobile device has been assigned a new movement point; the envelope of the first mobile device reaching the new movement point does not overlap with the envelope of the second mobile device reaching the target movement point; the first movement path of the first mobile device and the second movement path of the second mobile device conform to path conditions; the first mobile device has reached the movement point needed by the second mobile device; the first mobile device is not at a turning point, where a turning point is used for the mobile device to turn the transported shelf.

[0082] In some embodiments, when the type of the second mobile device matches a preset type, the second mobile device can be allowed to perform follow operations. The type of the second mobile device is the model of the mobile device. Optionally, a whitelist or a blacklist can be set. Mobile devices in the whitelist can perform follow operations, while mobile devices in the blacklist are not allowed to perform follow operations. For example, the types included in the whitelist can be container handling robots, vehicle handling robots, sorting robots, etc. The types of mobile devices included in the whitelist or blacklist can be determined based on the degree of danger that may be caused by performing follow operations. For example, when the items carried by the mobile device are heavy or dangerous, or when the mobile device itself is large and may cause danger, the type of the mobile device can be added to the blacklist.

[0083] In some embodiments, when the movement point on the road segment between the first mobile device and the second mobile device is not currently occupied by a third mobile device or an obstacle, the second mobile device may be allowed to follow the first mobile device. Optionally, when there is an obstacle on the road segment between the first mobile device and the second mobile device, the second mobile device may not be allowed to follow the first mobile device. The obstacle may be, for example, a fallen object, or there may be a transport path of other mobile devices that needs to pass through the road segment between the first mobile device and the second mobile device. In this case, the second mobile device may collide with other mobile devices and cause damage, so the second mobile device is not allowed to perform the following. Optionally, when there is no obstacle on the road segment between the first mobile device and the second mobile device, after the second mobile device is allowed to perform the following, other mobile devices are not allowed to cross the road segment between the first mobile device and the second mobile device to avoid danger. That is, when scheduling other mobile devices and planning paths for other mobile devices, the planned paths may not pass through the following path of the second mobile device.

[0084] In some embodiments, if the movement point on the road segment between the rear end of the first mobile device and the front end of the second mobile device is not occupied by a third mobile device or an obstacle when the second mobile device moves to the movement point, the second mobile device may be allowed to follow the first mobile device. That is, if it is determined that other mobile devices will not collide with the second mobile device when crossing the road segment between the first and second mobile devices, the second mobile device may be allowed to follow the first mobile device. For example, if the distance between the first and second mobile devices is large, and the second mobile device has not reached the movement point that other mobile devices might have passed through after the road segment has passed, then the second mobile device may be allowed to follow. In this case, the planned path of other mobile devices is issued earlier than the follow instruction of the second mobile device. After the follow instruction of the second mobile device is issued, similarly, when determining the path of other mobile devices, crossing the road segment between the first and second mobile devices is not allowed.

[0085] For example, such as Figure 5BAs shown, the movement points on the path between the rear end of the first mobile device (B) and the front end of the second mobile device (A) may include the center point of cell 2 and the center point of cell 3. If the center points of cell 2 and cell 3 are not occupied by other robots or obstacles, the second mobile device may be allowed to follow. Alternatively, if other robots cross the center point of cell 3 before the second mobile device moves to the center point of cell 3, and it is determined that the other robots will not collide with the second mobile device when crossing the center point of cell 3, the second mobile device may be allowed to follow the first mobile device. Optionally, after determining that the second mobile device is allowed to follow the first mobile device and sending the target movement point (e.g., the center point of cell 3) to the second mobile device, it is not allowed to send the center points of cell 2 and cell 3 to other robots, that is, other robots are not allowed to cross the following path of the second mobile device.

[0086] In some embodiments, if the second mobile device and / or the first mobile device are not within a deadlock loop, the second mobile device may be allowed to follow the first mobile device. In this case, the mobile devices within the deadlock loop mutually occupy the movement points required by other mobile devices. For example, the first and second mobile devices move in opposite directions, and the first mobile device occupies the movement point required by the second mobile device, while the second mobile device occupies the movement point required by the first mobile device. In this case, both mobile devices need to wait for the other to release its movement point before they can move, thus entering a deadlock loop. Alternatively, if one of the first and second mobile devices is in a deadlock loop, the second mobile device is not allowed to follow, which requires manual intervention.

[0087] In some embodiments, if the first mobile device has been assigned a new move point, the second mobile device may be allowed to follow. When the first mobile device has been assigned a new move point, it releases the move point required by the second mobile device and begins moving to the new move point. Therefore, the required move point can be sent to the second mobile device in advance, allowing the second mobile device to follow. In some embodiments, if the envelope of the first mobile device reaching the new move point does not overlap with the envelope of the second mobile device reaching the target move point, the second mobile device may be allowed to follow. For example, if the envelope of the first mobile device's new move point is the last move point (i.e., the envelope of the first mobile device reaching the new move point is a stop envelope), then sending that move point to the second mobile device is not allowed; that is, the second mobile device is not allowed to follow the first mobile device.

[0088] For example, such as Figure 5BAs shown, in the cell scenario, if the endpoint of the first mobile device (B) is the center point of cell 4, then cell 4 is the last moving point of the first transport device, and the entire stop envelope of the first mobile device is located in cell 4. At this time, it is not allowed to send the center point of cell 4 to the second mobile device, that is, it is not allowed for the second transport device to follow the first device to the center point of cell 4.

[0089] In some embodiments, if the first movement path of the first mobile device and the second movement path of the second mobile device meet the path conditions, the second mobile device is allowed to perform follow. Optionally, the path conditions may be that the first movement path and the second movement path do not conflict. For example, if the first mobile device and the second mobile device move in opposite directions, the first movement path and the second movement path conflict, and in this case, the second mobile device is not allowed to perform follow.

[0090] In some embodiments, if the first mobile device has reached the movement point required by the second mobile device, the second mobile device is allowed to perform follow, that is, the movement point where the first mobile device is located or the movement point behind the mobile device can be sent to the second mobile device, but the movement point in front of the first mobile device is not allowed to be sent to the second mobile device behind it, which can avoid collision between the first mobile device and the second mobile device.

[0091] In some embodiments, the first mobile device is not at a turning point, allowing the second mobile device to perform following. The turning point is used for the mobile device to turn the shelf it is transporting. The turning of the mobile device can be done by rotating the rotatable part of the mobile device with the item on it. This requires a large area. If the mobile device is in following mode at this time, it may collide with other mobile devices. Therefore, when the mobile device is at a turning point, following is not allowed. Alternatively, a turning area can be set up in which the mobile device is not allowed to follow.

[0092] In some embodiments, the path conditions include at least one of the following: both the first and second movement paths are straight lines, and the first and second movement paths are in the same direction; the first movement path is a straight line, the second movement path is a turning arc, the movement direction of the first movement path is the same as the movement direction of the second movement path before or after the turn, and the paths do not overlap, and the starting point or ending point of the first movement path is different from the starting point or ending point of the second movement path; the second movement path is a straight line, the first movement path is a turning arc, the first movement path overlaps with the first movement path before the turn, or if the ending point of the second movement path overlaps with the turning point of the first movement path, then the following continues after the first movement path completes the turn; the first movement path, the second movement path... All movement paths are curved curves. The curved curves of the first and second movement paths coincide, or the starting point of the first movement path's turn coincides with the ending point of the second movement path's turn. Alternatively, if the ending point of the second movement path after its turn coincides with the turning point of the first movement path, then the device continues to follow after the first movement path completes its turn. If the first movement path is a straight line and the second movement path is a U-turn curved curve, the starting point of the first movement path coincides with the ending point of the second movement path after its U-turn, or the first movement device has already left the starting point of the first movement path before the second movement device makes its U-turn along the second movement path. If the second movement path is a straight line and the first movement path is a U-turn curved curve, the first movement path is in the same direction as the second movement path before the U-turn. If the first movement path is a U-turn curved curve... The second movement path is a turning arc, and the movement direction of the first movement path before the turn is the same as the movement direction of the second movement path after the turn; the second movement path is a turning arc, and the first movement path is a turning arc, and the movement direction of the second movement path after the turn is the same as the movement direction of the second movement path before the turn, or if the second movement path coincides with the first movement path during the turn, then it continues to follow after the first movement path completes the turn; both the first and second movement paths are turning arcs, the first and second movement paths coincide, or the starting point of the turn in the first movement path coincides with the ending point of the turn in the second movement path; the first movement path is a turning arc, and the second movement path is an obstacle avoidance arc, and the ending point of the second movement path coincides with the first... If the starting points of the U-turns on the movement paths coincide, or if the ending points of the U-turns on the first movement path coincide with the ending points of the obstacle avoidance on the second movement path, then continue following after the U-turn on the first movement path is completed; if the second movement path is a U-turn arc and the first movement path is an obstacle avoidance arc, and the ending point of the U-turn on the second movement path coincides with the starting point of the obstacle avoidance on the first movement path; if the first movement path is a straight line and the second movement path is an obstacle avoidance arc, and the ending point of the obstacle avoidance on the second movement path coincides with the starting point of the first movement path, or the second movement path is in the same direction as the first movement path before obstacle avoidance; if the second movement path is a straight line and the first movement path is an obstacle avoidance arc, and the ending point of the second movement path coincides with the starting point of the first movement path, or the starting point of the second movement path coincides with the starting point of the first movement path.The first movement path is an obstacle avoidance arc, and the second movement path is a turning arc, with the end point of the second movement path coinciding with the start point of the first movement path; or the second movement path is an obstacle avoidance arc, the first movement path is a turning arc, and the end point of the second movement path coincides with the start point of the first movement path, or the direction of the second movement path after obstacle avoidance is the same as the direction of the first movement path after turning; or both the first and second movement paths are obstacle avoidance arcs, and the end point of the second movement path coincides with the start point of the first movement path.

[0093] In other words, taking the first mobile device as the front mobile device and the second mobile device as the rear mobile device as an example, when the front and rear mobile devices move in the same direction and are both in a straight line, the rear mobile device can follow the front mobile device. When the front mobile device's path is straight and the rear mobile device's path is turning, it is necessary to determine whether there is a conflict between the front and rear mobile devices during or after the turn, and whether they are moving in the same direction. If there is no conflict and they are moving in the same direction, the rear mobile device can follow the front mobile device. Similarly, when the front mobile device's path is turning and the rear mobile device's path is straight, it can be determined whether there is a conflict between the front and rear mobile devices during or after the turn. Whether there is a conflict, and whether the front mobile device and the rear mobile device are moving in the same direction. If there is no conflict and they are moving in the same direction, the rear mobile device can follow the front mobile device. The starting point or ending point of the first moving path is different from the starting point or ending point of the second moving path, which may include any of the following: the starting point of the first moving path is different from the starting point of the second moving path, or the starting point of the first moving path is different from the ending point of the second moving path, or the ending point of the first path is different from the starting point of the second path, or the ending point of the first path is different from the ending point of the second path. That is, if any of the above conditions are not met, and the path of the front mobile device is a turn while the path of the rear mobile device is a straight line, it is determined that there is a conflict between the front mobile device and the rear mobile device.

[0094] Optionally, when both the front and rear mobile devices are on turning paths, the rear mobile device is allowed to follow if their turning paths do not conflict. Specifically, if the rear mobile device and the front mobile device follow the same path after the turn, the rear mobile device can follow after the front mobile device completes its turn. When the front mobile device is on a straight path and the rear mobile device is on a U-turn arc, the rear mobile device can follow the front mobile device if its movement direction is the same before the U-turn, and it can also follow the front mobile device if its movement direction is the same after the U-turn. When the path of the rear mobile device is a straight line, the rear mobile device can follow if its path direction is the same as that of the front mobile device before it turns around. When the front mobile device is on a U-turn arc and the rear mobile device is on a turning path, the rear mobile device can follow after it has turned around but before the front mobile device turns around. When the front mobile device is on a turning path and the rear mobile device is on a U-turn arc, the rear mobile device can follow after it has turned around but before the front mobile device turns around. When both the front and rear mobile devices are on U-turn arcs, and there is no conflict between the paths of the rear mobile device before or after the U-turn, the rear mobile device can follow on the overlapping paths.

[0095] Optionally, when the front mobile device follows a U-turn arc and the rear mobile device follows an obstacle avoidance arc, the rear mobile device can follow the front mobile device before or after it turns around; when the front mobile device follows an obstacle avoidance arc and the rear mobile device follows a U-turn arc, the rear mobile device can follow the front mobile device after it turns around; when the front mobile device follows a straight path and the rear mobile device follows an obstacle avoidance arc, the rear mobile device can follow the front mobile device before or after obstacle avoidance; when the front mobile device follows an obstacle avoidance arc and the rear mobile device follows a straight path, the rear mobile device can follow the front mobile device during obstacle avoidance. Follow before switching road segments; when the front mobile device is on an obstacle avoidance arc and the rear mobile device is on a turning arc, the rear mobile device can follow after completing the turn and before the front mobile device switches road segments; when the front mobile device is on a curved turn and the rear mobile device is on an obstacle avoidance arc, the rear mobile device can follow after obstacle avoidance is completed, or follow on the overlapping road segment if the obstacle avoidance road segment and the turning road segment overlap; when both the front and rear mobile devices are on obstacle avoidance arcs, the rear mobile device can follow after obstacle avoidance is completed, or follow during obstacle avoidance if the obstacle avoidance road segments overlap.

[0096] Step 302: If the first condition is met, determine the following method.

[0097] In some embodiments, determining the following mode when a first condition is met includes: when the first condition is met, determining whether a second condition is met based on the location information of the first mobile device and / or the second mobile device; when the second condition is met, determining that the following mode of the second mobile device following the first mobile device is a first following mode, wherein the second condition includes: the first mobile device has reached a first moving point, and the first moving point is a moving point currently covered by the envelope of the first mobile device.

[0098] In some embodiments, sending a target movement point to a second mobile device based on a follow-up method includes: sending a first movement point as the target movement point to the second mobile device, wherein the second mobile device activates an automatic obstacle avoidance function while moving to the target movement point.

[0099] In some embodiments, the arrival of the first mobile device at the first moving point can be indicated by the front end of the first mobile device reaching the first moving point, the envelope of the first mobile device covering the first moving point, etc. That is, when the second mobile device is allowed to follow, after the first mobile device reaches the first moving point, it can transmit the first moving point to the second mobile device. In other words, it can transmit the moving point occupied by the front mobile device to the rear mobile device. At this time, even if the front mobile device has not left the first moving point, the rear mobile device can start moving to the first moving point. Optionally, the second mobile device can activate an automatic obstacle avoidance function to avoid collisions with the first mobile device. Preferably, when the second mobile device moves to the first moving point, the first mobile device has already left the first moving point and is heading to a new moving point; at this time, the first and second mobile devices will not collide. Alternatively, when the first mobile device has not yet left the first moving point, the obstacle avoidance function of the second mobile device can control the second mobile device to slow down or stop when an obstacle is detected to avoid a collision. In this case, the obstacle can be other mobile devices and other obstacles, or it can be the first mobile device itself.

[0100] Optionally, the first following method can be center point following. For example, in a warehousing scenario, the warehouse area can be divided into multiple cells. In this scenario, the first movement point can be the center point of the cell. That is, after the front mobile device reaches the center point of the next cell, if the mobile device allows following, it can send the center point to the rear mobile device to control the rear mobile device to move to the center point of the cell. Alternatively, the first movement point can be a positioning point, control point, scheduling point, etc., and this disclosure does not limit this.

[0101] In some embodiments, determining the following mode when a first condition is met includes: when the first condition is met, determining whether a third condition is met based on the location information of the first mobile device and / or the second mobile device; when the third condition is met, determining that the following mode of the second mobile device following the first mobile device is a second following mode, wherein the third condition includes: the following mode of the first mobile device following the third mobile device is not a second following mode, the first mobile device and the second mobile device are in the same direction, the first mobile device is not in a turning state, and the third mobile device is located in front of the first mobile device in the direction of movement.

[0102] In some embodiments, sending a target mobile point to a second mobile device based on a follow-up method includes: dividing the road segment between the back end of the first mobile device and the front end of the second mobile device into multiple segments, each segment having a length less than the length of a base road segment, the base road segment being the road segment between two adjacent mobile points; selecting the segment farthest from the second mobile device among the multiple segments as the target segment; and sending the center point of the target segment as the target mobile point to the second mobile device.

[0103] In some embodiments, the first mobile device can follow the third mobile device, and the second following method can be a close following method. Optionally, the following distance of the second following method is relatively short. When the first mobile device follows the third mobile device in the second following method, the distance between the first mobile device and the third mobile device is relatively short. When the first mobile device is moving, it needs to pay attention to the status of the third mobile device at all times and slow down or stop in time. At this time, if the second mobile device also follows the first mobile device in the second following method, due to the short distance between the mobile devices, there may be a situation where the device collision occurs due to the untimely reaction to slow down or stop. Therefore, when the front mobile device (first mobile device) follows other mobile devices (third mobile devices) in the second following method, the rear mobile device (second mobile device) is not allowed to follow in the second following method. That is, at this time, the second mobile device does not meet the third condition.

[0104] In some embodiments, since the mobile device reduces its speed when turning, while the rear mobile device has a higher speed when it is in a straight line, when using the second following method, the distance between the front and rear mobile devices is relatively close, which may cause the rear mobile device to not decelerate in time and collide with the front mobile device that is turning. Therefore, when the front mobile device is turning, the rear mobile device is not allowed to follow using the second following method, that is, the second mobile device does not meet the third condition at this time.

[0105] In the above embodiments, when the third condition is met, the second mobile device is less likely to cause accidents such as collisions when following the first mobile device using the second following method. Therefore, when the third and first conditions are met, the following method of the second mobile device following the first mobile device can be the second following method. At this point, the road segment between the first mobile device and the second mobile device can be divided. Optionally, the road segment between the back end of the first mobile device and the front end of the second mobile device can be divided into multiple segments to further refine the following granularity of the mobile device. The specific length of the segment can be set according to actual needs, such as 0.3m. In the above cell scenario, there is no need to consider the center of the cell (moving point). That is, the distance between the moving points can be the distance between the centers of two cells. The distance between the centers of two cells can be a basic line segment, which can be preset according to actual needs and can be a fixed value. The length of the segment can be configured by the first system. For example, the first system can configure the segmentation granularity parameter. The segmentation granularity parameter can be used to indicate the corresponding segmentation granularity when segmenting the basic line segment. Optionally, the first system can configure the segmentation granularity of the mobile device in different scenarios. For example, the segmentation granularity parameter can include at least one of the following: the path.dispatching.statisticFollowDistance parameter, used to indicate the segmentation granularity of the mobile device in the workstation area; and the path.dispatching.global Follow Distance parameter, used to indicate the segmentation granularity of the mobile device in the entire field area. At this point, after the front mobile device moves by the length of a segment, the rear mobile device can follow by the length of a segment. Optionally, the target segment furthest from the second mobile device is the segment behind the first mobile device, meaning that the center point of the target segment can be sent to the rear mobile device when the front mobile device leaves the target segment.

[0106] In some embodiments, sending a target mobile point to a second mobile device based on a follow-up method includes: dividing the road segment between the front end of the first mobile device and the front end of the second mobile device into multiple segments, each segment having a length less than the length of a base road segment, the base road segment being the road segment between two adjacent mobile points; designating the segment furthest from the second mobile device among the multiple segments as the target segment; sending the center point of the target segment as the target mobile point to the second mobile device, the target segment having an overlapping area with the envelope of the first mobile device; and activating automatic obstacle avoidance function on the second mobile device while moving to the target mobile point.

[0107] In other words, the center point of the segment can be sent to the rear mobile device in advance before the front mobile device leaves the center point of the segment. At this time, the second mobile device can activate the automatic obstacle avoidance function to avoid collision with the first mobile device. At this time, the segment farthest from the second mobile device is the segment where the first mobile device is located, that is, there is an overlapping area between the target segment and the envelope of the first mobile device.

[0108] In some embodiments, since the movement point issued by the second follow mode is the center point of the segment, the center point of the segment may not be the positioning point (cell center point). In this case, if the mobile device stops at the center point of the segment, the mobile device may not be able to obtain the information of its current position when it starts, that is, it cannot complete the positioning. Therefore, in order to avoid the abnormality and deadlock caused by multiple mobile devices stopping at non-positioning points, other mobile devices are not allowed to follow the mobile device using the second follow mode when the mobile device is in the second follow mode.

[0109] In some embodiments, when the second mobile device is in the second follow mode, the second mobile device can be configured to stop at the positioning point (the center point of the cell) after completing the follow by fully allocating parameters. For example, when the center point of the issued segment is not the positioning point, the parameter of the fully configured parameter can be configured to "No". In this case, the mobile device needs to continue to be scheduled until the mobile device stops at the positioning point. When the center point of the issued segment is the positioning point, the scheduling of the mobile device can be completed and the mobile device can stop at the positioning point.

[0110] In some embodiments, determining the following mode when a first condition is met includes: when the first condition is met, determining whether a fourth condition is met based on the location information of the first mobile device and / or the second mobile device; when the fourth condition is met, determining that the following mode of the second mobile device following the first mobile device is a third following mode, wherein the fourth condition includes: the envelope of the first mobile device has left the second moving point, and when the second moving point is assigned as the target moving point to the second mobile device, the envelopes of the first mobile device and the second mobile device do not overlap.

[0111] In some embodiments, sending a target movement point to a second mobile device based on a follow-up method includes: sending the second movement point as a target movement point to the second mobile device, wherein the second movement point is the first movement point behind the first mobile device.

[0112] In other words, a movement point can be sent to the second mobile device even when the envelope of the first mobile device has already left the second movement point. In the cell scenario described above, the envelope of the first mobile device may not have left the cell where the second movement point is located. Therefore, the second movement point can be sent to the second mobile device in advance before the first mobile device has completely left the cell where the second movement point is located. At this time, the second movement point sent is located behind the first mobile device.

[0113] In some embodiments, the method further includes: after determining the following mode, monitoring the status of the first mobile device and / or the second mobile device in real time; and updating the following mode according to the status of the first mobile device and / or the second mobile device.

[0114] In some embodiments, the following mode is updated according to the state of the first mobile device and / or the second mobile device, including at least one of the following: when the following mode is the second following mode and the state of the first mobile device changes from not following to following, the second following mode is updated to the third following mode; when the following mode is the first following mode and the second mobile device detects an obstacle or detects that the distance to the first mobile device is less than a preset distance after the second mobile device has enabled the automatic obstacle avoidance function, the first following mode is updated to the third following mode.

[0115] In other words, the following mode of the mobile device can be adjusted in real time according to the status of the first and second mobile devices. When the second mobile device is in the second following mode, if the first mobile device that the second mobile device is following starts to follow, that is, when the status of the first mobile device changes from not following to following, the following mode of the second mobile device can be adjusted to the third following mode. That is, the mobile device can be in the following state or the following state, but cannot be in the following state and the following state at the same time. This can avoid problems such as collisions caused by the mobile device not slowing down in time.

[0116] Optionally, when the second mobile device is following in the first following mode, and after the second mobile device activates its automatic obstacle avoidance function and detects an obstacle or detects that the distance to the first mobile device is less than a preset distance, the first following mode can be updated to the third following mode to avoid collisions with the obstacle or the first mobile device. Since the assigned movement point is behind the first mobile device in the third following mode, collisions with the first mobile device can be avoided. Alternatively, when the second mobile device is following in the second or first following mode, other mobile devices following the second mobile device can use the third following mode to avoid collisions caused by multiple mobile devices following too closely.

[0117] In summary, the above embodiments of this disclosure can determine the following mode when the first condition is met, enabling the use of different following modes according to different scenarios, enabling the rear mobile device to start and accelerate in advance, reducing waiting time, and further optimizing the following granularity to further improve the working efficiency of the mobile device.

[0118] Figure 4 This is a flowchart illustrating a control method for a mobile device according to an embodiment of this disclosure, as shown below. Figure 4 As shown, the method includes the following steps:

[0119] Step 401: Receive the target movement point sent by the first system.

[0120] In some embodiments, the target movement point corresponds to a following method determined by the first system based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device, wherein the first mobile device is located in front of the movement direction of the second mobile device.

[0121] In some embodiments, receiving the target mobile point sent by the first system includes: receiving the target mobile point sent in advance by the first system in a follow mode, provided that the envelope of the first mobile device has not left the target mobile point.

[0122] Step 402: Move to the target movement point.

[0123] In some embodiments, after receiving a target moving point, the mobile device can start and accelerate in advance to move to the target moving point. Moving to the target moving point includes at least one of the following: in a first following mode, moving to a first moving point and activating automatic obstacle avoidance during the movement to the first moving point; the first moving point is the moving point currently covered by the envelope of the first mobile device; in a second following mode, moving to the center point of a target segment, the target segment being the segment furthest from the second mobile device among multiple segments, the multiple segments being obtained by dividing the road segment between the rear end of the first mobile device and the front end of the second mobile device, and the length of each segment being less than the basic road length. The length of the segment is as follows: the basic segment is the segment between two adjacent moving points; in the second following mode, it moves to the center point of the target segment and activates the automatic obstacle avoidance function during the movement to the center point of the target segment. The target segment is the segment farthest from the second mobile device among multiple segments. The multiple segments are obtained by dividing the road between the front end of the first mobile device and the rear end of the second mobile device. The length of each segment is less than the length of the basic segment. The basic segment is the segment between two adjacent moving points. The target segment and the envelope of the first mobile device have overlapping areas; in the third following mode, it moves to the second moving point, which is the first moving point behind the first mobile device.

[0124] In one warehousing scenario, the warehouse area can be divided into multiple cells. Each cell's center or other designated location can have a marker, such as a QR code, for mobile device positioning. Optionally, the movement point can be the center point of the cell, i.e., the location of the QR code. For this warehousing scenario, in the above embodiment, the movement point can be the first movement point behind the first mobile device, and can include any of the following:

[0125] 1) The first mobile device moves from the first cell to the second cell, and the envelope of the first mobile device has completely left the first cell, that is, the envelope of the first mobile device does not overlap with the area of ​​the first cell, and the entire first mobile device is located in the second cell. At this time, the first moving point behind the first mobile device is the center point of the first cell.

[0126] 2) The first mobile device moves from the first cell to the second cell, and the envelope of the first mobile device has left the center point of the first cell, that is, the envelope of the first mobile device does not cover the center point of the first cell. At this time, the envelope of the first mobile device may overlap with the first cell, that is, the first mobile device has not completely left the first cell. The first mobile device is partly located in the first cell and partly located in the second cell. At this time, the first moving point behind the first mobile device is the center point of the first cell.

[0127] 3) The first mobile device moves from the first cell to the second cell, and the envelope of the first mobile device covers the center point of the second cell. At this time, the first mobile device is partially located in the second cell and partially located in the first cell; or the first mobile device is entirely located in the second cell, and the first moving point behind the first mobile device is the center point of the first cell.

[0128] In other words, when the target movement point is in front of the first mobile device, the mobile device needs to activate obstacle avoidance to avoid collision with the first mobile device; alternatively, when the target movement point is behind the first mobile device, the obstacle avoidance function can also be activated to avoid collision with other mobile devices or obstacles.

[0129] In some embodiments, the method further includes: receiving a follow instruction; and in response to the follow instruction, enabling or disabling the follow function. That is, the mobile device can enable or disable the follow function according to the follow instruction. When the follow function is disabled, the first system does not send a movement point to the mobile device in advance, or the first system sends a movement point to the mobile device in advance, but the mobile device still needs to start moving to the movement point after the envelope of the preceding mobile device leaves the movement point.

[0130] In some embodiments, the follow instruction is indicated through a first field in a path indication message, which includes a path planned by the first system for the second mobile device and / or the first mobile device. That is, the mobile device can determine the planned path based on the path indication message and perform the transport task according to the planned path.

[0131] In some embodiments, the method further includes: when the follow function is turned off and an obstacle is detected, decelerating to a first speed and stopping at a first distance in front of the obstacle; when the follow function is turned on and an obstacle is detected, continuing to travel at the original speed and stopping at a second distance in front of the obstacle, the second distance being less than the first distance.

[0132] In some embodiments, the second distance is a fixed value in the area follow mode; in the full scene follow mode, the second distance is equal to the length of the mobile device minus the width of the mobile device.

[0133] The "Regional Follow Mode" indicates that follow mode is enabled for a specific area of ​​the warehouse. For example, the warehouse can be divided into multiple areas based on function, such as workstations, inventory areas, or sorting areas. At least one sub-area of ​​the warehouse can be enabled in follow mode according to actual needs. Taking workstation follow mode as an example, workstation follow mode can also be called short-distance follow mode (short_distance_follow). In this mode, the second mobile device performs follow within the workstation area. The "Full-Scene Follow Mode" indicates that follow mode is enabled throughout the entire warehouse area. The full-scene follow mode can also be called long-distance follow mode (long_distance_follow). In this mode, the second mobile device can perform follow in all areas. Optionally, the first system can configure the follow mode of the mobile devices.

[0134] In some embodiments, when the mobile device is in area follow mode, it can stop at a second distance in front of an obstacle when an obstacle is detected. This second distance can be a fixed value, optionally pre-configured by the first system or a default value. The area follow mode can be a workstation follow mode or another area follow mode. When the mobile device is in full-scene follow mode, it can stop at a second distance in front of an obstacle when an obstacle is detected. This second distance can be equal to the length of the mobile device minus its width. It should be explained that the length of the mobile device represents its maximum size along the direction of movement, and the width represents its maximum size perpendicular to the direction of movement.

[0135] For example, when the follow function is turned off and an obstacle is detected, the mobile device can decelerate, for example, to 0.3 m / s, and the mobile device can approach the obstacle at a speed of 0.3 m / s until it stops at a distance in front of the obstacle, for example, 50 cm in front of the obstacle.

[0136] For example, when the mobile device has the follow function enabled and an obstacle is detected, the mobile device will not decelerate immediately. The mobile device can approach the obstacle at its original speed and stop at a second distance in front of the obstacle. The second distance can be the length of the mobile device minus the width of the mobile device. The first distance is greater than the second distance. That is, when the mobile device is in follow mode, the mobile device can stop at a position close to the obstacle.

[0137] In some embodiments, when the mobile device is a second mobile device and the model type of the mobile device is a preset model type, the speed of the first mobile device is determined; based on the speed of the first mobile device, the speed of the second mobile device is adjusted so that the second mobile device can achieve automatic obstacle avoidance function.

[0138] Optionally, if the type of the following mobile device is a preset type, the following mobile device can use LiDAR to estimate the speed of the front mobile device. It can adjust its own speed according to the speed and position of the front mobile device, which can be used to avoid collision between the second mobile device and the first mobile device, and can realize automatic obstacle avoidance function.

[0139] In summary, according to the above embodiments of this disclosure, the mobile device can receive the target movement point and move to the target movement point in a following manner, which can enable the rear mobile device to start and accelerate in advance, reduce waiting time, and further optimize the following granularity, thereby further improving the working efficiency of the mobile device.

[0140] The following is a specific implementation of a following method provided in this disclosure. The specific content of the method is as follows.

[0141] Example 1

[0142] For example, the RMS can determine the following method of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device (first robot) and / or the second mobile device (second robot), wherein the first mobile device is located in front of the second mobile device in the direction of movement; based on the following method, the RMS sends a target movement point (the center of the waiting point / cell) to the second mobile device so that the second mobile device moves to the target movement point.

[0143] For example, sending a target mobile point to a second mobile device based on a follow-up method includes: sending the target mobile point to the second mobile device in advance, provided that the envelope of the first mobile device has not left the target mobile point, based on a follow-up method.

[0144] For example, determining the following method of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device includes: determining whether a first condition is met based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device; and determining the following method if the first condition is met.

[0145] For example, if the first condition is met, determining the following mode includes: if the first condition is met, determining whether the fourth condition is met based on the location information of the first mobile device and / or the second mobile device; if the fourth condition is met, determining that the following mode of the second mobile device following the first mobile device is the third following mode, wherein the fourth condition includes: the envelope of the first mobile device has left the second mobile point, and when the second mobile point is assigned as the target mobile point to the second mobile device, the envelopes of the first mobile device and the second mobile device do not overlap.

[0146] In other words, when the back end of the first robot has moved away from the center point of the next cell required by the second robot, the RMS determines whether the second robot meets the waiting point issuance condition. If the waiting point issuance condition is met, the RMS issues a waiting point to the second robot, where the waiting point is the center point of the next cell required by the second robot. The waiting point issuance condition may include at least one of the first and fourth conditions mentioned above. Optionally, the waiting point issuance condition is met when both the first and fourth conditions are met.

[0147] For example, sending a target movement point to a second mobile device based on a follow-up method includes: sending the second movement point as the target movement point to the second mobile device, wherein the second movement point is the first movement point behind the first mobile device.

[0148] In other words, when the first robot has left the center point of the next cell required by the second robot, but has not yet completely left the envelope range required by the second robot, the RMS can instruct the second robot to move to the center point of the next cell in advance when the waiting point issuance condition is met.

[0149] like Figure 5AAs shown, even if the first robot (robot B) has not completely left the envelope range (cell 2) required by the second robot, a waiting point (i.e., the center point of cell 2) can still be issued to the second robot (robot A) when the first robot has already left the center point of the next cell required by the second robot.

[0150] The waiting point issuance conditions may include at least one of the following: there are no obstacles on the path of the second robot following the first robot, wherein the obstacles can be dynamic obstacles or static obstacles, such as dynamic obstacles being robots or other obstacles, etc.; RMS determines that no deadlock will occur when instructing the second robot to follow the first robot; the first robot requests a new waiting point; the stop envelope of the first robot and the required envelope of the second robot do not intersect; the types of the first robot and the second robot allow following; the second robot is determined to be able to follow based on the path directions of the first robot and the second robot; the path of the second robot following the first robot is an allowed following path.

[0151] Optionally, when the obstacle is a robot, if there is an obstacle on the path of the second robot following the first robot, the RMS may determine that during the following process, other robots may cross the path of the second robot following the first robot, and there is a possibility of collision with the second robot.

[0152] In some embodiments, the RMS sends a follow instruction to the second mobile device and / or the first mobile device. The follow instruction is used to indicate whether the follow function of the second mobile device and / or the first mobile device is turned on or off. The follow instruction is sent to the second mobile device and / or the first mobile device through a first field in a path instruction message. The path instruction message includes the path planned by the first system for the second mobile device and / or the first mobile device. In other words, when the RMS sends the planned path to the robot (mobile device), it can instruct the robot to turn the follow mode on or off through the field.

[0153] In some embodiments, a blacklist of follower robots can be set, and robots on the blacklist are not allowed to follow.

[0154] In some embodiments, it can be determined whether the second robot can follow based on the path directions of the first robot and the second robot, wherein the second robot is not allowed to follow if there is a potential conflict between the first robot and the second robot.

[0155] In some embodiments, after the following is completed, i.e. the second robot moves to the next waiting point, or the second robot completes the current movement task, or the current following task fails, the following result is recorded. The following result includes: movement distance, number of cells moved, current cell, whether the following was successfully completed, reason for failure, etc.

[0156] In some embodiments, the RMS can also issue a follow mode to the robot, wherein the follow mode can include short-distance follow (SHORT_DISTANCE_FOLLOW) and long-distance follow (LONG_DISTANCE_FOLLOW).

[0157] In some embodiments, RMS can configure the robot's following scenarios. For example, the robot can configure scenario following parameters to indicate whether the mobile device can perform following in different scenarios. The scenario following parameters include at least one of the following: the path.dispatching.enabled Station Follow parameter, which indicates whether the following mode can be enabled in the workstation scenario; and the path.dispatching.enabled Global Follow parameter, which indicates whether global following can be enabled.

[0158] Optionally, when RMS is configured to allow following in all scenarios, it can enable the follow mode for robots that are instructing the entire field and assign waiting points to the robots; when RMS is configured to allow following in workstation scenarios, it can assign waiting points to robots in workstation scenarios.

[0159] In some embodiments, the second robot, based on a follow-up mode, receives a target movement point pre-sent by the first system, provided that the envelope of the first mobile device has not left the target movement point, and then moves to the target movement point. Optionally, in a third follow-up mode, the second robot moves to a second movement point, which is the first movement point behind the first mobile device.

[0160] For example, the robot can receive a follow instruction and, in response to the follow instruction, turn the follow function on or off.

[0161] For example, when the follow function is turned off and an obstacle is detected, the vehicle decelerates to a first speed and stops at a first distance in front of the obstacle; when the follow function is turned on and an obstacle is detected, the vehicle continues to travel at the original speed and stops at a second distance in front of the obstacle, where the second distance is less than the first distance.

[0162] In conjunction with the above embodiments, one optional example is that when the RMS instructs the robot to activate the follow mode, the robot will not immediately decelerate when there is an obstacle at a path point. Instead, it will plan its speed according to normal motion parameters. For short-distance following, it will stop 5cm in front of the obstacle, and for long-distance following, it will stop Xcm in front of the obstacle, where X = robot length - width.

[0163] Optionally, RMS can instruct the robot to turn off the follow mode. When the follow mode is turned off, if there is an obstacle at a waypoint, the robot will immediately decelerate to 0.3 m / s, approach the obstacle at a speed of 0.3 m / s, and stop 50 cm in front of the obstacle.

[0164] In summary, the above-described embodiments of this disclosure allow the second robot to start and accelerate earlier, reducing the robot's waiting time, improving the robot's working efficiency, increasing the utilization rate of cells, and ultimately improving overall efficiency.

[0165] Example 2

[0166] For example, the RMS can determine the following method of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device (first robot) and / or the second mobile device (second robot), wherein the first mobile device is located in front of the second mobile device in the direction of movement; based on the following method, the RMS sends a target movement point (the center of the waiting point / cell) to the second mobile device so that the second mobile device moves to the target movement point.

[0167] For example, sending a target mobile point to a second mobile device based on a follow-up method includes: sending the target mobile point to the second mobile device in advance, provided that the envelope of the first mobile device has not left the target mobile point, based on a follow-up method.

[0168] For example, determining the following method of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device includes: determining whether a first condition is met based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device; and determining the following method if the first condition is met.

[0169] For example, if the first condition is met, the following method is determined, including:

[0170] If the first condition is met, determine whether the second condition is met based on the location information of the first mobile device and / or the second mobile device; if the second condition is met, determine that the following mode of the second mobile device following the first mobile device is the first following mode, wherein the second condition includes: the first mobile device has reached the first moving point, and the first moving point is the moving point currently covered by the envelope of the first mobile device.

[0171] For example, sending a target movement point to a second mobile device based on a follow-up method includes:

[0172] The first moving point is sent as the target moving point to the second mobile device, and the second mobile device activates the automatic obstacle avoidance function while moving to the target moving point.

[0173] In other words, when the front end of the first robot has reached the center point of the next cell required by the second robot, the RMS determines whether the second robot meets the pre-allocation condition; if the pre-allocation condition is met, the RMS allocates the center point of the next cell required by the second robot to the rear robot. The pre-allocation condition may include at least one of the first and second conditions mentioned above; optionally, the pre-allocation condition is met when both the first and second conditions are met.

[0174] like Figure 5B As shown, the method of this scheme can issue a waiting point to the second robot in advance when the front end of the first robot has reached the center point of the next cell required by the second robot, but the rear end of the first robot has not yet left the center of the cell. The waiting point is the center point that the front end of the first robot has reached.

[0175] like Figure 5B As shown, in the prior art, when the second robot (A) travels from cell 1 to cell 4, the farthest it can be assigned is behind the first robot (B), that is, to the center point of cell 3. The method of this solution can assign the center point of cell 4 to the second robot in advance when the second robot meets the advance assignment conditions, so that the second robot can start and accelerate in advance, which can reduce the robot's waiting time and improve efficiency.

[0176] The advance allocation condition can be used to indicate whether the RMS can allocate a waiting point to the second robot in advance. When the advance allocation condition is met, even if the first robot has not yet left the center of the next cell required by the second robot, the RMS can still allocate a waiting point to the second robot, where the waiting point is the center point of the next cell required by the second robot.

[0177] The pre-assignment conditions may include at least one of the following: there are no obstacles on the path of the second robot following the first robot, where obstacles may be robots or other stationary obstacles, etc.; the RMS determines that no deadlock will occur when instructing the second robot to follow the first robot; the first robot requests a new waiting point; the stopping envelope of the first robot and the required envelope of the second robot do not intersect; the types of the first robot and the second robot allow following; the second robot is determined to be able to follow based on the path directions of the first robot and the second robot; the path of the second robot following the first robot is an allowed following path; the first robot is not in a center point following state.

[0178] Optionally, when the obstacle is a robot, if there is an obstacle on the path of the second robot following the first robot, the RMS may determine that during the following process, other robots may cross the path of the second robot following the first robot, and there is a possibility of collision with the second robot.

[0179] In some embodiments, the RMS sends a follow instruction to the second mobile device and / or the first mobile device. The follow instruction is used to indicate whether the follow function of the second mobile device and / or the first mobile device is turned on or off. The follow instruction is sent to the second mobile device and / or the first mobile device through a first field in a path instruction message. The path instruction message includes the path planned by the first system for the second mobile device and / or the first mobile device. In other words, when the RMS sends the planned path to the robot (mobile device), it can instruct the robot to turn the follow mode on or off through the field.

[0180] Optionally, a blacklist of follower robots can be set, and robots on the blacklist are not allowed to be assigned waiting points in advance; alternatively, it can be determined whether the second robot can follow based on the path direction of the first robot and the second robot, wherein the second robot is not allowed to follow if there is a possible conflict between the first robot and the second robot.

[0181] In some embodiments, the following method is updated according to the state of the first mobile device and / or the second mobile device, including at least one of the following: when the following method is the second following method (close following) and the state of the first mobile device changes from not following to following, the second following method is updated to the third following method (normal following / segmented following); when the following method is the first following method (center point following) and the second mobile device detects an obstacle or detects that the distance to the first mobile device is less than a preset distance after the second mobile device activates the automatic obstacle avoidance function, the first following method is updated to the third following method.

[0182] In other words, when the second robot is in center-point following mode, that is, when the front end of the first robot reaches the center point of the next cell required by the second robot, the RMS can send the center point of the next cell to the second robot. Other robots are not allowed to follow the second robot using the center-point following method. At this time, when other robots follow the second robot, they can be downgraded to the normal following method. That is, when the rear end of the second robot leaves the center point of the next cell required by the other robot, the RMS sends the center point of the next cell to the other robots.

[0183] In some embodiments, the RMS can also issue a follow mode to the robot, wherein the follow mode can include short-distance follow (SHORT_DISTANCE_FOLLOW) and long-distance follow (LONG_DISTANCE_FOLLOW).

[0184] In some embodiments, RMS can configure the robot's following scenarios. For example, the robot can configure scenario following parameters to indicate whether the mobile device can perform following in different scenarios. The scenario following parameters include at least one of the following: the path.dispatching.enabled Station Follow parameter, which indicates whether the following mode can be enabled in the workstation scenario; and the path.dispatching.enabled Global Follow parameter, which indicates whether global following can be enabled.

[0185] Optionally, when RMS is configured to allow following in all scenarios, it can enable the follow mode for robots that are instructing the entire field and assign waiting points to the robots; when RMS is configured to allow following in workstation scenarios, it can assign waiting points to robots in workstation scenarios.

[0186] In some embodiments, the second robot, based on a follow mode, receives a target movement point sent in advance by the first system, provided that the envelope of the first mobile device has not left the target movement point, and then moves to the target movement point. Optionally, in the first follow mode, the robot moves to the first movement point and activates an automatic obstacle avoidance function during the movement to the first movement point, where the first movement point is the movement point currently covered by the envelope of the first mobile device.

[0187] In other words, when the second robot receives the waiting point, it can move to the location of the waiting point and avoid collisions with the first robot based on the obstacle avoidance system.

[0188] For example, the robot can receive a follow instruction and, in response to the follow instruction, turn the follow function on or off.

[0189] For example, when the follow function is turned off and an obstacle is detected, the vehicle decelerates to a first speed and stops at a first distance in front of the obstacle; when the follow function is turned on and an obstacle is detected, the vehicle continues to travel at the original speed and stops at a second distance in front of the obstacle, where the second distance is less than the first distance.

[0190] In conjunction with the above embodiments, one optional example is that when the RMS instructs the robot to activate the follow mode, the robot will not immediately decelerate when there is an obstacle at a path point. Instead, it will plan its speed according to normal motion parameters. For short-distance following, it will stop 5cm in front of the obstacle, and for long-distance following, it will stop Xcm in front of the obstacle, where X = robot length - width.

[0191] Optionally, RMS can instruct the robot to turn off the follow mode. When the follow mode is turned off, if there is an obstacle at a waypoint, the robot will immediately decelerate to 0.3 m / s, approach the obstacle at a speed of 0.3 m / s, and stop 50 cm in front of the obstacle.

[0192] In summary, the above embodiments of this disclosure can pre-allocate waiting points for the second robot. The allocated waiting points can be located at the front end of the first robot, which can reduce the waiting time of the second robot and improve the robot's working efficiency.

[0193] Example 3

[0194] For example, the RMS can determine the following method of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device (first robot) and / or the second mobile device (second robot), wherein the first mobile device is located in front of the second mobile device in the direction of movement; based on the following method, the RMS sends a target movement point (waiting point / center of cell / center of split segment) to the second mobile device so that the second mobile device moves to the target movement point.

[0195] For example, sending a target mobile point to a second mobile device based on a follow-up method includes: sending the target mobile point to the second mobile device in advance, provided that the envelope of the first mobile device has not left the target mobile point, based on a follow-up method.

[0196] For example, determining the following method of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device includes: determining whether a first condition is met based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device; and determining the following method if the first condition is met.

[0197] For example, if the first condition is met, determining the following mode includes: if the first condition is met, determining whether the third condition is met based on the location information of the first mobile device and / or the second mobile device; if the third condition is met, determining that the following mode of the second mobile device following the first mobile device is the second following mode, wherein the third condition includes: the following mode of the first mobile device following the third mobile device is not the second following mode, the first mobile device and the second mobile device are in the same direction, the first mobile device is not in a turning state, and the third mobile device is located in front of the first mobile device in the direction of movement.

[0198] For example, sending a target mobile point to a second mobile device based on a follow-up method includes: dividing the road segment between the back end of the first mobile device and the front end of the second mobile device into multiple segments, each segment having a length less than the length of a base segment, the base segment being the road segment between two adjacent mobile points; selecting the segment furthest from the second mobile device among the multiple segments as the target segment; and sending the center point of the target segment as the target mobile point to the second mobile device.

[0199] For example, based on the follow method, a target mobile point is sent to the second mobile device, including dividing the road segment between the front end of the first mobile device and the second mobile device into multiple segments, each segment being shorter than the length of a base road segment, where the base road segment is the road segment between two adjacent mobile points; the segment furthest from the second mobile device among the multiple segments is taken as the target segment; the center point of the target segment is sent to the second mobile device as the target mobile point, and the target segment overlaps with the envelope of the first mobile device; the second mobile device activates automatic obstacle avoidance function while moving to the target mobile point.

[0200] In other words, RMS segments the basic line segments between cells to obtain at least one split road segment (i.e., the aforementioned segment); when RMS determines that the second robot meets the close following condition, it issues a waiting point to the second robot, where the waiting point is the center point of the split road segment. The close following condition may include at least one of the aforementioned first and third conditions. Optionally, when both the first and third conditions are met, it can be determined that the close following condition is met.

[0201] The basic line segment can be the line segment between the center points of two adjacent cells, meaning the cells can be divided. For example, the line segment between two path points can be divided into 0.1-meter segments. During close following, if the first robot moves forward 0.1 meters, the next robot can follow by 0.1 meters. In this case, RMS can schedule the robots based on these segmented segments. That is, when issuing waiting points to control the robot's movement, the issued waiting points can be the center points of the segmented road sections. Figure 5C The diagram shown illustrates the difference between normal following and close following.

[0202] like Figure 5C As shown, the first robot is located at F1, and its latest waiting point is T1. The second robot is located at F0, and its latest waiting point is T0. During normal following, since the RMS scheduling robot moves in units of cells, the second robot needs to wait for the first robot to completely leave T0 before it can start moving towards T0. The close following method in this scheme can split the above cells into multiple segments, as shown in the figure above. In this case, the scheduling robot moves in units of segments. Therefore, when the first robot leaves a segment, the robot behind it can start moving towards that segment.

[0203] The close following condition can be used to indicate whether the robot can closely follow. When the robot meets the close following condition, a waiting point can be issued to the second robot to control the robot to move to the center point of the split road segment. The RMS can be the center point of the first split road segment behind the first robot as the waiting point, that is, the distance between the second robot and the first robot can be shortened to the length of one split road segment.

[0204] Close following conditions may include at least one of the following: there are no obstacles on the path of the second robot following the first robot, where obstacles can be robots or other stationary obstacles, etc.; the RMS determines that no deadlock will occur when instructing the second robot to follow the first robot; the first robot requests a new waiting point, such as... Figure 5D As shown, the second robot is not allowed to follow the first robot until a new waiting point is obtained; the stopping envelope of the first robot and the required envelope of the second robot do not intersect, as shown in the figure. Figure 5E As shown, when there is an intersection, the second robot is not allowed to closely follow; the types of the first and second robots are allowed to follow; the path directions of the first and second robots are the same, such as... Figure 5F As shown, following is not allowed when the path directions are different; the first robot is not in a turning state, such as... Figure 5G As shown, when the first robot is preparing to turn, the second robot is not allowed to follow; the path the second robot follows the first robot is a allowed following path; the stop assignment is due to OCCUPIED; the first robot is not in a close following state; the first robot and the second robot are not at the turning point.

[0205] Optionally, when the obstacle is a robot, if there is an obstacle on the path of the second robot following the first robot, the RMS can determine that other robots may cross the path of the second robot following the first robot, potentially colliding with the second robot. When the second robot is closely following the first robot, no other robots are allowed to squeeze between the first and second robots to prevent deadlock. That is, when the second robot is closely following the first robot, the RMS will not schedule other robots to pass between the second and first robots.

[0206] In some embodiments, the RMS sends a follow instruction to the second mobile device and / or the first mobile device. The follow instruction is used to indicate whether the follow function of the second mobile device and / or the first mobile device is turned on or off. The follow instruction is sent to the second mobile device and / or the first mobile device through a first field in a path instruction message. The path instruction message includes the path planned by the first system for the second mobile device and / or the first mobile device. In other words, when the RMS sends the planned path to the robot (mobile device), it can instruct the robot to turn the follow mode on or off through the field.

[0207] In some embodiments, a blacklist of follower robots can be set, and robots on the blacklist are not allowed to follow closely.

[0208] In some embodiments, since the waiting point assigned to the robot during close following may not be the center point of the cell, the robot may not be able to scan the ground QR code at the waiting point. In this case, the robot cannot replan. In order to prevent anomalies and deadlocks from occurring at non-cell center points when multiple robots are closely following, one robot is allowed to closely follow when multiple robots are present. That is, the first robot can be closely followed by a second robot. When the second robot is closely following the first robot, other robots are not allowed to closely follow the first robot.

[0209] Optionally, in some embodiments, the following method is updated according to the state of the first mobile device and / or the second mobile device, including at least one of the following: when the following method is the second following method (close following) and the state of the first mobile device changes from not following to following, the second following method is updated to the third following method (normal following / segmented following); when the following method is the first following method (center point following) and the second mobile device detects an obstacle or detects that the distance to the first mobile device is less than a preset distance after the second mobile device activates the automatic obstacle avoidance function, the first following method is updated to the third following method.

[0210] In other words, when the second robot is in close following mode, other robots are not allowed to follow the second robot using the close following method. At this time, when other robots follow the second robot, they can be downgraded to the normal following method. That is, when the rear end of the second robot leaves the center point of the next cell required by the other robot, RMS sends the center point of the next cell to the other robots.

[0211] When the second robot closely follows the first robot, since the waiting point assigned to the robot may not be the center point of the cell, the robot may fail to scan the ground QR code at the waiting point. RMS can configure the "complete allocate" parameter in the last allocated segment to be set to false to ensure that the robot is allocated to the center point of the cell before stopping scheduling. That is, when the assigned waiting point is not the center point of the cell, the complete allocate parameter is set to false until the last assigned waiting point is the center point of the cell, at which point the complete allocate parameter is set to true, and the scheduling of the second robot can stop, preventing the robot from stopping at a location without a QR code.

[0212] In some embodiments, the RMS can configure the robot's following scenarios. For example, the robot can configure scenario following parameters to indicate whether the mobile device can perform following in different scenarios. The scenario following parameters include at least one of the following: the path.dispatching.enabled Station Follow parameter, which indicates whether the following mode can be enabled in the workstation scenario; and the path.dispatching.enabled Global Follow parameter, which indicates whether scenario following can be enabled.

[0213] Furthermore, RMS can also indicate the granularity of segmentation through parameters. For example, segmentation granularity parameters can be configured to indicate the corresponding segmentation granularity when segmenting the basic line segment. Optionally, the first system can configure the segmentation granularity of the mobile device in different scenarios. For example, the segmentation granularity parameters can include at least one of the following: the path.dispatching.stationFollowDistance parameter, which is used to indicate the segmentation granularity of the workstation area; and the path.dispatching.global Follow Distance parameter, which is used to indicate the segmentation granularity of the entire field area. For example, the default value can be set to 0.3 meters.

[0214] Optionally, when RMS is configured to allow following in all scenarios, it can enable the follow mode for robots that are instructing the entire field and assign waiting points to the robots; when RMS is configured to allow following in workstation scenarios, it can assign waiting points to robots in workstation scenarios.

[0215] In some embodiments, the second robot, based on a following mode, receives a target movement point sent in advance by the first system when the envelope of the first mobile device has not left the target movement point, and moves to the target movement point. Optionally, in the second following mode, it moves to the center point of a target segment, where the target segment is the segment furthest from the second mobile device among multiple segments. The multiple segments are obtained by dividing the road segment between the rear end of the first mobile device and the front end of the second mobile device, and the length of each segment is less than the length of the basic road segment, where the basic road segment is the road segment between two adjacent movement points.

[0216] Alternatively, in the second following mode, the device moves to the center point of the target segment and activates automatic obstacle avoidance during the movement to the center point of the target segment. The target segment is the segment furthest from the second mobile device among multiple segments. The multiple segments are obtained by dividing the road segment between the front end of the first mobile device and the rear end of the second mobile device. The length of each segment is less than the length of the basic road segment. The basic road segment is the road segment between two adjacent moving points. There is an overlapping area between the target segment and the envelope of the first mobile device.

[0217] When the mobile device is the second mobile device and the model type of the mobile device is a preset model type, the speed of the first mobile device is determined; based on the speed of the first mobile device, the speed of the second mobile device is adjusted so that the second mobile device can realize the automatic obstacle avoidance function.

[0218] In other words, when the second robot receives a waiting point, it can move to the location of the waiting point. The second robot can estimate the speed of the vehicle in front based on sensors (such as LiDAR) and determine the distance to the first robot. Optionally, when the second robot is P40, the second robot can determine the distance to the first robot based on sensors and maintain a safe following distance from the first robot.

[0219] For example, the robot can receive a follow instruction and, in response to the follow instruction, turn the follow function on or off.

[0220] For example, when the follow function is turned off and an obstacle is detected, the vehicle decelerates to a first speed and stops at a first distance in front of the obstacle; when the follow function is turned on and an obstacle is detected, the vehicle continues to travel at the original speed and stops at a second distance in front of the obstacle, where the second distance is less than the first distance.

[0221] In conjunction with the above embodiments, one optional example is:

[0222] When RMS instructs the robot to activate follow mode, the robot will not immediately slow down when there are obstacles on the path. Instead, it will plan its speed according to normal motion parameters. For short-distance following, it will stop 5cm in front of the obstacle. For long-distance following, it will stop Xcm in front of the obstacle, where X = robot length - width.

[0223] Optionally, RMS can instruct the robot to turn off the follow mode. When the follow mode is turned off, if there is an obstacle at a waypoint, the robot will immediately decelerate to 0.3 m / s, approach the obstacle at a speed of 0.3 m / s, and stop 50 cm in front of the obstacle.

[0224] In summary, the above embodiments disclosed herein can refine the robot's following granularity, further shorten the robot's following distance, reduce robot waiting time, and improve efficiency.

[0225] Figure 6A This is a schematic diagram of the structure of a control device 600 for a mobile device according to an embodiment of this disclosure, as shown below. Figure 6A As shown, the device includes: a processing module 601, used to determine the following mode of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device, wherein the first mobile device is located in front of the second mobile device in the direction of movement; and a transceiver module 602, used to send a target movement point to the second mobile device based on the following mode, so that the second mobile device moves to the target movement point.

[0226] In some embodiments, the transceiver module is configured to send the target mobile point to the second mobile device in advance based on a follow-up method, provided that the envelope of the first mobile device has not left the target mobile point.

[0227] In some embodiments, the processing module is configured to determine whether a first condition is met based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device; and if the first condition is met, to determine a following mode.

[0228] In some embodiments, the processing module is configured to determine whether a second condition is met based on the location information of the first mobile device and / or the second mobile device if a first condition is met; if the second condition is met, the processing module determines that the following mode of the second mobile device following the first mobile device is a first following mode, wherein the second condition includes: the first mobile device has reached a first moving point, and the first moving point is a moving point currently covered by the envelope of the first mobile device.

[0229] In some embodiments, the transceiver module is used to send the first movement point as the target movement point to the second mobile device, wherein the second mobile device activates an automatic obstacle avoidance function while moving to the target movement point.

[0230] In some embodiments, the processing module is configured to determine whether a third condition is met based on the location information of the first mobile device and / or the second mobile device if the first condition is met; if the third condition is met, the processing module is configured to determine that the following mode of the second mobile device following the first mobile device is the second following mode, wherein the third condition includes: the following mode of the first mobile device following the third mobile device is not the second following mode, the first mobile device and the second mobile device are in the same direction, the first mobile device is not in a turning state, and the third mobile device is located in front of the first mobile device in the direction of movement.

[0231] In some embodiments, the processing module is used to divide the road segment between the back end of the first mobile device and the front end of the second mobile device into multiple segments, the length of each segment being less than the length of the base road segment, the base road segment being the road segment between two adjacent mobile points; and to take the segment farthest from the second mobile device among the multiple segments as the target segment.

[0232] In some embodiments, the transceiver module is used to send the center point of the target segment as the target moving point to the second mobile device.

[0233] In some embodiments, the processing module is used to divide the road segment between the front end of the first mobile device and the front end of the second mobile device into multiple segments, the length of each segment being less than the length of the base road segment, the base road segment being the road segment between two adjacent mobile points; and to take the segment farthest from the second mobile device among the multiple segments as the target segment.

[0234] In some embodiments, the transceiver module is used to send the center point of the target segment as the target movement point to the second mobile device. The target segment and the envelope of the first mobile device have an overlapping area. The second mobile device activates the automatic obstacle avoidance function while moving to the target movement point.

[0235] In some embodiments, the processing module is configured to determine whether a fourth condition is met based on the location information of the first mobile device and / or the second mobile device if the first condition is met; if the fourth condition is met, the processing module determines that the following mode of the second mobile device following the first mobile device is a third following mode, wherein the fourth condition includes: the envelope of the first mobile device has left the second moving point, and when the second moving point is assigned as the target moving point to the second mobile device, the envelopes of the first mobile device and the second mobile device do not overlap.

[0236] In some embodiments, the transceiver module is used to send the second movement point as the target movement point to the second mobile device, wherein the second movement point is the first movement point behind the first mobile device.

[0237] In some embodiments, the first condition includes at least one of the following: the type of the second mobile device conforms to a preset type; the movement point on the road segment between the first and second mobile devices is not currently occupied by a third mobile device or an obstacle; the movement point on the road segment between the first and second mobile devices is not occupied by a third mobile device or an obstacle when the second mobile device moves to the movement point; the second mobile device and / or the first mobile device are not in a deadlock loop, where mobile devices in the deadlock loop mutually occupy movement points required by other mobile devices; the first mobile device has been assigned a new movement point; the envelope of the first mobile device reaching the new movement point does not overlap with the envelope of the second mobile device reaching the target movement point; the first movement path of the first mobile device and the second movement path of the second mobile device conform to the path condition; the first mobile device has reached the movement point required by the second mobile device; the first mobile device is not at a turning point, which is used for the mobile device to turn the transported shelf.

[0238] In some embodiments, the path conditions include at least one of the following: both the first and second movement paths are straight lines, and the first and second movement paths are in the same direction; the first movement path is a straight line, the second movement path is a turning arc, the movement direction of the first movement path is the same as the movement direction of the second movement path before or after the turn, and the paths do not overlap, and the starting point or ending point of the first movement path is different from the starting point or ending point of the second movement path; the second movement path is a straight line, the first movement path is a turning arc, the first movement path overlaps with the first movement path before the turn, or if the ending point of the second movement path overlaps with the turning point of the first movement path, then the following continues after the first movement path completes the turn; the first movement path, the second movement path... All movement paths are curved curves. The curved curves of the first and second movement paths coincide, or the starting point of the first movement path's turn coincides with the ending point of the second movement path's turn. Alternatively, if the ending point of the second movement path after its turn coincides with the turning point of the first movement path, then the device continues to follow after the first movement path completes its turn. If the first movement path is a straight line and the second movement path is a U-turn curved curve, the starting point of the first movement path coincides with the ending point of the second movement path after its U-turn, or the first movement device has already left the starting point of the first movement path before the second movement device makes its U-turn along the second movement path. If the second movement path is a straight line and the first movement path is a U-turn curved curve, the first movement path is in the same direction as the second movement path before the U-turn. If the first movement path is a U-turn curved curve... The second movement path is a turning arc, and the movement direction of the first movement path before the turn is the same as the movement direction of the second movement path after the turn; the second movement path is a turning arc, and the first movement path is a turning arc, and the movement direction of the second movement path after the turn is the same as the movement direction of the second movement path before the turn, or if the second movement path coincides with the first movement path during the turn, then it continues to follow after the first movement path completes the turn; both the first and second movement paths are turning arcs, the first and second movement paths coincide, or the starting point of the turn in the first movement path coincides with the ending point of the turn in the second movement path; the first movement path is a turning arc, and the second movement path is an obstacle avoidance arc, and the ending point of the second movement path coincides with the first... If the starting points of the U-turns on the movement paths coincide, or if the ending points of the U-turns on the first movement path coincide with the ending points of the obstacle avoidance on the second movement path, then continue following after the U-turn on the first movement path is completed; if the second movement path is a U-turn arc and the first movement path is an obstacle avoidance arc, and the ending point of the U-turn on the second movement path coincides with the starting point of the obstacle avoidance on the first movement path; if the first movement path is a straight line and the second movement path is an obstacle avoidance arc, and the ending point of the obstacle avoidance on the second movement path coincides with the starting point of the first movement path, or the second movement path is in the same direction as the first movement path before obstacle avoidance; if the second movement path is a straight line and the first movement path is an obstacle avoidance arc, and the ending point of the second movement path coincides with the starting point of the first movement path, or the starting point of the second movement path coincides with the starting point of the first movement path.The first movement path is an obstacle avoidance arc, and the second movement path is a turning arc, with the end point of the second movement path coinciding with the start point of the first movement path; or the second movement path is an obstacle avoidance arc, the first movement path is a turning arc, and the end point of the second movement path coincides with the start point of the first movement path, or the direction of the second movement path after obstacle avoidance is the same as the direction of the first movement path after turning; or both the first and second movement paths are obstacle avoidance arcs, and the end point of the second movement path coincides with the start point of the first movement path.

[0239] In some embodiments, the processing module is configured to monitor the status of the first mobile device and / or the second mobile device in real time after determining the following mode; and update the following mode according to the status of the first mobile device and / or the second mobile device.

[0240] In some embodiments, the processing module is configured to update the second following mode to the third following mode when the following mode is the second following mode and the state of the first mobile device changes from not following to following; and to update the first following mode to the third following mode when the following mode is the first following mode and the second mobile device detects an obstacle or detects that the distance to the first mobile device is less than a preset distance after the second mobile device has enabled the automatic obstacle avoidance function.

[0241] In some embodiments, the transceiver module is used to send a follow instruction to the second mobile device and / or the first mobile device, the follow instruction being used to indicate whether the follow function of the second mobile device and / or the first mobile device is turned on or off.

[0242] In some embodiments, the follow instruction is sent to the second mobile device and / or the first mobile device via a first field in the path instruction message, the path instruction message including a path planned by the first system for the second mobile device and / or the first mobile device.

[0243] Figure 6B This is a schematic diagram of the structure of a control device 610 for a mobile device according to an embodiment of this disclosure, as shown below. Figure 6B As shown, the device includes: a transceiver module 611, used to receive a target movement point sent by a first system, the target movement point corresponding to a following mode determined by the first system based on at least one of the location information, path information, and environmental information of a first mobile device and / or a second mobile device, the first mobile device being located in front of the movement direction of the second mobile device; and a processing module 612, used to move to the target movement point.

[0244] In some embodiments, the transceiver module is configured to receive, based on a follow-up method, the target mobile point transmitted in advance by the first system when the envelope of the first mobile device has not left the target mobile point.

[0245] In some embodiments, the processing module is configured to: In a first following mode, move to a first moving point and activate automatic obstacle avoidance during the movement to the first moving point, where the first moving point is the moving point currently covered by the envelope of the first mobile device; In a second following mode, move to the center point of a target segment, where the target segment is the segment furthest from the second mobile device among multiple segments, which are obtained by dividing the road segment between the rear end of the first mobile device and the front end of the second mobile device, and the length of each segment is less than the length of the basic road segment, which is the road segment between two adjacent moving points; In a third following mode, move to a second moving point, where the second moving point is the first moving point behind the first mobile device.

[0246] In some embodiments, the transceiver module is used to receive a follow instruction.

[0247] In some embodiments, the processing module is configured to enable or disable the follow function in response to a follow instruction.

[0248] In some embodiments, the follow instruction is indicated by a first field in a path instruction message, which includes a path planned by the first system for the second mobile device and / or the first mobile device.

[0249] In some embodiments, the exit module is used to decelerate to a first speed and stop at a first distance in front of the obstacle when the follow function is turned off and an obstacle is detected;

[0250] With the follow function enabled and an obstacle detected, continue driving at the original speed and stop at a second distance in front of the obstacle, which is less than the first distance.

[0251] In some embodiments, in full-scene follow mode, the second distance is equal to the length of the mobile device minus its width.

[0252] In some embodiments, when the mobile device is a second mobile device and the model type of the mobile device is a preset model type, the speed of the first mobile device is determined; based on the speed of the first mobile device, the speed of the second mobile device is adjusted so that the second mobile device can achieve automatic obstacle avoidance function.

[0253] Figure 7This is a schematic diagram of an electronic device provided according to an embodiment of the present disclosure. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the methods described in the above embodiments. Figure 7 As shown, the electronic device 700 includes a processor 701 and a memory 702. Exemplarily, the electronic device 700 may also include a communication interface 703 and a communication bus 704.

[0254] The processor 701, memory 702, and communication interface 703 communicate with each other via communication bus 704. Communication interface 703 is used to communicate with other network elements such as clients or other servers.

[0255] In some embodiments, processor 701 is used to execute program 705, specifically performing the steps described above in the method embodiments. Exemplarily, program 705 may include program code, which includes computer-executable instructions.

[0256] For example, processor 701 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure. Electronic device 700 may include one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0257] In some embodiments, memory 702 is used to store program 705. Memory 702 may include high-speed RAM memory, and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0258] Specifically, program 705 can be called by processor 701 to cause electronic device 700 to execute the method shown in any of the above embodiments.

[0259] This disclosure provides a computer-readable storage medium storing at least one executable instruction that, when executed on an electronic device 700, causes the electronic device 700 to perform the method described above.

[0260] For example, the computer-readable storage medium may be a read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0261] The beneficial effects achievable by the apparatus, warehousing system, electronic device, and computer-readable storage medium provided in the embodiments of this disclosure can be referred to in the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0262] Embodiments of this disclosure also provide a computer program product, including a computer program that is executed by a processor using the methods described in the above embodiments of this disclosure.

[0263] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0264] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0265] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0266] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (control method), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0267] It should be understood that various parts of the embodiments of this disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0268] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0269] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The aforementioned storage medium can be a read-only memory, a hard disk, or an optical disk, etc.

[0270] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A control method for a mobile device, characterized in that, The method includes: Based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device, the following method of the second mobile device following the first mobile device is determined, wherein the first mobile device is located in front of the second mobile device in the direction of movement. Based on the following method, a target movement point is sent to the second mobile device so that the second mobile device moves to the target movement point.

2. The method according to claim 1, characterized in that, The step of sending the target movement point to the second mobile device based on the following method includes: Based on the following method, the target mobile point is sent to the second mobile device in advance, provided that the envelope of the first mobile device has not left the target mobile point.

3. The method according to claim 1 or 2, characterized in that, Determining the following method of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device includes: Determine whether the first condition is met based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device; If the first condition is met, the following method is determined.

4. The method according to claim 3, characterized in that, Determining the following mode when the first condition is met includes: If the first condition is met, determine whether the second condition is met based on the location information of the first mobile device and / or the second mobile device; If the second condition is met, the following mode of the second mobile device following the first mobile device is determined to be the first following mode. The second condition includes: the first mobile device has reached the first mobile point, which is the mobile point currently covered by the envelope of the first mobile device.

5. The method according to claim 4, characterized in that, The step of sending the target movement point to the second mobile device based on the following method includes: The first moving point is sent to the second mobile device as the target moving point, wherein the second mobile device activates the automatic obstacle avoidance function while moving to the target moving point.

6. The method according to claim 3, characterized in that, Determining the following mode when the first condition is met includes: If the first condition is met, determine whether the third condition is met based on the location information of the first mobile device and / or the second mobile device; If the third condition is met, the following mode of the second mobile device following the first mobile device is determined to be the second following mode. The third condition includes: the following mode of the first mobile device following the third mobile device is not the second following mode; the first mobile device and the second mobile device are in the same direction; the first mobile device is not in a turning state; and the third mobile device is located in front of the first mobile device in the direction of movement.

7. The method according to claim 6, characterized in that, The step of sending the target movement point to the second mobile device based on the following method includes: The road segment between the back end of the first mobile device and the front end of the second mobile device is divided into multiple segments, each segment having a length shorter than the basic road segment, wherein the basic road segment is the road segment between two adjacent mobile points; The segment furthest from the second mobile device among the multiple segments is taken as the target segment; The center point of the target segment is sent to the second mobile device as the target movement point.

8. The method according to claim 6, characterized in that, The step of sending the target movement point to the second mobile device based on the following method includes: The road segment between the front end of the first mobile device and the front end of the second mobile device is divided into multiple segments, each segment having a length shorter than the length of the base road segment, wherein the base road segment is the road segment between two adjacent mobile points; The segment furthest from the second mobile device among the multiple segments is taken as the target segment; The center point of the target segment is sent to the second mobile device as the target movement point. The target segment and the envelope of the first mobile device have an overlapping area. The second mobile device activates the automatic obstacle avoidance function when moving to the target movement point.

9. The method according to claim 3, characterized in that, Determining the following mode when the first condition is met includes: If the first condition is met, determine whether the fourth condition is met based on the location information of the first mobile device and / or the second mobile device; If the fourth condition is met, the following method of the second mobile device following the first mobile device is determined to be the third following method. The fourth condition includes: when the envelope of the first mobile device has left the second mobile point, and the second mobile point is assigned as the target mobile point to the second mobile device, the envelopes of the first mobile device and the second mobile device do not overlap.

10. The method according to claim 9, characterized in that, The step of sending the target movement point to the second mobile device based on the following method includes: The second movement point is sent to the second mobile device as the target movement point, and the second movement point is the first movement point behind the first mobile device.

11. The method according to any one of claims 3 to 10, characterized in that, The first condition includes at least one of the following: The type of the second mobile device conforms to a preset type; The mobile point on the road segment between the rear end of the first mobile device and the front end of the second mobile device is not currently occupied by a third mobile device or an obstacle; The mobile point on the road segment between the rear end of the first mobile device and the front end of the second mobile device was not occupied by a third mobile device or an obstacle when the second mobile device moved to the mobile point; The second mobile device and / or the first mobile device are not within the deadlock loop, and the mobile devices within the deadlock loop occupy the movement points required by other mobile devices; The first mobile device has been assigned a new move point; The envelope of the first mobile device reaching the new mobile point does not overlap with the envelope of the second mobile device reaching the target mobile point; The first movement path of the first mobile device and the second movement path of the second mobile device meet the path conditions; The first mobile device has reached the point of movement required by the second mobile device; The first mobile device is not at a turning point, which is used for the mobile device to turn the shelf it is transporting.

12. The method according to claim 11, characterized in that, The path conditions include at least one of the following: Both the first movement path and the second movement path are straight lines, and the first movement path and the second movement path are in the same direction; The first movement path is a straight line, and the second movement path is a turning arc. The movement direction of the first movement path is the same as the movement direction of the second movement path before or after the turn, and the paths do not overlap. The starting point or ending point of the first movement path is different from the starting point or ending point of the second movement path. The second movement path is a straight line, and the first movement path is a turning arc. The first movement path coincides with the first movement path before turning. Alternatively, if the end point of the second movement path coincides with the turning point of the first movement path, then the second movement path continues to follow after the first movement path has turned. Both the first and second movement paths are turning arcs. The turning arcs of the first and second movement paths coincide, or the turning start point of the first movement path coincides with the turning end point of the second movement path, or if the ending point of the second movement path after turning coincides with the turning point of the first movement path, then the following continues after the first movement path has completed turning. The first movement path is a straight line, and the second movement path is a U-turn arc. The starting point of the first movement path coincides with the ending point of the second movement path after the U-turn, or the first mobile device has already left the starting point of the first movement path before the second mobile device turns around along the second movement path. The second movement path is a straight line, and the first movement path is a U-turn arc. Before the U-turn, the first movement path is in the same direction as the second movement path. The first movement path is a U-turn arc, and the second movement path is a turning arc. The movement direction of the first movement path before the U-turn is the same as the movement direction of the second movement path after the turn. The second movement path is a U-turn arc, the first movement path is a turning arc, the movement direction of the second movement path after the U-turn is the same as the movement direction of the second movement path before the turn, or if the second movement path coincides with the first movement path during the U-turn, then it continues to follow after the first movement path completes the turn; Both the first movement path and the second movement path are U-turn arcs, and the first movement path and the second movement path coincide, or the U-turn starting point of the first movement path coincides with the U-turn ending point of the second movement path; The first movement path is a U-turn arc, the second movement path is an obstacle avoidance arc, and the end point of the second movement path coincides with the U-turn start point of the first movement path. Alternatively, if the U-turn end point of the first movement path coincides with the obstacle avoidance end point of the second movement path, then the following will continue after the U-turn of the first movement path is completed. The second movement path is a U-turn arc, the first movement path is an obstacle avoidance arc, and the U-turn endpoint of the second movement path coincides with the obstacle avoidance starting point of the first movement path. The first movement path is a straight line, the second movement path is an obstacle avoidance arc, the obstacle avoidance endpoint of the second movement path coincides with the starting point of the first movement path, or the second movement path has the same direction as the first movement path before obstacle avoidance; The second movement path is a straight line, the first movement path is an obstacle avoidance arc, and the end point of the second movement path coincides with the start point of the first movement path, or the start point of the second movement path coincides with the start point of the first movement path. The first movement path is an obstacle avoidance arc, the second movement path is a turning arc, and the end point of the second movement path coincides with the start point of the first movement path. The second movement path is an obstacle avoidance arc, the first movement path is a turning arc, the end point of the second movement path coincides with the start point of the first movement path, or the direction of the second movement path after obstacle avoidance is the same as the direction of the first movement path after turning. Both the first and second movement paths are obstacle avoidance arcs, and the end point of the second movement path coincides with the starting point of the first movement path.

13. The method according to any one of claims 1 to 12, characterized in that, The method further includes: After determining the following method, the status of the first mobile device and / or the second mobile device is monitored in real time; The following mode is updated based on the state of the first mobile device and / or the second mobile device.

14. The method according to claim 13, characterized in that, The step of updating the following mode based on the state of the first mobile device and / or the second mobile device includes at least one of the following: If the following mode is the second following mode, and the state of the first mobile device changes from not following to following, the second following mode will be updated to the third following mode; If the following mode is the first following mode, and the second mobile device detects an obstacle or detects that the distance to the first mobile device is less than a preset distance after enabling the automatic obstacle avoidance function, the first following mode will be updated to the third following mode.

15. The method according to any one of claims 1 to 10, characterized in that, The method further includes: Send a follow instruction to the second mobile device and / or the first mobile device, the follow instruction being used to indicate whether the follow function of the second mobile device and / or the first mobile device is turned on or off.

16. The method according to claim 15, characterized in that, The follow instruction is sent to the second mobile device and / or the first mobile device through the first field of the path instruction message, and the path instruction message includes the path planned by the first system for the second mobile device and / or the first mobile device.

17. A control method for a mobile device, characterized in that, The method includes: The system receives a target movement point sent by the first system. The target movement point corresponds to a following mode determined by the first system based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device. The first mobile device is located in front of the movement direction of the second mobile device. Move to the target movement point.

18. The method according to claim 17, characterized in that, The target mobile point that receives the data sent by the first system includes: Based on the following method, the target mobile point is received in advance by the first system when the envelope of the first mobile device has not left the target mobile point.

19. The method according to claim 17 or 18, characterized in that, The movement to the target movement point includes at least one of the following: In the first follow mode, the device moves to the first moving point and activates the automatic obstacle avoidance function during the movement to the first moving point. The first moving point is the moving point currently covered by the envelope of the first mobile device. In the second follow mode, move to the center point of the target segment. The target segment is the segment farthest from the second mobile device among multiple segments. The multiple segments are obtained by dividing the road segment between the rear end of the first mobile device and the front end of the second mobile device. The length of each segment is less than the length of the basic road segment. The basic road segment is the road segment between two adjacent moving points. In the second following mode, the device moves to the center point of the target segment and activates automatic obstacle avoidance during the movement to the center point of the target segment. The target segment is the segment furthest from the second mobile device among multiple segments. The multiple segments are obtained by dividing the road segment between the front end of the first mobile device and the rear end of the second mobile device. The length of each segment is less than the length of the basic road segment. The basic road segment is the road segment between two adjacent moving points. The target segment overlaps with the envelope of the first mobile device. In the third follow mode, the device moves to the second movement point, which is the first movement point behind the first mobile device.

20. The method according to claim 17 or 18, characterized in that, The method further includes: Receive follow instruction; In response to the follow instruction, enable or disable the follow function.

21. The method according to claim 20, characterized in that, The follow instruction is indicated through a first field in the path instruction message, which includes the path planned by the first system for the second mobile device and / or the first mobile device.

22. The method according to claim 20 or 21, characterized in that, The method further includes: If the follow function is turned off and an obstacle is detected, decelerate to a first speed and stop at a first distance in front of the obstacle; When the follow function is activated and an obstacle is detected, the vehicle continues to travel at the original speed and stops at a second distance in front of the obstacle, where the second distance is less than the first distance.

23. The method according to claim 22, characterized in that, In region-following mode, the second distance is a fixed value; or, In full-scene follow mode, the second distance is equal to the length of the mobile device minus its width.

24. The method according to claim 19, characterized in that, When the mobile device is the second mobile device and the model type of the mobile device is a preset model type, the speed of the first mobile device is determined; The speed of the second mobile device is adjusted according to the speed of the first mobile device to enable the second mobile device to perform automatic obstacle avoidance.

25. A control device for a mobile device, characterized in that, include: The processing module is configured to determine the following method of the second mobile device following the first mobile device based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device, wherein the first mobile device is located in front of the second mobile device in the direction of movement. The transceiver module is used to send a target movement point to the second mobile device based on the following method, so that the second mobile device moves to the target movement point.

26. A control device for a mobile device, characterized in that, include: The transceiver module is used to receive a target movement point sent by the first system. The target movement point corresponds to a following mode determined by the first system based on at least one of the location information, path information, and environmental information of the first mobile device and / or the second mobile device. The first mobile device is located in front of the movement direction of the second mobile device. The processing module is used to move to the target movement point.

27. A warehousing system, characterized in that, include: A first system for performing the method as described in any one of claims 1 to 16; A mobile device for performing the method as described in any one of claims 17 to 24.

28. An electronic device, comprising: Processor and memory, of which, The memory is used to store computer-executable instructions; The processor is configured to read the instructions from the memory and execute the instructions to implement the method as described in any one of claims 1 to 16, or to implement the method as described in any one of claims 17 to 24.

29. A computer-readable storage medium, wherein, The storage medium stores computer program instructions, which, when read by a computer, execute the method as described in any one of claims 1 to 16, or implement the method as described in any one of claims 17 to 24.

30. A computer program product comprising a computer program, wherein, When executed by a processor, the computer program implements the method of any one of claims 1 to 16, or the method of any one of claims 17 to 24.

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