Robot movement method and related apparatus

Abstract

Provided in the present application are a robot movement method and a related apparatus. The method comprises: receiving at least one movement instruction from a server, the at least one movement instruction including a first-type movement instruction and / or a second-type movement instruction; when the at least one movement instruction includes the first-type movement instruction, moving to a first scheduled path point on the basis of a first movement field; and when the at least one movement instruction includes the second-type movement instruction and it is determined, on the basis of a condition field and the state of a reference robot, that a target robot meets a movement condition, moving to a second scheduled path point on the basis of a second movement field. The movement efficiency of a robot can be improved, and the physical loss of the robot can be reduced.

Description

Robot movement method and related device

[0001] The present application claims priority to the Chinese patent application No. 202411329464.7, filed on September 23, 2024, and entitled "A robot movement method and related device", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application belongs to the field of robots, and in particular relates to a robot movement method and related device. BACKGROUND

[0003] Currently, when a robot moves, it only moves based on the movement instruction issued by the system, and each robot is completely independent. The robot body does not perceive other robots. Therefore, in order to ensure the safety of the robot when moving, the system needs to ensure that there is no collision risk between robots. Therefore, the system will reserve a distance of the movement path for the robot, and other robots cannot reserve these reserved movement paths. When there are conflict path points in the movement paths of multiple robots, the reserved path points corresponding to some robots can only reach before the conflict path points, that is, the movement end point in the movement instruction received by the robot is the reserved path point before the conflict path point. Then, the robot will move according to the default movement instruction, and the last position point indicated by the movement instruction is the movement end point. Therefore, the robot will slow down and stop before reaching the last position point, and then start moving again after receiving the next instruction. In this way, the robot needs to go through a process of deceleration to stop and then acceleration, which increases the physical loss of the robot and prolongs the time for the robot to reach the destination. SUMMARY

[0004] The present application provides a robot movement method and related device to improve the movement efficiency of the robot and reduce the physical loss of the robot.

[0005] In a first aspect, the present application provides a robot movement method applied to a target robot in a movement control system, the movement control system comprising at least one robot and a server, the at least one robot comprising the target robot, and the method comprising:

[0006] receiving at least one movement instruction from a server, the at least one movement instruction comprising a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction comprising a first movement field, the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reserved path point, the second movement field comprising a second reserved path point, the second movement field and a third movement field in a first type of movement instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot;

[0007] when the at least one movement instruction comprises the first type of movement instruction, moving to the first reserved path point according to the first movement field;

[0008] when the at least one movement instruction comprises the second type of movement instruction, and it is determined that the target robot satisfies a movement condition according to the condition field and a state of the reference robot, moving to the second reserved path point according to the second movement field.

[0009] Further, the method further comprises: in a case where the movement condition is not satisfied, moving at a current speed at a deceleration until the reference robot leaves the conflict path point, and then moving at an acceleration to the second reserved path point.

[0010] Still further, the determining that the target robot satisfies the movement condition according to the condition field and the state of the reference robot comprises: determining whether the reference robot has left the conflict path point before the target robot enters the conflict path point; and determining that the target robot satisfies the movement condition if the reference robot has left the conflict path point.

[0011] Still further, the condition field comprises the conflict path point and a list of the reference robots corresponding to the conflict path point, and the determining whether the reference robot has left the conflict path point comprises: obtaining a space-time motion curve of the reference robot, the space-time motion curve being used to indicate a relationship between a position and a time in a movement process of the reference robot; and determining whether the reference robot has left the conflict path point according to the space-time motion curve.

[0012] Still further, the method further comprises: if it is determined that the reference robot has not arrived at the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determining a second time required for the target robot to move to the conflict path point; and determining that the target robot satisfies the movement condition if a time interval between the second time and the first time is greater than a preset interval.

[0013] Further, the method further comprises: if it is determined that the reference robot does not reach the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determining a second time required for the target robot to move to the conflict path point; and if the first time is less than the second time and a time interval between the second time and the first time is greater than a preset interval, determining that the target robot satisfies a movement condition.

[0014] Further, the moving at a current speed and decelerating comprises: determining a last first reserved path point of the second reserved path point in a movement path as an end point if the movement condition is not satisfied; determining an acceleration according to the end point; and moving to the end point at a decelerated speed based on the current speed and the acceleration.

[0015] Further, the moving at a current speed and decelerating comprises: obtaining a space-time motion curve of the reference robot, the space-time motion curve being used to indicate a relationship between a position and a time in a movement process of the reference robot; determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; obtaining a current distance between the target robot and the conflict path point; determining a target speed after deceleration according to a third time and the current distance, the third time being greater than the first time; and moving to the second reserved path point from the current speed to the target speed according to the second movement field.

[0016] In a second aspect, an embodiment of the present application provides a robot movement method, applied to a server in a movement control system, the movement control system comprising at least one robot and the server, the at least one robot comprising a target robot, and the method comprising:

[0017] sending at least one movement instruction to the target robot, the at least one movement instruction comprising a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction comprising a first movement field, the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reserved path point, the second movement field comprising a second reserved path point, the second movement field and a third movement field in a first type of movement instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot, the first type of movement instruction being used to instruct the target robot to move to the first reserved path point in the first movement field, and the second type of movement instruction being used to instruct the target robot to move to the second reserved path point in the second movement field when it is determined that a preset condition is satisfied according to the condition field and a state of the reference robot.

[0018] Further, before the sending the at least one movement instruction to the target robot, the method further comprises: obtaining a starting location and a destination of the target robot; determining a movement path of the target robot according to the starting location and the destination; performing path point reservation according to the movement path to obtain the first reserved path point or the second reserved path point; and generating the at least one movement instruction based on the first reserved path point and / or the second reserved path point.

[0019] Further, the performing path point reservation according to the movement path comprises: determining a to-be-reserved path point according to the movement path; reserving the to-be-reserved path point to obtain the first reserved path point when the to-be-reserved path point is in a release state; and obtaining the second reserved path point when the to-be-reserved path point is in an occupied state.

[0020] Further, the generating the at least one movement instruction based on the first reserved path point and / or the second reserved path point comprises: generating the first type of movement instruction based on the first reserved path point, the first type of movement instruction comprising the first movement field, and the first movement field comprising the first reserved path point; determining a reference robot corresponding to the second reserved path point, the reference robot being a robot that causes the second reserved path point to be in the occupied state; and generating the second type of movement instruction based on the second reserved path point and the reference robot, the second type of movement instruction comprising the second movement field and the condition field, the second movement field comprising the second reserved path point, and the condition field comprising a reference robot list.

[0021] In a third aspect, an embodiment of the present application provides a robot movement device applied to a target robot in a movement control system, the movement control system comprising at least one robot and a server, the at least one robot comprising the target robot, and the device comprising:

[0022] a receiving unit configured to receive at least one movement instruction from the server, the at least one movement instruction comprising a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction comprising a first movement field, the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reserved path point, the second movement field comprising a second reserved path point, the second movement field and a third movement field in a first type of movement instruction received by a reference robot having a conflict path point, and the condition field being associated with the reference robot;

[0023] a first moving unit configured to move to the first reserved path point according to the first movement field when the at least one movement instruction comprises the first type of movement instruction; and

[0024] a second moving unit, configured to move to the second pre-appointment path point according to the second moving field when the at least one moving instruction comprises the second type of moving instruction and it is determined that the target robot meets the moving condition according to the condition field and the state of the reference robot.

[0025] In a fourth aspect, an embodiment of the present application provides a robot moving device, applied to a server in a moving control system, the moving control system comprising at least one robot and the server, the at least one robot comprising a target robot, and the device comprising:

[0026] a sending unit, configured to send at least one moving instruction to the target robot, the at least one moving instruction comprising a first type of moving instruction and / or a second type of moving instruction, the first type of moving instruction comprising a first moving field, the second type of moving instruction comprising a condition field and a second moving field, the first moving field comprising a first pre-appointment path point, the second moving field comprising a second pre-appointment path point, the second moving field and a third moving field in a first type of moving instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot, the first type of moving instruction being used to instruct the target robot to move to the first pre-appointment path point in the first moving field, and the second type of moving instruction being used to instruct the target robot to move to the second pre-appointment path point in the second moving field when it is determined that a preset condition is met according to the condition field and the state of the reference robot.

[0027] In a fifth aspect, an embodiment of the present application provides a robot, comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, and the programs comprising instructions for performing the steps in the first aspect of the present application.

[0028] In a sixth aspect, an embodiment of the present application provides a server, comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, and the programs comprising instructions for performing the steps in the second aspect of the present application.

[0029] In a seventh aspect, the present application provides a computer storage medium having computer programs / instructions stored thereon, the computer programs / instructions being executed by a processor to implement the steps of the method in the first aspect or the second aspect.

[0030] As can be seen, in this application, when the target robot receives a movement instruction including a first type of movement instruction, it moves to the first reserved path point according to the first movement field. When the movement instruction includes a second type of movement instruction, and the target robot meets the movement conditions based on the condition field and the state of the reference robot, it moves to the second reserved path point according to the second movement field. This allows the target robot to reserve conflict path points even when its current movement path conflicts with the current movement paths of other robots. Under the premise of ensuring that the target robot does not collide with other robots, the target robot minimizes deceleration, thereby improving the efficiency of robot movement and reducing physical wear and tear on the robot. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 is a schematic diagram of a path conflict provided in an embodiment of this application;

[0033] Figure 2 is a motion spatiotemporal curve provided in an embodiment of this application;

[0034] Figure 3 is a schematic diagram of the composition of the mobile control system provided in an embodiment of this application;

[0035] Figure 4 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0036] Figure 5 is a flowchart illustrating a robot movement method provided in an embodiment of this application;

[0037] Figure 6 is another path conflict diagram provided by an embodiment of this application;

[0038] Figure 7 is another motion spatiotemporal curve provided in an embodiment of this application;

[0039] Figure 8 is a flowchart illustrating another robot movement method provided in an embodiment of this application;

[0040] Figure 9 is a block diagram of the first functional unit composition of a robot mobile device provided in an embodiment of this application;

[0041] Figure 10 is a block diagram of two functional units of a robot mobile device provided in an embodiment of this application;

[0042] Figure 11 is a block diagram of the third functional unit of a robot mobile device provided in an embodiment of this application. DETAILED DESCRIPTION

[0043] In order to make persons skilled in the art better understand the schemes of the present application, the technical schemes in the embodiments of the present application will be clearly and completely described in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0044] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0045] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined with other embodiments.

[0046] Please refer to FIG. 1. As shown in FIG. 1, in a crossroad, robot A and robot B are to pass through the crossroad at a similar time, that is, the moving paths of robot A and robot B have a conflict path point. Robot A has reserved a moving path. At this time, in order to avoid collision between robots, the server will only reserve a position before the crossroad when reserving a moving path for robot B, and will issue a moving instruction to robot B, which will only make robot B move to the front of the crossroad, so that robot B avoids robot A at the front of the crossroad. That is, as shown in FIG. 2, during the time period reserved by robot A, robot B cannot pass through the conflict path point, but can only slow down to a stop before the conflict path point and then wait for the end of the time period reserved by robot A (or robot A leaves the conflict path point). After robot A passes through the conflict path point, the conflict path point is released, the server reserves a moving path for robot B after the conflict path point and the conflict path point, and then issues a moving instruction to robot B again, and robot B starts to pass through and leaves the crossroad based on the moving instruction. That is, the moving instruction issued by the current server is a first type of moving instruction. At this time, robot B needs to experience slowing down to a stop and then accelerating to leave during the whole moving process, which will increase the physical loss of the robot and prolong the time for the robot to reach the destination.

[0047] To solve the above problem, embodiments of the present application provide a robot moving method and related device, which will be described in detail below in combination with the drawings.

[0048] Please refer to FIG. 3. The moving control system 10 shown in FIG. 3 includes a server 101 and a plurality of robots 102. The server 101 is in communication connection with the plurality of robots 102 respectively, and the plurality of robots 102 are also in communication connection with each other. The server 101 is configured to plan a moving path and reserve a path point for each robot 102 respectively, and issue a moving instruction to the robot 102, and the robot 102 moves to a destination based on the moving instruction.

[0049] In a specific implementation, please refer to FIG. 4. The electronic device 20 can be used to refer to the robot 102 or the server 101 described above. The electronic device 20 includes a processor 120, a memory 130, a communication interface 140, and one or more programs 131. The one or more programs 131 are stored in the memory 130 and are configured to be executed by the processor 120. The one or more programs 131 include instructions for executing any step in the following method embodiments. In a specific implementation, the processor 120 is configured to execute any step in the following method embodiments performed by a target robot or a server, and when performing data transmission such as sending, the communication interface 140 can be selected to complete the corresponding operation.

[0050] Please refer to FIG. 5, which is a flowchart of a robot moving method according to an embodiment of the present application. As shown in FIG. 5, the robot moving method comprises the following steps.

[0051] S210, receiving at least one moving instruction from a server.

[0052] The at least one moving instruction comprises a first type of moving instruction and / or a second type of moving instruction. The first type of moving instruction comprises a first moving field, and the first moving field comprises a first reserved path point. The second type of moving instruction comprises a condition field and a second moving field, and the second moving field comprises a second reserved path point. The second moving field and a third moving field in the first type of moving instruction received by the reference robot have a conflict path point, and the condition field is associated with the reference robot.

[0053] Specifically, the first type of moving instruction means that the robot can directly travel through the first reserved path point based on the first moving field in the moving instruction, while the second type of moving instruction means that the robot needs to pass through the second reserved path point in the second moving field based on the condition field, that is, whether the second reserved path point can be passed through depends on the state of the reference robot.

[0054] For example, as shown in FIG. 6, the reference robot currently moves based on the third moving field in the first type of moving instruction, and the reserved path point included in the third moving field is b point or f point and b point, that is, the reference robot needs to move from a point to b point at this time. The second reserved path point of the target robot includes c point, d point, f point and e point, or c point, d point and e point, that is, the target robot needs to move from c point to e point. The intersection f point of the two paths is the conflict path point.

[0055] In a specific implementation, since the server has reserved the moving path from a point to b point for the reference robot, the priority of the reference robot is higher than that of the target robot for the conflict path point. That is, the reference robot will pass through the conflict path point first, and the target robot needs to pass through the conflict path point based on the state of the reference robot at the conflict path point.

[0056] S220, when the at least one moving instruction comprises the first type of moving instruction, moving to the first reserved path point according to the first moving field.

[0057] When the target robot is currently executing a first type of movement instruction, it means that the target robot does not have path conflict with other robots at the pre-booking path point corresponding to the first type of movement instruction, or the priority of the target robot is higher than that of other robots having path conflict with the target robot. At this time, the target robot can directly move to the first pre-booking path point. At this time, the first pre-booking path point is the moving end point considered by the target robot. Therefore, in a specific implementation, the server can issue multiple first type of movement instructions for the target robot, and when the first pre-booking path points of the multiple first type of movement instructions are consecutive path points, the target robot can combine the multiple consecutive path points, and move based on the combined moving end point. At this time, the consecutive path points indicate that there is no second pre-booking path point in the path connected by multiple paths.

[0058] S230, when the at least one movement instruction includes the second type of movement instruction, and it is determined that the target robot satisfies the moving condition according to the condition field and the state of the reference robot, moving to the second pre-booking path point according to the second movement field.

[0059] In one possible embodiment, in the case where the moving condition is not satisfied, moving at a current speed and decelerating until the reference robot leaves the conflict path point, and then accelerating to the second pre-booking path point.

[0060] For example, as shown in FIG. 6, the second pre-booking path point is e point, or f point and e point. At this time, if the moving condition is satisfied, the target robot can directly move from c point to e point. Even if there is path conflict with the moving path of the reference robot, the target robot can directly move to e point. If the moving condition is not satisfied, the target robot needs to move with d point as the end point, that is, decelerate at a speed of 0 to reach d point, and during the deceleration, when the moving condition is satisfied, that is, when the reference robot leaves the conflict path point f, the target robot accelerates through f point and moves to e point.

[0061] In one possible embodiment, the deceleration based on the current speed includes: in the case where the moving condition is not satisfied, determining the last first pre-booking path point of the second pre-booking path point in the moving path as the end point; determining the acceleration according to the end point; and decelerating to the end point based on the current speed and the acceleration.

[0062] For example, as shown in FIG. 6, the second reserved path point of the target robot is the f point or the e point, the last first reserved path point of the second reserved path point is the d point, and then the target robot determines the distance between the current position c point and the terminal d point, and determines the acceleration based on the distance and the current speed, so that the target robot moves to the d point at a deceleration, if the movement condition is met during the deceleration movement, the deceleration can be stopped, and the target robot moves to the f point or the e point at an acceleration, or if the movement condition is not met during the deceleration movement, the target robot is in a static state when moving to the d point, and waits for the movement condition to be met.

[0063] It can be seen that, in the embodiment, when the movement condition is not met, the target robot moves at a deceleration with the last first reserved path point as the terminal, and waits for the reference robot to leave the conflict path point, which can improve the safety of the robot movement.

[0064] In a possible embodiment, the deceleration movement based on the current speed includes: obtaining a space-time motion curve of the reference robot, the space-time motion curve being used to indicate the relationship between the arrival position and the time during the movement of the reference robot; determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; obtaining a current distance between the target robot and the conflict path point; determining a target speed after deceleration according to a third time and the current distance, the third time being greater than the first time; and moving to the second reserved path point from the current speed to the target speed according to the second movement field.

[0065] In the implementation process, each robot can bind a dedicated topic identifier under the MQTT-SN protocol, the topic identifier being used to identify the published space-time motion curve, and each robot can view the space-time motion curve published by other robots based on the topic identifier of the other robots. In particular, the space-time motion curve can be generated based on the first type of movement instruction of the robot and the movement condition when the second type of movement instruction is met. When a low-priority robot decelerates until a high-priority robot leaves a conflict path point, and then the low-priority robot accelerates to a second reserved path point, the low-priority robot updates the subsequent space-time motion curve based on the actual movement condition and publishes it again.

[0066] In the implementation process, each robot can bind a dedicated topic identifier under the MQTT-SN protocol, the topic identifier being used to identify the published space-time motion curve, and each robot can view the space-time motion curve published by other robots based on the topic identifier of the other robots. In particular, the space-time motion curve can be generated based on the first type of movement instruction of the robot and the movement condition when the second type of movement instruction is met. When a low-priority robot decelerates until a high-priority robot leaves a conflict path point, and then the low-priority robot accelerates to a second reserved path point, the low-priority robot updates the subsequent space-time motion curve based on the actual movement condition and publishes it again.

[0067] In the process of acquiring the spatiotemporal motion curve of the reference robot, the target robot can also directly communicate with the reference robot to acquire the current position, moving speed and path point reserved for the reference robot by the server of the reference robot, and then generate the future spatiotemporal motion curve of the reference robot based on the current position, moving speed and reserved path point of the reference robot.

[0068] As shown in FIG. 6, based on the spatiotemporal motion curve published by the reference robot, the target robot can know the first time when the reference robot moves to the conflict path point f, at which time there will be no conflict between the target robot and the reference robot as long as the target robot moves to the conflict path point f after the first time, and thus the target speed of the target robot can be determined based on the third time, i.e., the target robot moves to the conflict path point f at the target speed after decelerating to the target speed without conflict with the reference robot.

[0069] [Corrected according to Rule 91 on 19.11.2025] Referring to FIG. 7, the solid curve in FIG. 7 is the spatiotemporal motion curve of the target robot when the target robot determines the last first reserved path point as the end point and decelerates to the end point when there is a conflict path point between the target robot and the reference robot, and then moves to the second reserved path point. That is, at this time, the target robot waits for the reference robot to leave the conflict path point and then reserves the conflict path point within the time period reserved by the reference robot, and then accelerates to move to the second reserved path point. The dashed curve in FIG. 7 is the spatiotemporal motion curve of the target robot when the target robot decelerates to the target speed to move to the second reserved path point when there is a conflict path point between the target robot and the reference robot. Based on the time difference between the two spatiotemporal motion curves, it can be intuitively felt that the moving efficiency of the target robot is higher in the scheme in which the target robot communicates with the reference robot to determine the spatiotemporal motion curve of the reference robot, determines the target speed based on the spatiotemporal motion curve of the reference robot, and decelerates to the target speed to move to the second reserved path point when there is a conflict path point between the target robot and the reference robot.

[0070] As can be seen, in the present embodiment, based on the target speed, the target robot moves to the conflict path point only after the first time, which can avoid conflict with the reference robot and can also not need to decelerate to a standstill and then accelerate, thereby reducing equipment loss.

[0071] In one possible embodiment, the determining that the target robot satisfies the moving condition according to the condition field and the state of the reference robot comprises: determining whether the reference robot has left the conflict path point before the target robot enters the conflict path point; and determining that the target robot satisfies the moving condition if the reference robot has left the conflict path point.

[0072] The target robot can enter the conflict path point, specifically, can be when the target robot moves to the last first reserved path point before the conflict path point, or can be when the distance between the position of the target robot and the conflict path point is less than a preset distance, without being limited thereto.

[0073] It can be seen that, in the embodiment, if the reference robot leaves the conflict path point before the target robot reaches the conflict path point, it means that the target robot and the reference robot will not collide at the conflict path point, and at this time, it is considered that the target robot satisfies the moving condition and can directly move to the second reserved path point.

[0074] In one possible embodiment, the condition field includes the conflict path point and the reference robot list corresponding to the conflict path point, and the determining whether the reference robot leaves the conflict path point includes: obtaining a space-time motion curve of the reference robot, the space-time motion curve being used to indicate the relationship between the arrival position and the time in the moving process of the reference robot; and determining whether the reference robot leaves the conflict path point according to the space-time motion curve.

[0075] The reference robot list includes the identity information of the reference robot, and the target robot can query the subject identifier of the reference robot based on the identity information and access the subject corresponding to the subject identifier through the MQTT-SN protocol to obtain the space-time motion curve of the reference robot.

[0076] It can be seen that, in the embodiment, whether the reference robot leaves the conflict path point is determined based on the space-time motion curve of the reference robot, which reduces the calculation amount of the target robot and improves the judgment accuracy of the moving condition of the reference robot.

[0077] In one possible embodiment, the method further includes: if it is determined that the reference robot does not reach the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determining a second time required for the target robot to move to the conflict path point; and if the time interval between the second time and the first time is greater than a preset interval, determining that the target robot satisfies the moving condition.

[0078] Wherein, before the target robot drives into the conflict path point, the reference robot has not moved to the conflict path point, at this time, the first time and the second time required for the reference robot and the target robot to move to the conflict path point respectively can be determined. If the time interval between the first time and the second time is greater than a preset interval, that is, no matter whether the reference robot or the target robot reaches the path conflict point first, the reference robot and the target robot will not collide, it is considered that the target robot satisfies the moving condition. That is, in this case, the target robot does not need to slow down, nor does it need to wait for the reference robot to pass through the conflict path point first, and can move to the second reserved path point at the current speed.

[0079] It can be seen that in the embodiment, when the time interval of the target robot and the reference robot moving to the conflict path point is large, the target robot can directly move to the second reserved path point at the current speed, which can improve the efficiency of robot movement.

[0080] In one possible embodiment, the method further comprises: if it is determined that the reference robot does not reach the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determining a second time required for the target robot to move to the conflict path point; if the first time is less than the second time, and the time interval between the second time and the first time is greater than a preset interval, determining that the target robot satisfies the moving condition.

[0081] Wherein, before the target robot drives into the conflict path point, the reference robot has not moved to the conflict path point, at this time, the first time and the second time required for the reference robot and the target robot to move to the conflict path point respectively can be determined. If the time interval between the first time and the second time is greater than a preset interval, that is, no matter whether the reference robot or the target robot reaches the path conflict point first, the reference robot and the target robot will not collide, it is considered that the target robot satisfies the moving condition. That is, in this case, the target robot does not need to slow down, nor does it need to wait for the reference robot to pass through the conflict path point first, and can move to the second reserved path point at the current speed.

[0082] It can be seen that in the embodiment, when the time interval of the target robot and the reference robot moving to the conflict path point is large, the target robot can directly move to the second reserved path point at the current speed, which can improve the efficiency of robot movement.

[0083] Referring to FIG. 8, the application also provides a robot moving method applied to a server in a movement control system, which comprises the following steps.

[0084] S810, at least one moving instruction is sent to the target robot.

[0085] The at least one movement instruction includes a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction includes a first movement field, the second type of movement instruction includes a condition field and a second movement field, the first movement field includes a first reserved path point, the second movement field includes a second reserved path point, the second movement field and a third movement field in the first type of movement instruction received by the reference robot have a conflict path point, the condition field is associated with the reference robot, the first type of movement instruction is used to instruct the target robot to move to the first reserved path point in the first movement field, and the second type of movement instruction is used to instruct the target robot to move to the second reserved path point in the second movement field when it is determined that a preset condition is met according to the condition field and a state of the reference robot.

[0086] In a possible embodiment, before the at least one movement instruction is sent to the target robot, the method further includes: obtaining a starting point and a destination of the target robot; determining a movement path of the target robot according to the starting point and the destination; performing path point reservation according to the movement path to obtain the first reserved path point or the second reserved path point; and generating the at least one movement instruction based on the first reserved path point and / or the second reserved path point.

[0087] The server can determine at least one to-be-reserved path point based on the movement requirement of the target robot, and then determine whether there is a path point in a locked state in the at least one to-be-reserved path point. If there is, it means that the to-be-reserved path point has been reserved by a robot with a higher priority. At this time, the to-be-reserved path point reserved by the robot with a higher priority can be determined as the second reserved path point of the target robot, and other path points in the at least one to-be-reserved path point can be determined as the first reserved path point of the target robot.

[0088] It can be seen that, in this embodiment, the reserved path point and the type of the reserved path point are determined based on the corresponding situation of the movement path of the target robot, thereby improving the intelligence of the path point reservation for the target robot.

[0089] In a possible embodiment, the path point reservation according to the movement path includes: determining a to-be-reserved path point according to the movement path; reserving the to-be-reserved path point when the to-be-reserved path point is in a released state to obtain the first reserved path point; and obtaining the second reserved path point when the to-be-reserved path point is in an occupied state.

[0090] The server can determine the type of the path point to be reserved in real time based on the actual reservation of the path point included in the current moving path, that is, if the path point to be reserved has been reserved by other robots, the path point to be reserved is considered as the second reserved path point, otherwise, the path point to be reserved is determined as the first reserved path point.

[0091] It can be seen that in the embodiment, the server first determines the path point to be reserved, and then determines the type of the path point to be reserved according to the state of the path to be reserved, which can improve the flexibility of the server in determining the reserved path point.

[0092] In one possible embodiment, the generating the at least one moving instruction based on the first reserved path point and / or the second reserved path point comprises: generating the first type of moving instruction based on the first reserved path point, the first type of moving instruction comprising the first moving field, and the first moving field comprising the first reserved path point; determining the reference robot corresponding to the second reserved path point, the reference robot being a robot that causes the second reserved path point to be in the occupied state; and generating the second type of moving instruction based on the second reserved path point and the reference robot, the second type of moving instruction comprising the second moving field and the condition field, the second moving field comprising the second reserved path point, and the condition field comprising the reference robot list.

[0093] It can be seen that in the embodiment, the server generates different moving instructions based on different types of reserved path points, so that the target robot can move based on the corresponding moving instruction, improving the intelligence and safety of the movement of the target robot.

[0094] Consistent with the above embodiments, please refer to FIG. 9, as shown in FIG. 9, the robot moving device 30 is applied to a target robot in a mobile control system, the mobile control system comprises at least one robot and a server, the at least one robot comprises the target robot, the robot moving device 30 comprises: a receiving unit 310, configured to receive at least one movement instruction from the server, the at least one movement instruction comprises a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction comprises a first movement field, the second type of movement instruction comprises a condition field and a second movement field, the first movement field comprises a first reserved path point, the second movement field comprises a second reserved path point, there is a conflict path point between the second movement field and a third movement field in the first type of movement instruction received by a reference robot, and the condition field is associated with the reference robot; a first moving unit 320, configured to move to the first reserved path point according to the first movement field when the at least one movement instruction comprises the first type of movement instruction; and a second moving unit 330, configured to move to the second reserved path point according to the second movement field when the at least one movement instruction comprises the second type of movement instruction and it is determined that the target robot satisfies a movement condition according to the condition field and a state of the reference robot.

[0095] In a possible embodiment, the second moving unit 330 is further configured to: in a case where the movement condition is not satisfied, move at a current speed and decelerate until the reference robot leaves the conflict path point, and then move at an accelerated speed to the second reserved path point.

[0096] In a possible embodiment, in the determination that the target robot satisfies the movement condition according to the condition field and the state of the reference robot, the second moving unit 330 is specifically configured to: determine whether the reference robot has left the conflict path point before the target robot enters the conflict path point; and determine that the target robot satisfies the movement condition if the reference robot has left the conflict path point.

[0097] In a possible embodiment, the condition field comprises the conflict path point and a list of reference robots corresponding to the conflict path point, and in the determination of whether the reference robot has left the conflict path point, the second moving unit 330 is specifically configured to: acquire a space-time motion curve of the reference robot, the space-time motion curve being used to indicate a relationship between a position and a time in a movement process of the reference robot; and determine whether the reference robot has left the conflict path point according to the space-time motion curve.

[0098] In a possible implementation, the second moving unit 330 is further configured to: if it is determined that the reference robot does not reach the conflict path point, determine a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determine a second time required for the target robot to move to the conflict path point; and determine that the target robot satisfies the moving condition if a time interval between the second time and the first time is greater than a preset interval.

[0099] In a possible implementation, the second moving unit 330 is further configured to: if it is determined that the reference robot does not reach the conflict path point, determine a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; determine a second time required for the target robot to move to the conflict path point; and determine that the target robot satisfies the moving condition if the first time is less than the second time and a time interval between the second time and the first time is greater than a preset interval.

[0100] In a possible implementation, in the aspect of moving at the current speed and decelerating, the second moving unit 330 is specifically configured to: if the moving condition is not satisfied, determine a last first reserved path point of the second reserved path point in the moving path as an end point; determine an acceleration according to the end point; and travel to the end point at a decelerated speed based on the current speed and the acceleration.

[0101] In a possible implementation, in the aspect of moving at the current speed and decelerating, the second moving unit 330 is specifically configured to: obtain a space-time motion curve of the reference robot, the space-time motion curve being used to indicate a relationship between a position and a time during movement of the reference robot; determine a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; obtain a current distance between the target robot and the conflict path point; determine a target speed after deceleration according to a third time and the current distance, the third time being greater than the first time; and move to the second reserved path point at a speed decreasing from the current speed to the target speed according to the second moving field.

[0102] Referring to FIG. 10, the robot moving device 40 is applied to a server in a mobile control system, the mobile control system comprising at least one robot and the server, the at least one robot comprising a target robot, the robot moving device 40 comprising: a sending unit 410 configured to send at least one moving instruction to the target robot, the at least one moving instruction comprising a first type of moving instruction and / or a second type of moving instruction, the first type of moving instruction comprising a first moving field, the second type of moving instruction comprising a condition field and a second moving field, the first moving field comprising a first reserved path point, the second moving field comprising a second reserved path point, the second moving field and a third moving field in a first type of moving instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot, the first type of moving instruction being used to instruct the target robot to move to the first reserved path point in the first moving field, the second type of moving instruction being used to instruct the target robot to move to the second reserved path point in the second moving field when it is determined that a preset condition is met according to the condition field and a state of the reference robot.

[0103] In one possible implementation, before the sending of the at least one moving instruction to the target robot, the robot moving device 40 further comprises a generating unit configured to: obtain a starting point and a destination of the target robot; determine a moving path of the target robot according to the starting point and the destination; reserve a path point according to the moving path to obtain the first reserved path point or the second reserved path point; and generate the at least one moving instruction based on the first reserved path point and / or the second reserved path point.

[0104] In one possible implementation, in the aspect of reserving the path point according to the moving path, the robot moving device 40 further comprises a generating unit configured to: determine a to-be-reserved path point according to the moving path; reserve the to-be-reserved path point to obtain the first reserved path point when the to-be-reserved path point is in a release state; and obtain the second reserved path point when the to-be-reserved path point is in an occupied state.

[0105] In a possible implementation, in the generating the at least one movement instruction based on the first reservation path point and / or the second reservation path point, the robot movement device 40 further comprises a generating unit, which is specifically configured to: generate the first type of movement instruction based on the first reservation path point, the first type of movement instruction comprising the first movement field, and the first movement field comprising the first reservation path point; determine the reference robot corresponding to the second reservation path point, the reference robot being a robot that makes the second reservation path point in the occupied state, and generate the second type of movement instruction based on the second reservation path point and the reference robot, the second type of movement instruction comprising the second movement field and the condition field, the second movement field comprising the second reservation path point, and the condition field comprising the reference robot list.

[0106] It can be understood that, since the method embodiments and the device embodiments are different present forms of the same technical concept, the content in the method embodiments part of the present application should be synchronously adapted to the device embodiments part, which will not be repeated here.

[0107] In the case of employing integrated units, as shown in FIG. 11. In FIG. 11, the robot movement device 50 comprises a processing module 512 and a communication module 511. The processing module 512 is configured to control and manage the actions of the robot movement device 50, for example, to perform the steps of the receiving unit 310, the first movement unit 320 and the second movement unit 330, or to perform the steps of the sending unit 410, and / or to perform other processes of the technology described herein. The communication module 511 is configured to interact between the robot movement device 50 and other devices. As shown in FIG. 11, the robot movement device 50 can further comprise a storage module 513, which is configured to store the program code and data of the robot movement device 50.

[0108] The processing module 512 can be a processor or a controller, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc. The communication module 511 can be a transceiver, RF circuit or communication interface, etc. The storage module 513 can be a memory.

[0109] All related content of each scenario involved in the method embodiments can be cited to the function description of the corresponding function module, and will not be repeated here. The robot moving device 50 can perform the steps performed by the target robot in the robot moving method shown in FIG. 5, or the robot moving device 50 can perform the steps performed by the server in the robot moving method shown in FIG. 8.

[0110] The scheme of the embodiments of the present application is introduced mainly from the perspective of the process of the method. It can be understood that the electronic device includes hardware structure and software modules corresponding to the execution of each function in order to implement the above functions. Those skilled in the art should easily realize that the units and algorithm steps of each example described in the embodiments provided in the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0111] The embodiments of the present application can divide the functional units of the electronic device according to the above method examples. For example, each functional unit can be divided according to each function, or two or more functions can be integrated in one processing unit. The integrated unit can be realized in the form of hardware or software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division. There can be another division method when actually implemented.

[0112] The embodiments of the present application also provide a computer storage medium, which stores a computer program for electronic data exchange. The computer program causes a computer to execute some or all steps of any method described in the above method embodiments. The computer includes an electronic device.

[0113] The embodiments of the present application also provide a computer program product, which includes a non-transitory computer readable storage medium storing a computer program. The computer program is operable to cause a computer to execute some or all steps of any method described in the above method embodiments. The computer program product can be a software installation package, and the computer includes an electronic device.

[0114] It should be noted that, for the foregoing method embodiments, the sequences of the described actions can be changed, and the actions can be performed in other sequences or concurrently. Additionally, it should be understood that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0115] In the above embodiments, the description of each embodiment is focused on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0116] In the several embodiments provided by the present application, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the apparatus embodiments described above are merely schematic; the division of the units is only a logical function division; there can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0117] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0118] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware, or in the form of a software functional unit.

[0119] The above integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the above-mentioned method of each embodiment of the present application. The aforementioned memory includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0120] A person of ordinary skill in the art can understand that all or part of the steps in the above-mentioned embodiments can be completed by programs instructing relevant hardware, and the programs can be stored in a computer readable memory, which can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0121] The above has carried on the detailed introduction to the embodiment of the present application, and the principle and implementation mode of the present application are described by applying specific examples in this paper. The above embodiment is only used to help understand the method of the present application and its core idea; at the same time, for a person of ordinary skill in the art, according to the idea of the present application, the specific implementation mode and application range will be changed; in conclusion, the content of the specification should not be understood as the limitation of the present application.

[0122] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements without departing from the spirit and scope of the present application, and can make various changes and modifications, including the combination of different functions and implementation steps, including the software and hardware implementation mode, which are all within the protection scope of the present application.

Claims

1. A robot movement method, characterized by, A target robot applied to a mobile control system, the mobile control system comprising at least one robot including the target robot and a server, the method comprising: receiving at least one movement instruction from the server, the at least one movement instruction comprising a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction comprising a first movement field, the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reserved path point, the second movement field comprising a second reserved path point, the second movement field and a third movement field in a first type of movement instruction received by a reference robot having a conflict path point, the condition field being associated with the reference robot; when the at least one movement instruction comprises the first type of movement instruction, moving to the first reserved path point according to the first movement field; when the at least one movement instruction comprises the second type of movement instruction, and it is determined that the target robot satisfies a movement condition according to the condition field and a state of the reference robot, moving to the second reserved path point according to the second movement field.

2. The method of claim 1, wherein, The method further comprises: in the case that the movement condition is not satisfied, moving at a current speed and decelerating until the reference robot leaves the conflict path point, and then accelerating to the second reserved path point.

3. The method according to claim 1 or 2, characterized in that, The determination that the target robot satisfies the movement condition according to the condition field and the state of the reference robot comprises: determining whether the reference robot has left the conflict path point before the target robot enters the conflict path point; if the reference robot has left the conflict path point, determining that the target robot satisfies the movement condition.

4. The method of claim 3, wherein, The condition field comprises the conflict path point and a list of the reference robots corresponding to the conflict path point, and the determination of whether the reference robot has left the conflict path point comprises: obtaining a spatiotemporal motion curve of the reference robot, the spatiotemporal motion curve being used to indicate a relationship between a position and a time in a movement process of the reference robot; determining whether the reference robot has left the conflict path point according to the spatiotemporal motion curve.

5. The method of claim 4, wherein, The method further comprises: if it is determined that the reference robot has not arrived at the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the spatiotemporal motion curve; determining a second time required for the target robot to move to the conflict path point; if a time interval between the second time and the first time is greater than a preset interval, determining that the target robot satisfies the movement condition.

6. The method of claim 4, wherein, The method further comprises: if it is determined that the reference robot has not arrived at the conflict path point, determining a first time required for the reference robot to move to the conflict path point according to the spatiotemporal motion curve; determining a second time required for the target robot to move to the conflict path point; If the first time is less than the second time, and a time interval between the second time and the first time is greater than a preset interval, it is determined that the target robot meets a movement condition.

7. The method of claim 2, wherein, The moving based on the current speed and the deceleration includes: In a case where the movement condition is not met, determining a last first reserved path point of the second reserved path point in a movement path as an end point; determining an acceleration according to the end point; driving to the end point based on the current speed and the acceleration.

8. The method of claim 2, wherein, The moving based on the current speed and the deceleration includes: obtaining a space-time motion curve of the reference robot, the space-time motion curve being used to indicate a relationship between a position and a time in a movement process of the reference robot; determining a first time required for the reference robot to move to the conflict path point according to the space-time motion curve; obtaining a current distance between the target robot and the conflict path point; determining a target speed after deceleration according to a third time and the current distance, the third time being greater than the first time; moving to the second reserved path point from the current speed to the target speed according to the second movement field.

9. A robot movement method characterized by, A server applied to a movement control system, the movement control system including at least one robot and the server, the at least one robot including a target robot, and the method including: sending at least one movement instruction to the target robot, the at least one movement instruction including a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction including a first movement field, the second type of movement instruction including a condition field and a second movement field, the first movement field including a first reserved path point, the second movement field including a second reserved path point, there being a conflict path point between the second movement field and a third movement field in a first type of movement instruction received by a reference robot, the condition field being associated with the reference robot, the first type of movement instruction being used to instruct the target robot to move to the first reserved path point in the first movement field, the second type of movement instruction being used to instruct the target robot to move to the second reserved path point in the second movement field when it is determined that a preset condition is met according to the condition field and a state of the reference robot.

10. The method of claim 9, wherein, Before the sending of the at least one movement instruction to the target robot, the method further includes: obtaining a starting point and a destination of the target robot; determining a movement path of the target robot according to the starting point and the destination; performing path point reservation according to the movement path to obtain the first reserved path point or the second reserved path point; generating the at least one movement instruction based on the first reserved path point and / or the second reserved path point.

11. The method of claim 10, wherein, The performing of the path point reservation according to the movement path includes: determining a to-be-reserved path point according to the movement path; when the to-be-reserved path point is in a release state, reserving the to-be-reserved path point to obtain the first reserved path point; when the to-be-reserved path point is in an occupied state, obtaining the second reserved path point.

12. The method of claim 10, wherein, The generating the at least one movement instruction based on the first reservation path point and / or the second reservation path point comprises: generating the first type of movement instruction based on the first reservation path point, the first type of movement instruction comprising the first movement field, and the first movement field comprising the first reservation path point; determining the reference robot corresponding to the second reservation path point, the reference robot being a robot that makes the second reservation path point in the occupied state, generating the second type of movement instruction based on the second reservation path point and the reference robot, the second type of movement instruction comprising the second movement field and the condition field, the second movement field comprising the second reservation path point, and the condition field comprising the reference robot list.

13. A robotic mobile device, characterized by, A target robot applied to a mobile control system, the mobile control system comprising at least one robot and a server, the at least one robot comprising the target robot, the device comprising: a receiving unit configured to receive at least one movement instruction from the server, the at least one movement instruction comprising a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction comprising a first movement field, and the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reservation path point, the second movement field comprising a second reservation path point, the second movement field and a third movement field in the first type of movement instruction received by the reference robot having a conflict path point, and the condition field being associated with the reference robot; a first moving unit configured to move to the first reservation path point according to the first movement field when the at least one movement instruction comprises the first type of movement instruction; a second moving unit configured to move to the second reservation path point according to the second movement field when the at least one movement instruction comprises the second type of movement instruction, and it is determined that the target robot satisfies a movement condition according to the condition field and a state of the reference robot.

14. A robotic mobile device, comprising: A server applied to a mobile control system, the mobile control system comprising at least one robot and the server, the at least one robot comprising a target robot, the device comprising: a sending unit configured to send at least one movement instruction to the target robot, the at least one movement instruction comprising a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction comprising a first movement field, and the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reservation path point, the second movement field comprising a second reservation path point, the second movement field and a third movement field in the first type of movement instruction having a conflict path point, and the condition field being associated with the reference robot; The sending unit is configured to send at least one movement instruction to the target robot, the at least one movement instruction comprising a first type of movement instruction and / or a second type of movement instruction, the first type of movement instruction comprising a first movement field, the second type of movement instruction comprising a condition field and a second movement field, the first movement field comprising a first reserved path point, the second movement field comprising a second reserved path point, the second movement field and a third movement field in the first type of movement instruction received by the reference robot having a conflict path point, the condition field being associated with the reference robot, the first type of movement instruction being used to instruct the target robot to move to the first reserved path point in the first movement field, the second type of movement instruction being used to instruct the target robot to move to the second reserved path point in the second movement field when it is determined that a preset condition is met according to the condition field and a state of the reference robot.

15. A robot, characterized in that A computer program product comprising a processor, a memory, and one or more programs stored in the memory and configured for execution by the processor, the programs comprising instructions for performing the steps of any of the methods of claims 1-8.

16. A server, characterized by A computer program product comprising a processor, a memory, and one or more programs stored in the memory and configured for execution by the processor, the programs comprising instructions for performing the steps of any of the methods of claims 9-12.

17. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that, The computer program / instructions are executed by the processor to implement the steps of any of the methods of claims 1-8 or any of the methods of claims 9-12.

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