Robot control method, robot, and storage medium

Patent metadata

Field	Value
Publication number	US-12566449-B2
Application number	US-202418612268-A
Country	US
Kind code	B2
Filing date	Mar 21, 2024
Priority date	Sep 28, 2021
Publication date	Mar 3, 2026
Grant date	Mar 3, 2026

Abstract

The present disclosure provides a robot control method, a robot, a control terminal, and a control system. The method includes: obtaining an environment feature around the first robot when the first robot detects no positioning identifier; determining a deviation distance and a deviation angle between the first robot and a target traveling route of the first robot according to the environment feature and traveling information of the first robot; and controlling the first robot to perform route correction according to the deviation distance and the deviation angle, to cause the first robot to move to the target traveling route again.

First claim

What is claimed is:

1 . A robot control method, performed by a first robot and comprising:
obtaining an environment feature around the first robot when the first robot detects no positioning identifier; determining a deviation distance and a deviation angle between the first robot and a target traveling route of the first robot according to the environment feature and traveling information of the first robot; and controlling the first robot to perform route correction according to the deviation distance and the deviation angle, to cause the first robot to move to the target traveling route again; wherein before the determining the deviation distance and the deviation angle between the first robot and the target traveling route according to the environment feature, the method comprises: obtaining at least one feature image corresponding to an environment around the first robot; determining, according to the at least one feature image and a historical traveling route of the first robot, positions of at least two rack legs in an aisle in which the first robot is located; and determining the target traveling route of the first robot according to the positions of the at least two rack legs; wherein the target traveling route includes a plurality of positioning identifiers.

2 . The method according to claim 1 , wherein the controlling the first robot to perform route correction according to the deviation distance and the deviation angle comprises:
determining whether an obstacle exists in a safety zone range corresponding to the first robot; and controlling the first robot to perform route correction according to the deviation distance and the deviation angle if no obstacle exists in the safety zone range.

3 . The method according to claim 2 , wherein the obstacle comprises a second robot; and
the determining whether an obstacle exists in a safety zone range corresponding to the first robot comprises: sending a first query message to the second robot; receiving movement information sent by the second robot according to the first query message, wherein the movement information comprises a movement route and a movement speed; determining, according to the movement route and the movement speed, whether the second robot travels into the safety zone range in preset duration; and determining, if the second robot does not travel into the safety zone range, that no obstacle exists in the safety zone range corresponding to the first robot.

4 . The method according to claim 2 , wherein the obstacle comprises a second robot; and
the determining whether an obstacle exists in a safety zone range corresponding to the first robot comprises: sending a second query message to a control terminal; and receiving a query result sent by the control terminal, wherein the query result is used for indicating whether an obstacle exists in the safety zone range, the query result is determined by the control terminal according to movement information of all second robots, and the movement information comprises a movement route and a movement speed.

5 . The method according to claim 2 , wherein before the controlling the first robot to perform route correction according to the deviation distance and the deviation angle, the method further comprises:
determining, according to the environment feature and the traveling information of the first robot, a target zone in which the first robot is located; determining a target safety level corresponding to the target zone according to the target zone and a preset correspondence between zones and safety levels; and determining the safety zone range corresponding to the first robot according to the target safety level.

6 . The method according to claim 1 , wherein the controlling the first robot to perform route correction according to the deviation distance and the deviation angle comprises:
determining a first zone range according to the environment feature and the traveling information of the first robot, wherein the first zone range is a zone in which no obstacle exists around the first robot; determining a second zone range according to the deviation distance and the deviation angle, wherein the second zone range is a minimum range required for controlling the first robot to perform route correction; and controlling the first robot to perform route correction according to the deviation distance and the deviation angle if the first zone range is greater than or equal to the second zone range.

7 . The method according to claim 1 , wherein the controlling the first robot to perform route correction comprises:
determining, if the deviation distance is greater than or equal to a first preset value and the deviation angle is less than a second preset value, a minimum distance between the first robot and an obstacle around the first robot according to the environment feature; and controlling, if the minimum distance is greater than or equal to a first preset safety distance, the first robot to move in a first preset mode and a second preset mode alternately; wherein the first preset mode is used for reducing the deviation angle, and the second preset mode is used for reducing the deviation distance.

8 . The method according to claim 1 , wherein the controlling the first robot to perform route correction comprises:
determining a second zone range according to the environment feature if the deviation distance is greater than or equal to a first preset value and the deviation angle is less than a second preset value, wherein the second zone range is a zone in which no obstacle exists around the first robot; controlling, if the second zone range is greater than or equal to a third preset value, the first robot to move in a first preset mode; controlling, after determining that the first robot moves into a first preset range, the first robot to move in the first preset mode and a second preset mode alternately; and controlling, if the second zone range is greater than or equal to a fourth preset value and less than a second preset value, the first robot to move in a first preset mode and a second preset mode alternately; wherein the first preset mode is used for reducing the deviation angle, and the second preset mode is used for reducing the deviation distance.

9 . The method according to claim 1 , wherein the controlling the first robot to perform route correction comprises:
determining, if the deviation distance is greater than or equal to a first preset value and the deviation angle is less than a second preset value, a minimum distance between the first robot and an obstacle around the first robot according to the environment feature; controlling, if the minimum distance is greater than or equal to a first preset safety distance and less than a second preset safety distance, the first robot to move in a first preset mode and a second preset mode alternately, or controlling, if the minimum distance is greater than or equal to the second preset safety distance, the first robot to move in the first preset mode, and controlling, if the deviation distance is less than or equal to a fifth preset value, the first robot to move in the first preset mode and the second preset mode alternately, wherein the first preset mode is used for reducing the deviation angle, and the second preset mode is used for reducing the deviation distance.

10 . The method according to claim 1 , wherein the controlling the first robot to perform route correction comprises:
controlling, if the deviation angle is greater than or equal to a second preset value and the deviation distance is less than a first preset value, the first robot to move in a first preset mode, and control

Assignees

• Hai Robotics Co Ltd

Inventors

• Jia Wenna
• Lin Han
• Li Huixiang

Classifications

• G05D1/244

  using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means · CPC title

• G05D2111/17

  Coherent light, e.g. laser signals · CPC title

• G05D1/242

  Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D1/244; using signals provided by artificial sources external to the vehicle G05D1/247) · CPC title

• G05D1/622

  Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W30/08) · CPC title

• G05D2109/10

  Land vehicles · CPC title