CN108268038A - The dispatching method and system of multiple mobile robot - Google Patents
The dispatching method and system of multiple mobile robot Download PDFInfo
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- CN108268038A CN108268038A CN201810055319.2A CN201810055319A CN108268038A CN 108268038 A CN108268038 A CN 108268038A CN 201810055319 A CN201810055319 A CN 201810055319A CN 108268038 A CN108268038 A CN 108268038A
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- 230000008569 process Effects 0.000 description 7
- 238000007726 management method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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Abstract
The embodiment of the present invention provides a kind of dispatching method and system of multiple mobile robot, belongs to robot field.The dispatching method of the multiple mobile robot includes：Obtain multigroup history node region sequence corresponding to initial position and path planning；Wherein mobile robot is configured only to pass through from the allocated sequence node；It counts mobile robot and performs history execution parameter corresponding during multigroup history node region sequence；When detecting about the scheduling request that mobile robot is dispatched to path planning from initial position, statistical result based on history execution parameter selects the first history node region sequence from multigroup history node region sequence and distributes selected first history node region sequence to mobile robot.The efficiency of server centered calculating is which thereby enhanced, optimizes the response efficiency of server, while also improve the conevying efficiency of close quarters mobile robot.
Description
Technical field
The present invention relates to robot field, more particularly to the dispatching method and system of a kind of multiple mobile robot.
Background technology
Lay multiple mobile robots in the close quarters (such as logistics warehouse region), and by these mobile robots Lai
Such as transporting goods for task is completed, is the research emphasis of current Internet of Things field to substitute hand labor.
In order to avoid the collision between multiple mobile robots in close quarters in operation, generally employ at present
The different processing scheme of the following two kinds：First, being by the current local environmental information of robot, robot is allowed to have good
Conflict resolution ability；Second, it is centralized management formula conflict resolution, mainly by the way that the motion path of robot to be segmented to disappear
Except conflict.
But present inventor found during the application is put into practice it is above-mentioned in the prior art at least exist it is as follows
Defect：First, although distributed method operation is simple, real-time and flexibility are strong, due to will appear local extreme points, often without
Method completely completes task；Second, centralized management formula method can relatively accurately perform task, but be easy to that robot is caused to transport
Row path conflict will usually find optimal solution, but calculation amount is very big, occupy a large amount of resource of server, cause real-time poor.It is right
This current industry still can not propose preferable solution.
Invention content
The purpose of the embodiment of the present invention is to provide the dispatching method and system of a kind of multiple mobile robot, at least to solve
Centralized management formula method calculation amount is very big in the prior art, occupies the technology of the real-time difference caused by a large amount of resource of server
Problem.
To achieve these goals, the embodiment of the present invention provides a kind of dispatching method of multiple mobile robot, this method packet
It includes：Multigroup history node region sequence corresponding to initial position and path planning is obtained, wherein the path planning is described
Mobile robot institute contexture by self and can get around the barrier in the presumptive area including multiple node regions, Yi Jisuo
It is to be the shifting according to the initial position and the path planning of the mobile robot to state history node region sequence
What mobile robot was distributed, wherein the mobile robot is configured only to pass through from the allocated sequence node；Described in statistics
Mobile robot performs history corresponding during multigroup history node region sequence and performs parameter；When detecting about by institute
State mobile robot from the initial position be dispatched to the scheduling request of the path planning when, based on the history perform parameter
Statistical result the first history node region sequence is selected from multigroup history node region sequence and will be selected
The first history node region sequence is distributed to the mobile robot.
Optionally, the statistical result of the history execution parameter includes history congestion index, wherein described gone through based on described
The statistical result that history performs parameter selects the first history node region sequence to include from multigroup history node region sequence：
That minimum group history node region sequence of history congestion index is determined from multigroup history node region sequence, and will
It is as the first history node region sequence, wherein the history congestion index is to perform to lead to based on the mobile robot
Sequence node distance and path corresponding to history node region sequence is crossed to perform determined by duration.
Optionally, the history performs the assigned frequency that parameter includes history node region sequence, wherein described be based on
The statistical result that the history performs parameter selects the first history node region sequence from multigroup history node region sequence
Row include：That highest group history node region sequence of the assigned frequency is determined from multigroup history node region sequence
Row, and as the first history node region sequence.
Optionally, it is distributed by the selected first history node region sequence to the mobile robot,
This method further includes：Node resource table is established according to the first history node region sequence of the mobile robot, wherein
Record has the correspondence between node region ID and holding time in the node resource table；The mobile robot is controlled to press
According to the holding time in the node resource table, the node region of corresponding node region ID is occupied.
Optionally, in the node resource table record have mobile robot ID, node region ID and holding time three it
Between correspondence and multiple mobile robot ID correspond respectively to multiple mobile machines in the presumptive area
People, wherein the control mobile robot occupies corresponding node area according to the holding time in the node resource table
The node region of domain ID includes：Control the multiple mobile robot respectively according to respective moving machine in the node resource table
Holding time corresponding to device people ID occupies the node region of corresponding node region ID, wherein the multiple mobile robot
Arbitrary the two in ID does not correspond to the same holding time under same node region ID jointly in the node resource table.
On the other hand the embodiment of the present invention provides the scheduling system of multiple mobile robot a kind of, which includes：Initial letter
Acquiring unit is ceased, for obtaining multigroup history node region sequence corresponding to initial position and path planning, wherein the rule
Drawing path is mobile robot institute's contexture by self and can get around the barrier in the presumptive area including multiple node regions
Hinder object and the history node region sequence is the initial position and the path planning according to the mobile robot
And the mobile robot is distributed, wherein the mobile robot is configured only to lead to from the allocated sequence node
It crosses；Statistic unit, for counting history corresponding when the mobile robot performs multigroup history node region sequence
Perform parameter；History node selecting unit is dispatched for that ought detect about by the mobile robot from the initial position
To the path planning scheduling request when, the statistical result of parameter is performed from multigroup history node area based on the history
The first history node region sequence is selected in the sequence of domain；Node allocation unit, for by the selected first history node
Regional sequence is distributed to the mobile robot.
Optionally, the statistical result of the history execution parameter includes history congestion index and the first history section
History congestion index corresponding to point regional sequence is less than other history node regions in multigroup history node region sequence
History congestion index corresponding to sequence is performed wherein the history congestion index is based on the mobile robot through history section
The point regional sequence duration that is consumed determines.
Optionally, the history performs the history frequency that the statistical result of parameter is assigned including node region sequence, with
And the assigned history frequency corresponding to the first history node region sequence is higher than multigroup history node region sequence
The assigned history frequency in row corresponding to other history node region sequences.
Optionally, which further includes：Node resource table establishes unit, for by the selected first history section
Point regional sequence is distributed to the mobile robot, according to the first history node region sequence of the mobile robot
Row establish node resource table, wherein record has the corresponding pass between node region ID and holding time in the node resource table
System；Control occupies unit, for the mobile robot to be controlled to be occupied corresponding according to the holding time in the node resource table
Node region ID node region.
Optionally, in the node resource table record have mobile robot ID, node region ID and holding time three it
Between correspondence and multiple mobile robot ID correspond respectively to multiple mobile machines in the presumptive area
People, wherein the control occupies unit for controlling the multiple mobile robot respectively according to respective in the node resource table
Mobile robot ID corresponding to holding time, the node region of corresponding node region ID is occupied, wherein the multiple shifting
Arbitrary the two in mobile robot ID does not correspond to the same occupancy under same node region ID jointly in the node resource table
Time.
Through the above technical solutions, the tune to multiple mobile robot is realized based on the distribution to node region and management
Degree, can effectively monitor mobile status of the mobile robot in close quarters；Also, according to the distribution of history node region come
It determines that current path is planned, does not need to the distribution that server recalculates node region, improve computational efficiency, optimize service
The response efficiency of device, while also improve the conevying efficiency of close quarters mobile robot.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is that the embodiment of the present invention is further understood for providing, and a part for constitution instruction, under
The specific embodiment in face is used to explain the embodiment of the present invention, but do not form the limitation to the embodiment of the present invention together.Attached
In figure：
Fig. 1 is showing for the map of the close quarters of the dispatching method for the multiple mobile robot for implementing one embodiment of the invention
Example；
Fig. 2 is the flow chart of the dispatching method of the multiple mobile robot of one embodiment of the invention；
Fig. 3 is the flow chart about the path planning method for obtaining mobile robot in one embodiment of the invention；
Fig. 4 is the example about the Node distribution table of presumptive area in one embodiment of the invention；
Fig. 5 is the example of the node resource table about 3-D walls and floor；
Fig. 6 is the example of the node resource table of one embodiment of the invention；
Fig. 7 is the structure diagram of the scheduling system of the multiple mobile robot of one embodiment of the invention.
Reference sign
A1, A0 mobile robot B1, B2 barrier
702 statistic unit of N1, N2 node
701 initial information acquiring unit, 703 history node selecting unit
The scheduling system of 70 multiple mobile robots
704 node allocation units
Specific embodiment
The specific embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to restrict the invention embodiment.
As shown in Figure 1, the ground of the close quarters in the dispatching method for the multiple mobile robot for implementing one embodiment of the invention
Multiple barrier B1, B2 etc., multiple mobile robots A0, A1 etc. and multiple node region N1, N2 etc. are labelled in figure.Its
In, which can be that institute as needed is scheduled, such as it can refer to the region in warehouse, multiple moving machine
Device people A0, A1 can refer to multiple merchandising machine people and be moved by the operation of mobile robot A0, A1, Ke Yishi
It now transports goods, but when multiple merchandising machine people run simultaneously, may result in conflict.Wherein, different node
The size of region N1, N2 can be equal, can divide what is formed by the map making equal proportion to close quarters.It needs
Illustrate, the dispatching method of the multiple mobile robot of the embodiment of the present invention can be by managing multiple mobile robot concentratedly
Server performed by.
As shown in Fig. 2, the dispatching method of the multiple mobile robot of one embodiment of the invention includes：
S201, the multigroup history node region sequence for corresponding to initial position and path planning, wherein path planning are obtained
Be mobile robot institute's contexture by self and can get around the barrier in the presumptive area including multiple node regions and
History node region sequence is to be distributed according to the initial position and path planning of mobile robot by mobile robot,
Middle mobile robot is configured only to pass through from the allocated sequence node.
Specifically, the acquisition modes about path planning, can independently be determined by mobile robot, and by its upload
To server or server by calculating, and above belong in protection scope of the present invention.
A kind of preferred embodiment of the acquisition modes about path planning, the embodiment of the present invention are illustrated that referring to Fig. 3
In mobile robot can be AGV (Automated Guided Vehicle laser navigations vehicle), the wherein acquisition methods
Including：S301, server can send traffic order to each mobile robot, and wherein traffic order includes each mobile machine
The destination node area information of people.S302, after each mobile robot receives respective traffic order, can be according to each
From destination node area information and pass through A* algorithms and calculate respectively path planning.S303, each mobile robot
It can will calculate obtained respective path planning and be sent to server.It should be noted that although mobile robot can be autonomous
Path planning, but since it does not have the concept of node resource, and its other mobile robot for dynamic mobile can not
Realize conflict evading.After the path planning for getting transmitted by each mobile robot in server, after performing accordingly
To ensure in mobile robot path conflict will not occur during Execution plan path for continuous processing.As an example, on ground
There can be multiple node region (such as sections shown in Fig. 4 about close quarters for being respectively provided with unique node ID on figure
0,1 ... No. 99 node region in point distribution table), mobile robot A0 is needed after traffic order is received from present bit
It puts No. 73 node regions and reaches No. 31 destination node regions, mobile robot A0 can be calculated by A* algorithms and be reached No. 31 mesh at this time
The shortest path of node region is marked, thus ensures that mobile robot A0 can reach rapidly destination node region.But at this moment
Calculating in there is no consider current spatial in other mobile robots such as A1 operation movement, also only can take into account
Static barrier node, and during mobile robot A0 operations are mobile, other mobile robots in space are for example
A1 is barrier relative to this mobile robot A0, it is therefore desirable to take anti-collision measure to avoid other mobile robots
To prevent from bumping against.About the details of conflict management measure, specifically will hereinafter be unfolded.
Can be that mobile robot is only received from server about next distribution about the configuration of mobile robot
During the instruction of node region, movement can be just performed, that is, makes it possible to contexture by self and has got well operating path.
History node region sequence can be the mobile route institute for mobile robot before stored in the server
The historical data of the node region (such as 63-53-43 or 63-64-54-44-43 etc.) of the combination of distribution.Also, the history
The quantity of node region sequence can be it is multigroup, such as two groups or more, although and can be based on mobile robot institute autonomous
The route of planning, but due to having the interference (example of factors during movement in practical multiple mobile robot
Congestion subregion and evacuation subregion are such as also divided into close quarters) so that server is it is possible that can be according to path planning
Beginning and end voluntarily plans other more efficient paths, this calculating process can consume the resource of server, influences real-time, but
It is that can ensure that mobile robot can more efficiently reach destination node.For example, calculate 63-64-54-44-43 nodes
Regional sequence, later as historical storage to server, should be noted in evacuation subregion, and according to its execution
It is that the calculating process can be the arbitrary calculating process of selection, and it is belonged in protection scope of the present invention.
S202, statistics mobile robot perform history corresponding during multigroup history node region sequence and perform parameter.
Wherein, it can represent that mobile robot performs the assessment of the path planning under historic state that history, which performs parameter,
Parameter.
S203, when detecting about the scheduling request that mobile robot is dispatched to path planning from initial position, base
The statistical result that parameter is performed in history selects the first history node region sequence from multigroup history node region sequence.
Can be generated based on the dispatching distribution at O＆M end as an example, about scheduling request, and please in scheduling
It seeks survival into later, can be selected from the history node region counted in response to scheduling request, improve server
Response efficiency.
As exemplary one side, statistics mobile robot is being performed about from No. 63 node region to No. 43 node
History congestion index corresponding to each group node region sequence in region, such as history congestion index can pass through statistical history
Sequence node distance and path execution duration corresponding to node region sequence are come determining.Further, it is gathered around based on the history
The history node region sequence corresponding to value for blocking up the statistical result of index to select history congestion index minimum is gone through as first
History node region sequence.
As exemplary another aspect, statistics mobile robot is being performed about from No. 63 node region to No. 43 section
The each group node region sequence in point region is assigned to the assigned frequency of mobile robot, such as can directly count each
Node region sequence is assigned to the number of mobile robot.Further, based on this be assigned the statistical result of the frequency come
Select to be assigned the history node region sequence corresponding to the highest value of the frequency as the first history node region sequence.
S204, selected first history node region sequence is distributed to mobile robot.
In embodiments of the present invention, the tune to multiple mobile robot is realized by the distribution to node region and management
Degree, can effectively monitor mobile status of the mobile robot in close quarters；Also, according to the distribution of history node region come
It determines that current path is planned, does not need to the distribution that server recalculates node region, improve computational efficiency, optimize service
The response efficiency of device, while also improve the conevying efficiency of close quarters mobile robot.
It is furthermore preferred that the execution about S204, can be implemented based on the node resource table for introducing time variable,
Thus it is more convenient the whole operation state of planning mobile robot.Specifically, first, according to the first history section of mobile robot
Point regional sequence establishes node resource table, and record has the correspondence between node region ID and holding time wherein in node resource table
Relationship.In addition, control mobile robot occupies the node of corresponding node region ID according to the holding time in node resource table
Region.When being managed as a result, using node region as a kind of assignable resource, and introducing the occupancy about node region
Between be maintained as variable, as shown in figure 5, in coordinate, x, y-axis represent position in two-dimensional space respectively, and z-axis is
Time coordinate.Over time, can mobile robot be calculated in certain a period of time according to the path planning of mobile robot
The three-dimensional coordinate at quarter, for example, can be shown in Fig. 5 3-D walls and floor on show mobile robot from current location node area
Domain S runs to track and the coordinate that destination node region T is inscribed when each.Specifically, since mobile robot is from entering
It is a process to leave some node, and a period of time is needed to carry out, therefore the holding time in node resource table can refer to
For the period.
Under a preferred embodiment, can be all mobile robots are made in node resource table global administration and
It safeguards.Specifically, record has the correspondence between mobile robot ID, node region ID and holding time three in node resource table
Relationship and multiple mobile robot ID correspond respectively to multiple mobile robots in presumptive area.It is multiple in global administration
Can control multiple mobile robots respectively according to mobile machine respective in node resource table during mobile robot
Holding time corresponding to people ID, occupies the node region of corresponding node region ID, in plurality of mobile robot ID
Both arbitrary same holding time not corresponded to jointly in node resource table under same node region ID.
Continue as described above, destination node region T to be run to from current location node region S in mobile robot A0
During, stationary obstruction can be independently got around, but touching between other running mobile robots can not be eliminated
Hit conflict；For this purpose, pair between mobile robot ID, node region ID and holding time three is had recorded in node resource table
It should be related to, and arbitrary the two in multiple mobile robot ID does not correspond to same node region ID jointly in node resource table
Under same holding time.It is understood that each mobile robot can be configured with unique mobile robot ID
(such as A0, A1 etc.) and each node region can also be configured with unique node region ID (as shown in Figure 4).
As shown in Fig. 6 the example of the node resource table of one embodiment of the invention is that node resource table carries out dimensionality reduction
It is obtained as a result, it illustratively illustrates 0 time mobile machine for being located at No. 73 node regions of current time after processing
0 time movement for being located at No. 55 nodes of resource allocation conditions and current time of the node of target area 31 is gone in people A0 planning
Robot A1 plans the resource allocation conditions for going to No. 19 nodes of destination node.As can be seen from Figure 6 come, each node ID pair
All it is unique in the resource of some time, can be identified by Hash table, such as No. 73 section that holding time is 1
Point region and No. 73 node regions that holding time is 2 are exactly different resources.Also, between different mobile robots
The resource that (such as A0 and A1) is distributed does not have what is overlapped, that is, arbitrary the two in multiple mobile robot ID is provided in node
The same holding time under same node region ID is not corresponded in the table of source jointly.
As a result, by node resource table, the operation of multiple mobile robots is managed concentratedly so that different Liang Ge robots
Identical resource will not be seized in the process of running, that is, will not be moved there are two mobile robot according to path planning operation
It is appeared in same node region simultaneously in dynamic process, effectively prevents mobile robot and moved in the process of running with other
Collision problem between mobile robot；Meanwhile implementation through the embodiment of the present invention, the reasonable distribution to resource is realized, is protected
Hinder under the premise of not clashing, the space resources of closed area can be uses efficiently, and increase the number of concurrent tasks
Amount optimizes the conevying efficiency of mobile robot in space.By repeatedly effectively experiment, pressed in the floor space of mobile robot
It is calculated according to 1.44 square metres, the single required space size of mobile robot is less than 7 square metres so that realizing centainly
In the case of conevying efficiency, the entire area of close quarters such as plant area may be reduced, so as to cost-effective.
As shown in fig. 7, the scheduling system 70 of the multiple mobile robot of one embodiment of the invention, including：Initial information obtains
Unit 701, for obtaining multigroup history node region sequence corresponding to initial position and path planning, wherein the planning road
Diameter is mobile robot institute's contexture by self and can get around the obstacle in the presumptive area including multiple node regions
Object and the history node region sequence be the initial position and the path planning according to the mobile robot and
The mobile robot is distributed, wherein the mobile robot is configured only to pass through from the allocated sequence node；
Statistic unit 702, for counting history corresponding when the mobile robot performs multigroup history node region sequence
Perform parameter；History node selecting unit 703, for when detect about by the mobile robot from the initial position tune
When spending the scheduling request of the path planning, the statistical result of parameter is performed from multigroup history node based on the history
The first history node region sequence is selected in regional sequence；Node allocation unit 704, for by selected first history
Node region sequence is distributed to the mobile robot.
In some embodiments, the history performs parameter and is selected including history congestion index and the history node
Unit is selected for determining that minimum group history node area of history congestion index from multigroup history node region sequence
Domain sequence, and as the first history node region sequence, wherein the history congestion index is based on the movement
Robot, which is performed, to be performed by the sequence node distance corresponding to history node region sequence and path determined by duration.
In some embodiments, the history performs the assigned frequency that parameter includes history node region sequence,
Described in based on the history perform parameter statistical result select the first history from multigroup history node region sequence
Node region sequence includes：That highest group history section of the assigned frequency is determined from multigroup history node region sequence
Point regional sequence, and as the first history node region sequence.
In some embodiments, which further includes：Node resource table establishes unit, for will be selected described
First history node region sequence is distributed to the mobile robot, according to first history of the mobile robot
Node region sequence establishes node resource table, wherein there is between node region ID and holding time record in the node resource table
Correspondence；Control occupies unit, for controlling the mobile robot according to the holding time in the node resource table,
Occupy the node region of corresponding node region ID.
In some embodiments, record has mobile robot ID, node region ID and occupancy in the node resource table
Correspondence and multiple mobile robot ID between time three correspond respectively to multiple in the presumptive area
Mobile robot, wherein the control occupies unit for controlling the multiple mobile robot respectively according to the node resource
Holding time in table corresponding to respective mobile robot ID occupies the node region of corresponding node region ID, wherein institute
The arbitrary the two stated in multiple mobile robot ID does not correspond in the node resource table under same node region ID jointly
Same holding time.
It should be noted that the scheduling system for the multiple mobile robot that the embodiment of the present invention is provided can be build for
On the server for managing multiple mobile robot concentratedly, and each unit as described above and module can refer to program mould
Block or unit.And more details about system of the embodiment of the present invention and corresponding technique effect are referred to side above
The description of method embodiment, just repeats no more herein.
The system of the embodiments of the present invention can be used for performing corresponding embodiment of the method in the present invention, and accordingly reach
The technique effect that the invention described above embodiment of the method is reached, which is not described herein again.
Can correlation function mould be realized by hardware processor (hardware processor) in the embodiment of the present invention
Block.
On the other hand, the embodiment of the present invention provides a kind of storage medium, is stored thereon with computer program, which is located
Manage the step of device performs the as above dispatching method of the multiple mobile robot performed by server.
The said goods can perform the method that the embodiment of the present application is provided, and has the corresponding function module of execution method and has
Beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present application is provided.
The optional embodiment of the embodiment of the present invention is described in detail above in association with attached drawing, still, the embodiment of the present invention is simultaneously
The detail being not limited in the above embodiment, can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various combinations of possible ways no longer separately illustrate.
It will be appreciated by those skilled in the art that all or part of the steps of the method in the foregoing embodiments are can to pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, is used including some instructions so that single
Piece machine, chip or processor (processor) perform all or part of step of each embodiment the method for the application.It is and preceding
The storage medium stated includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic disc or CD.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of dispatching method of multiple mobile robot, this method include：
Multigroup history node region sequence corresponding to initial position and path planning is obtained, wherein the path planning is described
Mobile robot institute contexture by self and can get around the barrier in the presumptive area including multiple node regions, Yi Jisuo
It is to be the shifting according to the initial position and the path planning of the mobile robot to state history node region sequence
What mobile robot was distributed, wherein the mobile robot is configured only to pass through from the allocated sequence node；
It counts the mobile robot and performs history execution parameter corresponding during multigroup history node region sequence；
When detecting about the mobile robot is dispatched to the scheduling request of the path planning from the initial position,
The statistical result that parameter is performed based on the history selects the first history node area from multigroup history node region sequence
Domain sequence and
The selected first history node region sequence is distributed to the mobile robot.
2. according to the method described in claim 1, it is characterized in that, the history perform parameter include history congestion index,
Described in based on the history perform parameter statistical result select the first history from multigroup history node region sequence
Node region sequence includes：
That minimum group history node region sequence of history congestion index is determined from multigroup history node region sequence,
And as the first history node region sequence, wherein the history congestion index is held based on the mobile robot
Row is performed by the sequence node distance corresponding to history node region sequence and path determined by duration.
3. according to the method described in claim 1, it is characterized in that, the history, which performs parameter, includes history node region sequence
The assigned frequency, wherein described perform the statistical result of parameter from multigroup history node region sequence based on the history
The first history node region sequence of middle selection includes：
That highest group history node region sequence of the assigned frequency is determined from multigroup history node region sequence, and
As the first history node region sequence.
It is 4. according to the method described in claim 1, it is characterized in that, described by the selected first history node region sequence
To the mobile robot, this method further includes for row distribution：
Node resource table is established according to the first history node region sequence of the mobile robot, wherein the node provides
Record has the correspondence between node region ID and holding time in the table of source；
The mobile robot is controlled to occupy the section of corresponding node region ID according to the holding time in the node resource table
Point region.
5. according to the method described in claim 4, it is characterized in that, in the node resource table record have mobile robot ID,
Correspondence and multiple mobile robot ID between node region ID and holding time three correspond respectively to described
Multiple mobile robots in presumptive area, wherein the control mobile robot is according to accounting in the node resource table
With the time, the node region for occupying corresponding node region ID includes：
Control the multiple mobile robot respectively according to corresponding to respective mobile robot ID in the node resource table
Holding time occupies the node region of corresponding node region ID, wherein arbitrary the two in the multiple mobile robot ID
The same holding time under same node region ID is not corresponded to jointly in the node resource table.
6. the scheduling system of multiple mobile robot a kind of, the system include：
Initial information acquiring unit, for obtaining multigroup history node region sequence corresponding to initial position and path planning,
Wherein described path planning is mobile robot institute's contexture by self and can get around predetermined including multiple node regions
Barrier and the history node region sequence in region are the initial position and the institute according to the mobile robot
Path planning is stated and the mobile robot is distributed, wherein the mobile robot is configured only to from the allocated section
Point sequence passes through；
Statistic unit, for counting history corresponding when the mobile robot performs multigroup history node region sequence
Perform parameter；
History node selecting unit, for described about the mobile robot is dispatched to from the initial position when detecting
During the scheduling request of path planning, the statistical result of parameter is performed from multigroup history node region sequence based on the history
The first history node region sequence of middle selection；
Node allocation unit, for distributing the selected first history node region sequence to the mobile robot.
7. system according to claim 6, which is characterized in that the history performs parameter and includes history congestion index, with
And the history node selecting unit is used to determine that history congestion index is minimum from multigroup history node region sequence
That group history node region sequence, and as the first history node region sequence, wherein the history congestion refers to
Mark is to perform to perform by the sequence node distance corresponding to history node region sequence and path based on the mobile robot
Determined by duration.
8. system according to claim 6, which is characterized in that the history performs parameter and includes history node region sequence
The assigned frequency, wherein described perform the statistical result of parameter from multigroup history node region sequence based on the history
The first history node region sequence of middle selection includes：
That highest group history node region sequence of the assigned frequency is determined from multigroup history node region sequence, and
As the first history node region sequence.
9. system according to claim 6, which is characterized in that the system further includes：
Node resource table establishes unit, for being distributed by the selected first history node region sequence to the movement
After robot, node resource table is established according to the first history node region sequence of the mobile robot, wherein institute
State the correspondence for recording and having between node region ID and holding time in node resource table；
Control occupies unit, for the mobile robot to be controlled to occupy phase according to the holding time in the node resource table
The node region of node region ID answered.
10. system according to claim 9, which is characterized in that in the node resource table record have mobile robot ID,
Correspondence and multiple mobile robot ID between node region ID and holding time three correspond respectively to described
Multiple mobile robots in presumptive area, wherein the control occupies unit for the multiple mobile robot to be controlled to distinguish
According to the holding time corresponding to respective mobile robot ID in the node resource table, occupy corresponding node region ID's
Node region, wherein both arbitrary in the multiple mobile robot ID do not corresponded to jointly in the node resource table it is same
Same holding time under node region ID.
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| Publication number | Publication date |
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| WO2019141219A1 (en) | 2019-07-25 |
| CN108268038B (en) | 2021-04-20 |
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