WO2019141218A1

WO2019141218A1 - Conflict management method and system for multiple mobile robots

Info

Publication number: WO2019141218A1
Application number: PCT/CN2019/072256
Authority: WO
Inventors: 刘清
Original assignee: 库卡机器人(广东)有限公司
Priority date: 2018-01-19
Filing date: 2019-01-18
Publication date: 2019-07-25
Also published as: CN108279675A

Abstract

Provided are a deadlock conflict management method and system for multiple mobile robots, belonging to the field of robots. The method comprises: acquiring respective current positions and planned paths of multiple mobile robots; allocating node regions adjacent to the positions of the mobile robots; when a node region allocated to a second mobile robot overlaps with a node region allocated to a first mobile robot, marking the overlapping node regions as conflicting node regions that are in a conflicting state; determining whether a direction where a first planned path of the first mobile robot passes through the conflicting node regions is exactly opposite to a direction where a second planned path of the second mobile robot passes through the conflicting node regions; and if so, determining the first mobile robot and the second mobile robot to be in a mutual deadlock state.

Description

Multi-mobile robot conflict management method and system

Cross-reference to related applications

The present application claims the benefit of Chinese Patent Application No. 20181005397, filed on Jan. 19, 2011-0, the content of which is hereby incorporated by reference.

Technical field

The present invention relates to the field of robot technology, and in particular, to a conflict management method and system for a multi-mobile robot.

Background technique

It is the research focus of the current Internet of Things field to deploy a plurality of mobile robots in a dense area (for example, a logistics warehouse area), and to perform tasks such as moving goods to replace manual labor.

In order to avoid collisions between multiple mobile robots in a dense area during operation, two different processing schemes are generally adopted as follows: First, the robot has good conflict resolution capability through the current local environment information of the robot. The second is centralized management conflict resolution, which is mainly to eliminate conflicts by segmenting the motion path of the robot.

However, the inventors of the present application found in the prior art that at least the following drawbacks exist in the prior art: First, the distributed method is simple in operation, real-time and flexible, but due to local poles, often The task cannot be completed completely; secondly, the centralized management method can perform the task more accurately, but it is very easy to cause the robot to run the path conflict. Usually, the optimal solution is found, but the calculation amount is large and the real-time performance is poor, especially due to multiple units. In the dense space, the mobile robots form obstacles between each other, which makes it impossible to form a non-universal figure of dual connectivity, which will form a deadlock state. For this reason, the industry still cannot propose a better solution.

Summary of the invention

An object of the embodiments of the present invention is to provide a deadlock conflict management method and system for a multi-mobile robot, which is used to at least manage a deadlock conflict caused by centralized scheduling of multiple mobile robots in a dense area.

In order to achieve the above object, an embodiment of the present invention provides a method for managing a deadlock conflict of a multi-mobile robot, including: acquiring a current location and a planned path of each of the plurality of mobile robots, wherein the planned path can bypass an obstacle in the predetermined area. The predetermined area includes a plurality of node areas; and each of the mobile robots is assigned a node area adjacent to a position of the mobile robot according to respective current positions and planned paths of the plurality of mobile robots, wherein the The mobile robot is configured to pass only from the allocated node area; when there is a coincidence between the node area allocated for the second mobile robot and the node area assigned to the first mobile robot, the overlapping node area is marked a conflicting node area that is a conflicting state; determining whether the direction of the first planned path of the first mobile robot passes the direction of the conflicting node area and the direction of the second planned path of the second mobile robot passes the conflicting node area Conversely, and if so, determining the first mobile robot and the The second mobile robots are in a state of mutual deadlock.

Optionally, after determining that the first mobile robot and the second mobile robot are in a mutual deadlock state, the method further includes: determining whether there is a second planning path or the second planning a first idle node area and a second idle node area on the path for distribution to the first mobile robot and the second mobile robot; if the first idle node area and the second idle are present a node area, wherein the first mobile node and the second mobile node are respectively allocated the first idle node area and the second idle node area to replace the first mobile robot and the second mobile Position the robot and release the deadlock states.

Optionally, the replacing the positions of the first mobile robot and the second mobile robot includes: controlling the first mobile robot and the second mobile robot to occupy the first idle node region and the a second idle node area; and a node area allocated to the first mobile robot, so that the first mobile robot passes the conflict node area, and occupies the node area of the second mobile robot corresponding to each other in a deadlock state; And assigning a node area to the second mobile robot, so that the second mobile robot occupies the node area of the first mobile robot corresponding to each other in a deadlock state.

Optionally, after determining whether there is a free node area that is not located on the first planning path or the second planning path and can be allocated to the first mobile robot or the second mobile robot, The method further includes, if the idle node does not exist, stopping assigning a node area to the first mobile robot and the second mobile robot, and performing an alarm action.

Optionally, the acquiring the current location and the planned path of each of the plurality of mobile robots comprises: sending a scheduling command to each of the mobile robots, wherein the scheduling command includes target node area information of each mobile robot; and responding to the scheduling Commanding, receiving a planning path from the plurality of mobile robots, wherein the planning path is determined by each of the mobile robots according to respective target node region information and calculated by an A* algorithm.

An embodiment of the present invention provides a deadlock conflict management system for a multi-mobile robot, including: an initial information acquiring unit configured to acquire a current location and a planned path of each of the plurality of mobile robots, wherein the planned path can be bypassed An obstacle in a predetermined area, the predetermined area including a plurality of node areas; a node area assigning unit configured to allocate and move the mobile robots according to respective current positions and planned paths of the plurality of mobile robots An adjacent node area of the robot, wherein the mobile robot is configured to pass only from the assigned node area; the conflict detection unit is configured to be assigned to the first movement when the node area assigned to the second mobile robot When there is a coincidence between the node regions of the robot, the conflicting node region in which the overlapping node regions are in conflict state is marked; the deadlock determining unit is configured to determine that the first planned path of the first mobile robot passes the conflicting node The direction of the area and the second planned path of the second mobile robot Whether the direction of the conflicting node area is exactly opposite, and if so, determining that the first mobile robot and the second mobile robot are in a mutual deadlock state.

Optionally, the system further includes: an idle node area determining unit, configured to determine whether there is a non-located first after determining that the first mobile robot and the second mobile robot are in a mutual deadlock state a planned node or a free node area on the second planned path that can be allocated to the first mobile robot or the second mobile robot; a location replacement unit configured to be present if the free node area exists The first mobile robot or the second mobile robot allocates the idle node area to replace the positions of the first mobile robot and the second mobile robot, and release the mutual deadlock state.

Optionally, the location replacement unit includes: an idle node allocation module, configured to control the first mobile robot and the second mobile robot to occupy the first idle node area and the second idle node area, respectively; And a first node allocating module configured to allocate a node area for the first mobile robot to pass the first mobile robot through the conflicting node area and occupy a position of the second mobile robot corresponding to each other in a deadlock state And a second node assigning module configured to allocate a node area to the second mobile robot, so that the second mobile robot occupies the position of the first mobile robot corresponding to each other in a deadlock state.

Optionally, the system further includes: an alarm processing unit configured to stop assigning the node area to the first mobile robot and the second mobile robot if the idle node does not exist, and perform an alarm action.

Optionally, the initial information acquiring unit includes: a scheduling command sending module, configured to send a scheduling command to each of the mobile robots, where the scheduling command includes target node area information of each mobile robot; planning a path receiving module, configuring In response to the scheduling command, a planning path is received from the plurality of mobile robots, wherein the planning path is determined by each of the mobile robots according to respective target node area information and calculated by an A* algorithm.

Through the above technical solution, before a plurality of mobile robots move in the next step, the node area is allocated, and according to the allocated node area, it is determined and detected whether a plurality of mobile robots will each other have a deadlock conflict when moving in the next step. Facilitating the management of mutual deadlock conflicts of multiple mobile robots; and, in the embodiment of the present invention, managing mutual deadlock conflicts by monitoring node allocation and path direction monitoring, achieving low consumption of processor resources, Strong real-time.

Other features and advantages of embodiments of the invention will be described in detail in the Detailed Description.

DRAWINGS

The drawings are intended to provide a further understanding of the embodiments of the invention. In the drawing:

1 is a diagram showing an example of a map of a dense area of a deadlock conflict management method for a multi-mobile robot according to an embodiment of the present invention;

2 is a flowchart of a deadlock conflict management method for a multi-mobile robot according to an embodiment of the present invention;

3 is a flow chart of a method for acquiring a planned path of a mobile robot according to an embodiment of the present invention;

4 is an example of a node distribution table regarding a predetermined area in an embodiment of the present invention;

FIG. 5 is an example of node allocation according to an embodiment of the present invention; FIG.

6 is an example of a node resource table global with respect to a predetermined area;

7 is an example of a state in which two mobile robots are deadlocked to each other in an embodiment of the present invention;

8 is a flowchart of a deadlock conflict management method for a multi-mobile robot according to an embodiment of the present invention;

FIG. 9A is a schematic diagram of a first state of a deadlock state of a mobile robot by node allocation; FIG.

9B is a schematic diagram of a second state by means of node allocation to solve the deadlock state of the mobile robots;

9C is a schematic diagram of a third state by means of node allocation to solve the deadlock state of the mobile robots;

9D is a fourth state diagram of solving a deadlock state of a mobile robot by node allocation;

FIG. 10 is a flowchart of a method for position replacement of a mobile robot according to an embodiment of the present invention; FIG.

11 is an example of a neighbor node label that can be assigned in a node area;

Figure 12 is a block diagram showing the structure of a collision management system for a multi-mobile robot according to an embodiment of the present invention.

Description of the reference numerals

A1, A0, A, B mobile robot B1, B2 obstacles

N1, N2 node 1202 node area allocation unit

1201 initial information acquisition unit 1203 collision detection unit

1204 deadlock judgment unit

Deadlock conflict management system for more than 120 mobile robots

Detailed ways

The specific embodiments of the embodiments of the present invention are described in detail below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are merely illustrative of the embodiments of the invention.

As shown in FIG. 1, a plurality of obstacles B1, B2, etc., a plurality of mobile robots A0, A1, etc., and a plurality of maps are arranged in a map of a dense area of a collision management method for a multi-mobile robot according to an embodiment of the present invention. Node areas N1, N2, and so on. Wherein, the dense area may be predetermined according to needs, for example, it may refer to an area in the warehouse, the plurality of mobile robots A0, A1 may refer to a plurality of logistics robots, and through the mobile robots A0, A1 Running the move can carry the goods, but when multiple logistics robots are running at the same time, it may cause conflicts. The sizes of the different node regions N1 and N2 may be equal, which may be formed by equally dividing the map of the dense regions. It should be noted that the conflict management method of the embodiment of the present invention may be performed by a server that centrally manages the plurality of mobile robots.

As shown in FIG. 2, a deadlock conflict management method for a multi-mobile robot according to an embodiment of the present invention includes:

S201. Acquire a current location and a planned path of each of the plurality of mobile robots, wherein the planned path can bypass an obstacle in the predetermined area, and the predetermined area includes a plurality of node areas.

Specifically, the manner of obtaining the planned path may be determined by the mobile robot and uploaded to the server by the mobile device, or may be obtained by the server, and all of the above are within the protection scope of the present invention.

Referring to FIG. 3, which is an optional implementation manner of the acquisition manner of the planned path, the mobile robot may be an AGV (Automated Guided Vehicle), wherein the acquisition method includes: S301, the server may send to each mobile robot. A scheduling command, wherein the scheduling command includes target node area information of each mobile robot. S302. After each mobile robot receives the respective scheduling command, it calculates respective corresponding planning paths according to the respective target node region information and through the A* algorithm. S303. Each mobile robot sends the respective planned path obtained by the calculation to the server. After the server obtains the planned path sent by each mobile robot, corresponding subsequent processing is performed to ensure that the path conflict does not occur during the execution of the planned path by the mobile robot. As an example, there may be a plurality of node regions each having a unique node ID on the map (for example,

node numbers

0, 1, ..., 99 in the node distribution table for the dense region shown in FIG. 4), and the mobile robot A0 is receiving After the scheduling command, it is necessary to reach the target node area No. 31 from the node area of the current position 73. At this time, the mobile robot A0 calculates the shortest path to the target node area No. 31 by the A* algorithm, thereby ensuring that the mobile robot A0 can arrive quickly. Target node area. However, in this calculation, the movement movement of other mobile robots such as A1 in the current space is not considered, and only the static obstacle nodes are considered, and in the process of moving the mobile robot A0, the space is Other mobile robots such as A1 are obstacles with respect to this mobile robot A0, so it is necessary to take anti-collision measures to avoid other mobile robots to prevent collision. Details on this conflict management measure will be expanded below.

S202. Assign, to each mobile robot, a node region adjacent to a position of the mobile robot according to respective current positions and planned paths of the plurality of mobile robots, wherein the mobile robot is configured to pass only from the allocated node region.

Regarding the configuration of the mobile robot, it may be that the mobile robot performs the movement only when an instruction regarding the next allocated node area is received from the server, even though it may have independently planned the operation path.

In addition, it is possible to assign the node area No. 63 to A0 in advance before the robot A0 runs from the node node area 73 to the node area 63 according to the planned path at the time point 0. Alternatively, the first mobile robot A may allocate a plurality of node areas for the next step, as shown in FIG. 5, according to the needs of the mobile robot (for example, when the speed of the mobile robot is fast). The first mobile robot A is assigned a node area No. 24 and a node area No. 25 according to the running path of the robot, and the second mobile robot B is assigned a node area 146 and a node area No. 147, etc., and all of the above belong to the protection of the present invention. Within the scope.

S203. When there is a coincidence between the second node area allocated for the second mobile robot and the node area allocated to the first mobile robot, mark the conflicting node area where the overlapping node area is a conflicting state.

Specifically, the situation in which each node resource is occupied and allocated by each robot is counted in a node resource table globally related to the predetermined area, including the node area ID currently occupied by the robot and the node area ID allocated to the robot, specifically Reference can be made to the example shown in FIG. 6. In one case, if the node resource region allocated for the first mobile robot A is the node node region No. 10, then the node resource region allocated for the second mobile robot B is also the node node region No. 10, or in another In the case where the node resource area allocated for the first mobile robot A includes the node areas No. 10 and No. 11, and the node area allocated for the second mobile robot B includes the node area No. 9 and the node area No. 10, then It is indicated that the first mobile robot A and the second mobile robot B have coincident node area No. 10, and the tenth node is marked as a conflicting node area in a conflict state. Correspondingly, it may be determined that there is a planned path conflict between the first mobile robot A and the second mobile robot B. At this time, corresponding conflict management measures should be taken. Specifically, the conflict notification signal may be generated, and the conflict notification signal may be generated. Send to the operations staff to remind them to handle and resolve mobile robot conflicts. Alternatively, the conflict between the mobile robots may be solved autonomously by the server, and specific details will be expanded below.

Optionally, when detecting that the first mobile robot A or the second mobile robot B has passed the No. 10 conflicting node area, the server may re-convert the conflicting node area from the conflicting state to the available state, for example, may be different. The identification (by labeling the color or shape of the node, etc.) distinguishes between the conflicting node area and the assignable node area, thereby realizing the redistribution work after the conflicting node returns to normal, and ensuring that the normal node resources can be The mobile robot is recycled, which improves the utilization efficiency of dense areas.

S204. Determine whether the direction of the first planned path of the first mobile robot passes through the conflicting node area and the direction of the second planned path of the second mobile robot passes through the conflicting node area.

S205. If yes, determining that the first mobile robot and the second mobile robot are in a deadlock state.

As shown in FIG. 7 is an example in which two mobile robots are deadlocked to each other, and the mobile robot A1 needs to travel up to the node No. 3, while the mobile robot A2 happens to be in the path, and A2 needs to travel down to the target No. 20 Node, node 13 area becomes the conflict node area. Determining, according to S204 and S205, the first mobile robot and the first based on the direction of the first node path and the second node path relative to the conflicting node area after determining the existence path conflict between the first mobile robot and the second mobile robot Whether the conflict state between the mobile robots is a mutual deadlock state, and the detection of the mutual deadlock state is realized.

As shown in FIG. 8, a deadlock conflict management method for a multi-mobile robot according to an embodiment of the present invention includes:

S401. Acquire a current location and a planning path of each of the plurality of mobile robots, wherein the planning path can bypass an obstacle in the predetermined area, and the predetermined area includes a plurality of node areas.

S402. Assign, to each mobile robot, a node region adjacent to a position of the mobile robot according to respective current positions and planned paths of the plurality of mobile robots, wherein the mobile robot is configured to pass only from the allocated node region.

S403. When there is a coincidence between a node area allocated for the second mobile robot and a node area allocated to the first mobile robot, the conflicting node area where the overlapping node area is a conflict state is marked.

S404. Determine whether the direction of the first planned path of the first mobile robot passes through the conflicting node area and the direction of the second planned path of the second mobile robot passes through the conflicting node area.

S405. If yes, determining that the first mobile robot and the second mobile robot are in a deadlock state.

For more specific details of S401-S405, reference may be made to the description of the above embodiments, and details are not described herein.

S406. Determine whether there is a first idle node area and a second idle node area that are not located on the first planning path or the second planning path and are allocated to the first mobile robot and the second mobile robot.

S407. If there is a first idle node area and a second idle node area, assign a first idle node area and a second idle node area to the first mobile robot and the second mobile robot, respectively, to replace the first mobile robot and the second Move the robot's position and release the deadlock status.

Specifically, the replacement of the positions of the first mobile robot and the second mobile robot may be implemented by first controlling the first mobile robot and the second mobile robot to occupy the first idle node area and the second idle node area, respectively. Thereafter, a node area is allocated for the first mobile robot to pass the first mobile robot through the conflicting node area, and occupy the position of the second mobile robot corresponding to each other in a deadlock state. Finally, the node area is allocated for the second mobile robot, so that the second mobile robot occupies the position of the first mobile robot corresponding to each other in a deadlock state.

The embodiment shown in FIG. 8 can be seen as an optional implementation of the embodiment shown in FIG. 2. Specifically, the embodiment of FIG. 8 also discloses the operation of releasing the deadlock state, that is, by using the idle node. The judging and allocation of the regions respectively allocates two mobile robots that are in a state of mutual deadlock to the corresponding free node regions, and further releases the mutual deadlock state between the mobile robots.

Specifically, as shown in FIG. 9A-9D, the node allocation is used to solve the deadlock state of the mobile robots. After the mobile robots A1 and A2 collide with each other as shown in FIG. 7, it is determined that the positions of A1 and A2 are to be replaced. A good solution to this conflict. Specifically, it may be that the planned path of the mobile robot A1 is: 18-13-8-3 node sequence, and the planned path of the mobile robot A2 is a sequence of 8-13-18-19-20 nodes. Therefore, if the condition is not in the 18-13-8-3 node sequence, nor in the 8-13-18-19-20 node sequence, it can be assigned to A1 and A0, and only the planned path node can be assigned to A1. The adjacent area of the 25th or 15th node is in the sequence. Therefore, as shown in FIG. 9A, in the first step, as shown in FIG. 9A, the mobile robot A1 may be assigned a node area No. 25, and specifically, the number 19 may be assigned before the mobile robot A1 is assigned the node No. 25. And the node area No. 20; in the second step, as shown in FIG. 9B, the mobile robot A2 is assigned a node No. 15 which is also not on the planned path. Specifically, it may be allocated 13 before the mobile robot A2 is assigned the node No. 15. In the third step, as shown in FIG. 9C, the node area sequence is assigned to the A1 according to the target node area of the mobile robot A1, so that the allocation of the node area causes the A1 to reach the number 8 occupied by the previous A2. The fourth step, as shown in FIG. 9D, assigns a sequence of node regions to A2 according to the target node region of the mobile robot A2, so that A2 is reached by the allocation of the node region to reach the node node region occupied by the previous A1; Reassigning the target node area information for the mobile robots A1 and A2 to re-execute the task after the conflicts have been resolved.

In an embodiment of the present invention, the position replacement condition may be set as follows: the node area in which the replaced mobile robot is located has at least two walkable neighbor nodes (and the neighbor nodes are not on the planned path), and if The replaced mobile robot has only one neighbor node, then moves to this neighbor node and then continues to search for other neighbor nodes that can walk from the neighbor node, and if the node where the mobile robot is replaced does not have a walkable neighbor node, try another A mobile robot until it is released or has no solution.

As shown in FIG. 10, a method for position replacement of a mobile robot according to an embodiment of the present invention includes:

S501. Calculate the number of neighbor nodes N(B) that B can walk, and determine that the direction of A to B is D(A, B). If the number of N(B) is 0, it means no solution, if N If the number of (B) is equal to 1, then jump to S504.

S502. Determine a direction D(B, n1), D(B, n2), D(B, n3), D(B, n4) of each neighbor node of B to N(B)={n1, n2, n3, n4}. ), calculate the angle of B to the neighbor node direction and the direction of A to B R=D(B,nx)–D(A,B), and mark nα={nx|R=90}, nβ={nx|R= -90}, nγ={nx|R=0} (as shown in Fig. 11).

S503, moving B to an nα or nβ node, and moving A to an nγ (or nβ, nα) node. Move B again to the node position A' of the previous A, and then move A to the node position B' before B, complete the exchange, and return.

S504, moving B to N(B)={n0} unique neighbor point, moving A to node B' of B, and repeating S501.

S505. If there is no solution between Swap (A, B) and Swap (B, A), the AB position cannot be exchanged.

Further, in the case that it is determined that the positions of the A and B mobile robots cannot be exchanged, the node areas of the mobile robots A and B may be stopped from being allocated, and an alarm action may be performed to alert the operation and maintenance personnel to take measures.

As shown in FIG. 12, a deadlock conflict management system 120 of a multi-mobile robot according to an embodiment of the present invention includes: an initial information acquiring unit 1201 configured to acquire respective current positions and planned paths of a plurality of mobile robots, wherein the planning The path is capable of bypassing an obstacle in a predetermined area, the predetermined area including a plurality of node areas, and a node area assigning unit 1202 configured to select, according to respective current positions and planned paths of the plurality of mobile robots, each of the mobile robots Allocating a node area adjacent to a position of the mobile robot, wherein the mobile robot is configured to pass only from the allocated node area; the conflict detecting unit 1203 is configured to be a node area allocated for the second mobile robot When there is a coincidence between the node regions that have been allocated to the first mobile robot, the conflicting node region in which the overlapping node regions are in conflict state is marked; the deadlock determining unit 1204 is configured to determine the first of the first mobile robot Planning a path through the direction of the conflicting node area with the second mobile robot The path is planned two opposite directions by the conflicting nodes region, and if it is determined in a deadlock state with each other between said first and said second robot moving mobile robot.

In some embodiments, the system further includes: an idle node area determining unit configured to determine whether there is a non-located on the first planned path or the second planned path, and configured to be allocated to the first mobile a first idle node area and a second idle node area of the robot and the second mobile robot; and a position replacement unit configured to: if the first idle node area and the second idle node area are present, a mobile robot and the second mobile robot respectively assign the first idle node area and the second idle node area to replace positions of the first mobile robot and the second mobile robot, and release the Deadlocked to each other.

In some embodiments, the location replacement unit includes: an idle node allocation module configured to control the first mobile robot and the second mobile robot to occupy the first idle node region and the second idle node, respectively And a first node allocating module configured to allocate a node area for the first mobile robot to pass the first mobile robot through the conflicting node area and occupy the second mobile robot corresponding to each other in a deadlock state a node area, configured to allocate a node area for the second mobile robot, so that the second mobile robot occupies the node area of the first mobile robot corresponding to each other in a deadlock state.

In some embodiments, the system further includes: an alarm processing unit configured to stop assigning the node area to the first mobile robot and the second mobile robot and perform an alarm action if the idle node does not exist .

In some embodiments, the initial information acquiring unit includes: a scheduling command sending module configured to send a scheduling command to each of the mobile robots, wherein the scheduling command includes target node area information of each mobile robot; and the planning path receiving module And configuring, in response to the scheduling command, receiving a planning path from the plurality of mobile robots, wherein the planning path is determined by each of the mobile robots according to respective target node region information and calculated by an A* algorithm.

It should be noted that the deadlock conflict management system of the multi-mobile robot provided by the embodiment of the present invention may be built on a server for centrally managing multiple mobile robots, and each unit and module as described above may refer to Program module or unit. For more details and corresponding technical effects of the system of the embodiment of the present invention, reference may be made to the description of the method embodiment above, and details are not described herein again.

The system of the embodiments of the present invention may be used to implement the corresponding method embodiments of the present invention, and correspondingly achieve the technical effects achieved by the foregoing method embodiments of the present invention, and details are not described herein again.

In the embodiment of the present invention, a related function module can be implemented by a hardware processor.

In another aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, the program being executed by the processor as a step of a deadlock conflict management method of a multi-mobile robot executed by the server.

The above products can perform the methods provided by the embodiments of the present application, and have the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiments of the present application.

The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the foregoing embodiments. The technical solution carries out a variety of simple variants, all of which fall within the scope of protection of embodiments of the invention.

It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, various possible combinations of the embodiments of the present invention are not separately described.

Those skilled in the art can understand that all or part of the steps of implementing the foregoing embodiments may be completed by a program instructing related hardware, and the program is stored in a storage medium, and includes a plurality of instructions for causing a single chip, a chip or a processor. The processor performs all or part of the steps of the method described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

In addition, the various embodiments of the present invention may be combined in any combination, as long as they do not deviate from the idea of the embodiments of the present invention, and should also be regarded as the disclosure of the embodiments of the present invention.

Claims

A deadlock conflict management method for multiple mobile robots, comprising:

Obtaining a current location and a planned path of each of the plurality of mobile robots, wherein the planned path is capable of bypassing an obstacle within the predetermined area, the predetermined area including a plurality of node areas;

Assigning, to each of the mobile robots, a node region adjacent to a position of the mobile robot according to respective current positions and planned paths of the plurality of mobile robots, wherein the mobile robot is configured to only from the allocated node region by;

When there is a coincidence between a node area allocated for the second mobile robot and a node area allocated to the first mobile robot, marking the overlapping node area as a conflicting node area of the conflict state;

Determining whether the direction of the first planned path of the first mobile robot through the conflicting node area is opposite to the direction of the second planned path of the second mobile robot through the conflicting node area, and

If yes, it is determined that the first mobile robot and the second mobile robot are in a deadlock state.
The method according to claim 1, wherein after determining that the first mobile robot and the second mobile robot are in a mutual deadlock state, the method further comprises:

Determining whether there is a first idle node area and a second idle node that are not located on the first planning path or the second planning path and are allocated to the first mobile robot and the second mobile robot region;

Assigning the first idle node area and the second idle node area to the first mobile robot and the second mobile robot respectively if the first idle node area and the second idle node area are present And replacing the positions of the first mobile robot and the second mobile robot, and releasing the mutual deadlock state.
The method of claim 2, wherein the replacing the locations of the first mobile robot and the second mobile robot comprises:

Controlling the first mobile robot and the second mobile robot to occupy the first idle node area and the second idle node area, respectively;

Assigning a node area to the first mobile robot, so that the first mobile robot passes the conflict node area, and occupies the node area of the second mobile robot corresponding to each other in a deadlock state;

And assigning a node area to the second mobile robot, so that the second mobile robot occupies the node area of the first mobile robot corresponding to each other in a deadlock state.
The method according to claim 2, wherein determining whether there is a non-located on the first planning path or the second planning path and being assignable to the first mobile robot or the second mobile After the idle node area of the robot, the method further includes:

If the idle node does not exist, the node areas are allocated for the first mobile robot and the second mobile robot, and an alarm action is performed.
The method according to claim 1, wherein the obtaining the current location and the planned path of each of the plurality of mobile robots comprises:

Sending a scheduling command to each of the mobile robots, wherein the scheduling command includes target node area information of each mobile robot;

A planning path is received from the plurality of mobile robots in response to the scheduling command, wherein the planning path is determined by each of the mobile robots according to respective target node area information and calculated by an A* algorithm.
A deadlock conflict management system for multiple mobile robots, comprising:

An initial information acquiring unit configured to acquire a current location and a planned path of each of the plurality of mobile robots, wherein the planned path is capable of bypassing an obstacle within the predetermined area, the predetermined area including a plurality of node areas;

a node area allocating unit configured to allocate, to each of the mobile robots, a node area adjacent to a position of the mobile robot according to respective current positions and planned paths of the plurality of mobile robots, wherein the mobile robot is configured to Pass only from the assigned node area;

a conflict detecting unit configured to mark, when the node area allocated for the second mobile robot overlaps with the node area allocated to the first mobile robot, the conflicting node area in which the overlapping node area is a conflicting state;

a deadlock determining unit, configured to determine whether the direction of the first planned path of the first mobile robot passes through the conflicting node area and the direction of the second planned path of the second mobile robot passes through the conflicting node area And if so, determining that the first mobile robot and the second mobile robot are in a deadlock state.
The system of claim 6 further comprising:

The idle node area determining unit is configured to determine whether there is a first one that is not located on the first planned path or the second planned path and is allocated to the first mobile robot and the second mobile robot a free node area and a second idle node area;

a location replacement unit configured to allocate the first idle node region and the first mobile node and the second mobile robot respectively if the first idle node region and the second idle node region are present The second idle node area is described to replace the positions of the first mobile robot and the second mobile robot, and the mutual deadlock state is released.
The system of claim 7 wherein said location replacement unit comprises:

a idle node allocation module configured to control the first mobile robot and the second mobile robot to occupy the first idle node area and the second idle node area, respectively;

a first node allocation module, configured to allocate a node area to the first mobile robot, so that the first mobile robot passes the conflict node area, and occupy a node area of the second mobile robot corresponding to each other in a deadlock state ;

The second node allocation module is configured to allocate a node area to the second mobile robot, so that the second mobile robot occupies the node area corresponding to the mutual deadlock state of the first mobile robot.
The system of claim 7 wherein said system further comprises:

The alarm processing unit is configured to stop assigning the node area to the first mobile robot and the second mobile robot if the free node does not exist, and perform an alarm action.
The system according to claim 6, wherein the initial information acquisition unit comprises:

a scheduling command sending module, configured to send a scheduling command to each of the mobile robots, wherein the scheduling command includes target node area information of each mobile robot;

a planning path receiving module configured to receive a planning path from the plurality of mobile robots in response to the scheduling command, wherein the planning path is calculated by each of the mobile robots according to respective target node area information and by an A* algorithm definite.