WO2019141224A1

WO2019141224A1 - Conflict management method and system for multiple mobile robots

Info

Publication number: WO2019141224A1
Application number: PCT/CN2019/072265
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: CN108287547A; CN108287547B

Abstract

Provided are a conflict management method and system for multiple mobile robots, belonging to the field of robots. The conflict management method for multiple mobile robots comprises: acquiring respective current positions and planned paths of multiple mobile robots, wherein a predetermined region comprises multiple node regions; determining respective path section conditions of the current positions of the multiple mobile robots, wherein the path section conditions comprise winding path sections or linear path sections; and respectively allocating, to the multiple mobile robots, a corresponding number of node regions adjacent to the respective current positions thereof according to the path section conditions, wherein the number of node regions corresponding to the winding path sections is greater than the number of node regions corresponding to the linear path sections, and the mobile robots are configured to only pass through the node regions allocated thereto. Therefore, conflict management is realized via the allocation of nodes, and the probability of conflicts and collisions of mobile robots near a bend is reduced.

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. 20181005532, 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 robots, and in particular to a method and system for conflict management of multiple mobile robots.

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 tasks more accurately, but it is very easy to cause the robot to run path conflicts, usually looking for the optimal solution, but the calculation is large, the real-time performance is poor, and the calculation process is often It does not take into account the characteristics of the planning path. However, due to the uncertainty of the turning angle, the mobile robot passing the corner makes the conditions for the mobile robot to perform the curve and execute the straight channel unified, which will cause the mobile robot to occur near the corner. Path conflicts, for which 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 collision management method and system for a multi-mobile robot, which is to solve at least a path conflict problem 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 conflict management method for a multiple 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, And the predetermined area includes a plurality of node areas; determining a path segmentation condition in which the current positions of the plurality of mobile robots are respectively, wherein the path segmentation condition comprises a curved path segment or a straight path segment; And assigning, according to the path segmentation condition, a corresponding number of node regions adjacent to the respective current positions of the plurality of mobile robots, wherein the number of node regions corresponding to the curved path segment is greater than the straight path segment The number of node regions corresponding to the segment, and the mobile robot is configured to pass only from the assigned node region.

Optionally, the assigning, according to the path segmentation condition, the corresponding number of node regions adjacent to the respective current positions of the plurality of mobile robots respectively: when determining the path segment of the mobile robot Determining a starting node region and a terminating node region with respect to the curved segment when the condition is a curved path segment; assigning a diagonal from the starting node region to the terminating node region for the determined mobile robot All node areas that the line passes through.

Optionally, after the multiple mobile robots are respectively allocated a corresponding number of node regions adjacent to the respective current positions according to the path segmentation condition, the method further includes: determining whether the presence is different a case where the node regions allocated by the mobile robot coincide; and when there is a coincidence between the second node region allocated for the second mobile robot and the node region assigned to the first mobile robot, the nodes having the coincidence are marked The area is a conflicting node area of the conflict state, and it is determined that there is a planned path conflict between the first mobile robot and the second mobile robot.

Optionally, after the determining that there is a planned path conflict between the first mobile robot and the second mobile robot, the method further includes: controlling the second mobile robot to pause the running movement, and controlling the The first mobile robot continues to operate in accordance with its corresponding planned path; and when it is detected that the first mobile robot has passed the conflicting node area, the conflicting node area is reallocated to the first mobile robot.

Specifically, the acquiring the current location and the planned path of each of the plurality of mobile robots includes: transmitting 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 command Receiving a planned path from the plurality of mobile robots, wherein the planned path is determined by each of the mobile robots according to respective target node region information and calculated by an A* algorithm.

Another aspect of the embodiments of the present invention provides a 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 bypass the predetermined area An obstacle within the space, and the predetermined area includes a plurality of node areas; a path segmentation condition determining unit configured to determine a path segmentation condition in which the current positions of the plurality of mobile robots are respectively, wherein the path The segmentation condition includes a curved path segment or a straight path segment; the node region allocating unit is configured to respectively allocate a corresponding number of the plurality of mobile robots adjacent to the respective current positions according to the path segmentation condition a node area, wherein the number of node areas corresponding to the curved path segment is greater than the number of node areas corresponding to the linear path segment, and the mobile robot is configured to pass only from the allocated node area, specifically, It is the mobile robot that only receives the node area for the next assignment from the server. The move is only executed when the command is executed, even though it may have planned the run path autonomously.

Optionally, the node area allocating unit includes an end node determining module configured to determine a starting node area and a termination with respect to the curved segment when determining that the path segmentation condition of the mobile robot is a curved path segment a node area; a bending distribution module configured to allocate, for the determined mobile robot, all of the node areas through which the diagonal of the starting node area to the terminating node area passes.

Optionally, the system further includes: a coincidence determining unit configured to determine whether there is a situation in which the node regions allocated for the different mobile robots overlap; the conflict determining unit is configured to be the second assigned to the second mobile robot And when there is a coincidence between the node area and the node area that has been allocated to the first mobile robot, mark the conflicting node area where the overlapping node area is a conflict state, and determine the first mobile robot and the second mobile robot. There is a planned path conflict between them.

Optionally, the system further includes: a stay control unit configured to control the second mobile robot to pause the running movement, and control the first mobile robot to continue to move according to the corresponding planned path; and the reallocation unit And configured to reallocate the conflicting node area to the first mobile robot when it is detected that the first mobile robot has passed the conflicting node area.

Specifically, 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; and the planning path receiving module is configured to 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.

Through the above technical solution, the current position and the planned path of the mobile robot are obtained, and according to the current position and the planned path of each of the plurality of mobile robots, and before the mobile robot moves, the mobile robot is allocated according to the current position and the planned path of the mobile robot. The next step is the node area adjacent to the position of the mobile robot, and the number of node areas allocated in the curved path segment is greater than the number of node areas corresponding to the straight path segment, and the calculation of the mobile robot performs the curve and The node assignment condition of the straight track is implemented, which effectively reduces the probability of a collision collision of the mobile robot near the curve. In addition, in the embodiment of the present invention, the management of the conflict is implemented by allocating the nodes, the low consumption of the processor resources is realized, and the real-time performance is strong.

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 collision management method for a multi-mobile robot according to an embodiment of the present invention;

2 is a flowchart of a 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 a diagram showing an example of node assignment when a multi-mobile robot passes a curved path according to an embodiment of the present invention;

FIG. 8 is a flowchart of a conflict management method according to another embodiment of the present invention; FIG.

FIG. 9 is a block diagram showing the structure of a conflict management system 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 902 path segmentation condition determination unit

901 Initial information acquisition unit 903 Node area allocation unit

More than 90 mobile robot conflict management systems

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 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 mobile robot does not have a path conflict during the execution of the planned path. 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. Determine a path segmentation condition in which the current positions of the plurality of mobile robots are respectively, wherein the path segmentation condition includes a curved path segment or a straight path segment.

Specifically, the mobile robot reports the current location to the server during the execution of the mobile task, and the server can compare the current location with the overall planned path acquired in S201, thereby determining that the mobile robot is in a curved path (eg, The path inflection point) is still in a straight path.

S203. Assign, according to the path segmentation condition, a plurality of mobile robots respectively corresponding to the node regions adjacent to their respective current positions, where the number of node regions corresponding to the curved path segment is greater than the node corresponding to the linear path segment. The number of zones, as well as the mobile robot, are configured to pass only from the assigned node zone.

The node area allocation is performed according to the planned path. Further, it is possible to assign the node area No. 63 to A0 in advance before the robot A0 wants to run from the node node area 73 to the node area 63 according to the planned path at the time point 0. Alternatively, it may be according to the needs of the mobile robot (for example, when the speed of the mobile robot is faster), the first mobile robot A allocates a plurality of node regions for the next step, as shown in FIG. 5, which may be The 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 node node area No. 146 and the node area No. 147 are assigned to the mobile robot B, and the above are all within the protection scope of the present invention.

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.

The allocation of the node resources in the predetermined area may be implemented as a whole in the node resource table, as shown in FIG. 6, which shows an example of the node resource table, and each node resource is counted by each robot in the node resource table globally with respect to the predetermined area. The occupied and allocated situation includes the node area ID currently occupied by the robot and the node area ID assigned to the robot. Moreover, the node resource table will be updated with time. In order to prevent resource conflicts between mobile robots, one of the node resources can be occupied by only one mobile robot, that is, the same node area will not be in the node resource table. At the same time, two mobile robots are corresponding, and the same mobile robot can simultaneously correspond to multiple node regions.

As shown in Figure 7, when the mobile robot passes through a curve, it should be assigned multiple node areas (such as the node area marked by the gray diagonal line) instead of a node area in the straight line state. Since the mobile robot has more uncertain factors in performing the moving task, the mobile robot allocates reserved node resources when turning. As described above, the node resources can be allocated to one mobile robot only once, which can guarantee the mobile robot. When turning, no other mobile robot will segment through the curved path, and collision collision with other mobile robots can be avoided. Correspondingly, when the mobile robot is in the straight path segment, only a small number of nodes can be assigned to it. , for example, a node, thereby saving resource allocation and improving resource utilization efficiency. Optionally, when the mobile robot is an AGV based on the A* algorithm, since it will navigate autonomously and does not need to be reversing in place, when turning, its autonomy is wider, so in the curved path (or inflection point) Nearby) The chance of a collision is high. Correspondingly, the present application proposes to determine the starting node area and the ending node area of the curved segment as shown in FIG. 7, and correspondingly assign the pair of the determined mobile node from the starting node area to the ending node area. All the node areas through which the corners pass (of course, may also include node areas that other mobile robots may use, such as adjacent node areas of the node area through which the diagonal passes), thereby minimizing the curve in the corner The probability of a collision collision.

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

S801. 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.

S802. Determine a path segmentation condition in which the current positions of the plurality of mobile robots are respectively, wherein the path segmentation condition includes a curved path segment or a straight path segment.

S803. Assign a corresponding number of node regions adjacent to their respective current positions to the plurality of mobile robots according to the path segmentation condition.

The number of node regions corresponding to the curved path segment is greater than the number of node regions corresponding to the linear path segment, and the mobile robot is configured to pass only from the allocated node region.

S804. Determine whether there is a case where node regions allocated for different mobile robots overlap.

S805. 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 conflict state, and determine There is a planned path conflict between the first mobile robot and the second mobile robot.

Specifically, the embodiment shown in FIG. 8 can be regarded as a further optimization of the embodiment shown in FIG. 2. For specific details of S801-S803, reference may be made to the description of the foregoing embodiment, and details are not described herein again. FIG. 2 may prevent conflicts by controlling the allocation of the number of node resources, but since the node resources allocated in the curved path segmentation are large, the management of the node resources of the curved path segmentation is particularly important. Through the implementation of S804 and S805, the detection of the resource allocation of the node can be realized, and the same node area is prevented from being simultaneously allocated to the two mobile robots. As an example, in one case, if the node resource region allocated for the first mobile robot A is the node node region 10, and the node resource region allocated for the second mobile robot B is also the node node region 10; or In another case, if 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 tenth The node area indicates that the first mobile robot A and the second mobile robot B have coincident node area No. 10, and accordingly, 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. In this case, corresponding conflict management measures should be taken. Specifically, when there is a conflict node area, a conflict notification signal is generated. And sending the conflict notification signal to the operation and maintenance terminal to remind the operation and maintenance personnel to handle and solve the mobile robot conflict and the like.

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 assignable 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. Specifically, after determining that there is a planned path conflict between the first mobile robot and the second mobile robot, the server may control the second mobile robot to pause the running movement, and control the first mobile robot according to the corresponding plan. The path continues to run the movement; and when it is detected that the first mobile robot has passed the conflicting node area, the conflicting node area is reallocated to the first mobile robot. Therefore, through the allocation of node resources, one mobile robot passes through the conflict node area first, and then another mobile robot passes the node area, which effectively solves the problem of node allocation conflict and reduces the operation of multiple mobile robots. The probability of a collision collision.

As shown in FIG. 9, a conflict management system 90 for a multi-mobile robot according to an embodiment of the present invention includes: an initial information acquiring unit 901 configured to acquire a current location and a planned path of each of a plurality of mobile robots, wherein the planned path can Surrounding an obstacle in a predetermined area, and the predetermined area includes a plurality of node areas; the path segmentation condition determining unit 902 is configured to determine a path segmentation condition in which the current positions of the plurality of mobile robots are respectively located The path segmentation condition includes a curved path segment or a straight path segment; the node region assigning unit 903 is configured to allocate a corresponding number of the respective mobile robots to their respective ones according to the path segmentation condition The node area adjacent to the current position, wherein the number of node areas corresponding to the curved path segment is greater than the number of node areas corresponding to the straight path segment, and the mobile robot is configured to only from the allocated node area by.

In some embodiments, the node area allocating unit 903 includes an end node determining module configured to determine a starting node with respect to the curved segment when determining that the path segmentation condition of the mobile robot is a curved path segment a region and a terminating node region; a bending distribution module configured to allocate, for the determined mobile robot, all of the node regions through which the diagonal from the starting node region to the terminating node region passes.

In some embodiments, the system further includes: a coincidence determining unit configured to determine whether there is a case where node regions allocated for different mobile robots coincide; a conflict determining unit configured to be allocated for the second mobile robot When there is a coincidence between the second node area and the node area that has been allocated to the first mobile robot, the overlapping node area is marked as a conflicting node area, and the first mobile robot and the second are determined. There is a planned path conflict between mobile robots.

In some embodiments, the system further includes: a dwell control unit configured to control the second mobile robot to suspend the running movement, and control the first mobile robot to continue to move according to the corresponding planned path; and And an allocating unit configured to reallocate the conflicting node area to the first mobile robot when detecting that the first mobile robot has passed the conflicting node area.

In some embodiments, the initial information obtaining unit 901 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; planning path receiving And a module configured to receive a planning path 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 region information and calculated by an A* algorithm.

It should be noted that the conflict management system of the multiple 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 a 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 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 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, and the predetermined area includes a plurality of node areas;

Determining a path segmentation condition in which the current positions of the plurality of mobile robots are respectively, wherein the path segmentation condition comprises a curved path segment or a straight path segment;

And assigning, according to the path segmentation condition, a plurality of node regions adjacent to the respective current positions of the plurality of mobile robots, wherein the number of node regions corresponding to the curved path segment is greater than the straight path segment The number of corresponding node regions, and the mobile robot is configured to pass only from the assigned node regions.
The method according to claim 1, wherein the assigning a corresponding number of node regions adjacent to the respective current positions to the plurality of mobile robots according to the path segmentation condition comprises:

Determining a starting node region and a terminating node region with respect to the curved segment when determining that the path segmentation condition of the mobile robot is a curved path segment;

For the determined mobile robot, all of the node areas through which the diagonal of the starting node area to the terminating node area passes are assigned.
The method according to claim 1, wherein after the plurality of mobile robots are respectively assigned a corresponding number of node regions adjacent to their respective current positions according to the path segmentation condition, The method also includes:

Determining whether there is a case where node regions allocated for different mobile robots coincide; and

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, marking the overlapping node area as a conflicting node area of the conflict state, and determining the There is a planned path conflict between the first mobile robot and the second mobile robot.
The method according to claim 3, wherein after the determining that there is a planned path conflict between the first mobile robot and the second mobile robot, the method further comprises:

Controlling the second mobile robot to suspend the running movement, and controlling the first mobile robot to continue to move according to the corresponding planned path; and

When it is detected that the first mobile robot has passed the conflict node area, the conflict node area is reallocated to the first mobile robot.
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 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, and the predetermined area includes a plurality of node areas;

a path segmentation condition determining unit configured to determine a path segmentation condition in which the current positions of the plurality of mobile robots are respectively, wherein the path segmentation condition comprises a curved path segment or a straight path segment;

a node area allocating unit configured to allocate, according to the path segmentation condition, a corresponding number of node areas adjacent to the respective current positions of the plurality of mobile robots, wherein the node area corresponding to the curved path segment The number is greater than the number of node regions corresponding to the straight path segment, and the mobile robot is configured to pass only from the assigned node region.
The system of claim 6 wherein said node area allocation unit comprises

An end node determining module configured to determine a starting node region and a terminating node region with respect to the curved segment when determining that the path segmentation condition of the mobile robot is a curved path segment;

And a bending distribution module configured to allocate, for the determined mobile robot, all of the node regions through which the diagonal of the starting node region to the terminating node region passes.
The system of claim 6 wherein the system further comprises:

a coincidence determination unit configured to determine whether there is a case where node regions allocated for different mobile robots overlap;

a conflict determining unit configured to mark, when the second node area allocated for the second mobile robot has a coincidence with the node area allocated to the first mobile robot, the conflicting node that marks the overlapping node area as a conflicting state And determining that there is a planned path conflict between the first mobile robot and the second mobile robot.
The system of claim 8 wherein the system further comprises:

a stay control unit configured to control the second mobile robot to pause the running movement and control the first mobile robot to continue to move according to the corresponding planned path;

And a redistribution unit configured to redistribute the conflicting node area to the first mobile robot when it is detected that the first mobile robot has passed the conflicting node area.
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.