CN107992060A - The paths planning method and system of multiple mobile robot - Google Patents
The paths planning method and system of multiple mobile robot Download PDFInfo
- Publication number
- CN107992060A CN107992060A CN201810053972.5A CN201810053972A CN107992060A CN 107992060 A CN107992060 A CN 107992060A CN 201810053972 A CN201810053972 A CN 201810053972A CN 107992060 A CN107992060 A CN 107992060A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- path planning
- current location
- region
- block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000009826 distribution Methods 0.000 claims abstract description 75
- 230000000875 corresponding effect Effects 0.000 claims description 19
- 230000004888 barrier function Effects 0.000 claims description 11
- 230000004044 response Effects 0.000 claims description 7
- 238000004422 calculation algorithm Methods 0.000 claims description 6
- 230000002596 correlated effect Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000007726 management method Methods 0.000 description 6
- 238000003860 storage Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The embodiment of the present invention provides a kind of paths planning method and system of multiple mobile robot, belongs to robotic technology field.The paths planning method of the multiple mobile robot includes：Obtain the respective current location of multiple mobile robots and path planning；Current location based on multiple mobile robots determines the dense distribution degree in the block on mobile robot of multiple dividing regions in presumptive area；According to dense distribution degree, multiple division respective window times of block are determined；According to identified window time, scheduling respectively divides the mobile robot execution route program operation in block, including：According to the current location of mobile robot and path planning, for mobile robot distribution with it residing for the adjacent node region in current location, mobile robot is configured only to pass through from the allocated node region.Thus, balance is found between space resources and conflict avoidance, reduces the probability that congestion block clashes, and there is stronger real-time.
Description
Technical field
The present invention relates to robot field, more particularly to the paths planning 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 well
Conflict resolution ability；Second, being centralized management formula conflict resolution, it is mainly disappeared by the way that the motion path of robot is segmented
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 computing is simple, real-time and flexibility are strong, since local extreme points occur, often without
Method intactly completes task；Second, centralized management formula method can relatively accurately perform task, but it is easy to cause robot to transport
Row path conflict, will usually find optimal solution, but calculation amount is very big, take the substantial amounts of resource of server, cause real-time poor, and
And calculating process tends not to take into account vehicle local environment the characteristics of, it can not be found between space resources and conflict avoidance flat
Weighing apparatus.Preferable solution still can not be proposed to this current industry.
The content of the invention
The purpose of the embodiment of the present invention is to provide the paths planning method and system of a kind of multiple mobile robot, at least
Solve centralized management formula the characteristics of can not taking into account vehicle local environment in the prior art, can not space resources and conflict avoidance it
Between find the technical problem of balance.
To achieve these goals, the embodiment of the present invention provides a kind of paths planning method of multiple mobile robot, including：
The respective current location of multiple mobile robots and path planning are obtained, wherein the path planning can be got around in presumptive area
Barrier, and the presumptive area includes multiple node regions；Based on the current location of the multiple mobile robot, really
Multiple dividing regions dense distribution degree in the block on mobile robot in the fixed presumptive area；According to described intensive point
Cloth degree, determines the multiple division respective window time of block, wherein the length of the window time and described intensive point
Negatively correlated relation between the size of cloth degree；According to the identified window time, corresponding described stroke is dispatched respectively
Mobile robot execution route program operation in blockette, including：According to the current location of mobile robot and the planning
Path, distributed for the mobile robot with it residing for the adjacent node region in the current location, wherein the moving machine device
People is configured only to pass through from the allocated node region.
Preferably, the method further includes：Based on predetermined time interval, the current of multiple mobile robots is periodically obtained
Position；According to the current location periodically obtained, it is in the block on moving machine periodically to redefine the multiple dividing regions
The dense distribution degree of device people；Based on the dense distribution degree periodically redefined, accordingly regularly update described
Multiple division respective window times of block.
Optionally, distributed in the current location according to mobile robot and the path planning for the mobile robot
After the adjacent node region in the current location residing for it, this method further includes：Judge whether as different shiftings
The node region that mobile robot is distributed overlaps；And when the section point region distributed by the second mobile robot is with having divided
When being assigned between the node region of the first mobile robot in the presence of overlapping, it is conflict shape to mark the node region that there is coincidence
The conflicting nodes region of state, and determine that there are path planning between first mobile robot and second mobile robot
Conflict.
Optionally, determine there is planning road between first mobile robot and second mobile robot described
After the conflict of footpath, the method further includes：Control the second mobile robot operation suspension to move, and control described first to move
Mobile robot continues to run with movement according to the path planning corresponding to it；And work as and detected first mobile robot
During by the conflicting nodes region, which is reassigned into first mobile robot.
Specifically, the respective current location of multiple mobile robots and path planning of obtaining includes：To each described
Mobile robot sends traffic order, wherein the traffic order includes the destination node area information of each mobile robot；
In response to the traffic order, path planning is received from the multiple mobile robot, wherein the path planning is each institute
Mobile robot is stated according to respective destination node area information and by determined by the calculating of A* algorithms.
On the other hand the embodiment of the present invention provides a kind of path planning system of multiple mobile robot, including：Initial information
Acquiring unit, for obtaining the respective current location of multiple mobile robots and path planning, wherein the path planning can
The barrier in presumptive area is got around, and the presumptive area includes multiple node regions；Dense distribution determination unit, is used for
Based on the current location of the multiple mobile robot, determine that multiple dividing regions in the presumptive area are in the block on movement
The dense distribution degree of robot；Window time determination unit, for according to the dense distribution degree, determining the multiple stroke
The respective window time of blockette, wherein being in negative between the size of the length of the window time and the dense distribution degree
Pass relation；Path planning unit, for according to the identified window time, dispatching the corresponding division block respectively
Interior mobile robot execution route program operation, including：According to the current location of mobile robot and the path planning, it is
The adjacent node region in the current location of the mobile robot distribution residing for it, wherein the mobile robot is configured
Into only passing through from the allocated node region.
Optionally, the system also includes：Location updating unit, for based on predetermined time interval, periodically obtaining more
The current location of a mobile robot；Dense distribution degree updating block, for according to the current location periodically obtained,
Periodically redefine the multiple dividing regions dense distribution degree in the block on mobile robot；Window time updates
Unit, for based on the dense distribution degree periodically redefined, it is each accordingly to regularly update the multiple division block
From the window time.
Optionally, the system also includes：Judging unit is overlapped, for judging whether as different mobile robots
The node region distributed overlaps；Conflict determination unit, for when the section point region distributed by the second mobile robot
During with having distributed between the node region of the first mobile robot in the presence of overlapping, mark is described to be in the presence of the node region overlapped
The conflicting nodes region of conflict situation, and determine there are rule between first mobile robot and second mobile robot
Draw path conflict.
Optionally, the system also includes：Control unit is stopped, for controlling the second mobile robot operation suspension
It is mobile, and control first mobile robot to continue to run with movement according to the path planning corresponding to it；And redistribute
Unit, for when detecting first mobile robot by the conflicting nodes region, by the conflicting nodes area
Domain reassigns to first mobile robot.
Optionally, the initial information acquiring unit includes：Traffic order sending module, for each moving machine
Device people sends traffic order, wherein the traffic order includes the destination node area information of each mobile robot；Plan road
Footpath receiving module, in response to the traffic order, path planning being received from the multiple mobile robot, wherein the rule
Path is drawn as each mobile robot according to respective destination node area information and by determined by the calculating of A* algorithms.
Through the above technical solutions, current location and the path planning of mobile robot are obtained, and according to multiple moving machines
The respective current location of device people and path planning, and before mobile robot movement, pre-set each division block
Window time, makes to configure shorter window time in the big block of dense distribution degree, makes in the small block of dense distribution degree
The longer window time of configuration, thus according to mobile robot dense distribution degree and the differentiated calculation window time, rationally
Distributing system resource, finds balance between space resources and conflict avoidance, while the response time of server is ensured
The CPU consumption of server can be saved, most of cpu resource can be used in congestion block in predetermined areas, maximum journey
Degree improves the path computing efficiency of congestion block, reduces the probability that congestion block clashes collision.In addition, of the invention real
Apply in example by realizing the management of distribution and conflict to path to the distribution of node, realize and disappear to the low of processor resource
Consumption, and there is stronger real-time.
The further feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Brief 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, with
The embodiment in face is used to explain the embodiment of the present invention together, but does not form the limitation to the embodiment of the present invention.Attached
In figure：
Fig. 1 is the ground diagram of the close quarters of the paths planning method for the multiple mobile robot for implementing one embodiment of the invention
Example；
Fig. 2 is the flow chart of the paths planning method of the multiple mobile robot of one embodiment of the invention；
Fig. 3 is on the flow chart for the path planning method for obtaining mobile robot in one embodiment of the invention；
Fig. 4 be in one embodiment of the invention on presumptive area Node distribution table example；
Fig. 5 is the example that the map on presumptive area of one embodiment of the invention is divided into multiple division blocks；
Fig. 6 is the example on node distribution；
Fig. 7 is the example on the node resource table of the presumptive area overall situation；
Fig. 8 is the flow chart of the paths planning method of the multiple mobile robot of another embodiment of the present invention；
Fig. 9 is the structure diagram of the path planning system of the mobile robot of one embodiment of the invention.
Description of reference numerals
A1, A0, A, B mobile robot B1, B2 barrier
902 dense distribution determination unit of N1, N2 node
901 initial information acquiring unit, 903 window time determination unit
The 904 path planning unit of path planning system of 90 multiple mobile robots
Embodiment
The embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be appreciated that this
Locate described embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to limit the invention embodiment.
As shown in Figure 1, the close quarters of the paths planning method in the multiple mobile robot for implementing one embodiment of the invention
Map in be labelled with multiple barrier B1, B2 etc., multiple mobile robots A0, A1 etc., and multiple node region N1, N2
Deng.Wherein, the close quarters can be as needed it is predetermined, such as it can refer to the region in warehouse, the plurality of
Mobile robot A0, A1 can refer to multiple merchandising machine people, and be moved by the operation of mobile robot A0, A1,
It can realize and transport goods, but when multiple merchandising machine people run at the same time, may result in conflict.Wherein, it is different
The size of node region N1, N2 can be equal, it can pass through divides institute's shape to the map making equal proportion of close quarters
Into.It should be noted that the paths planning method of the embodiment of the present invention can be by managing the plurality of mobile robot concentratedly
Performed by server.
As shown in Fig. 2, the paths planning method of the multiple mobile robot of one embodiment of the invention includes:
S201, the respective current location of the multiple mobile robots of acquisition and path planning, wherein path planning can be got around
Barrier in presumptive area, and presumptive area include multiple node regions.
Specifically, the acquisition modes on path planning, can independently be determined by mobile robot, and by its upload
To server or server by calculating, and belong to above in protection scope of the present invention.
A kind of preferred embodiment of the acquisition modes on path planning is illustrated that referring to Fig. 3, mobile robot can
To be AGV (Automated Guided Vehicle laser navigations vehicle), wherein the acquisition methods include：S301, server
Traffic order can be sent to each mobile robot, wherein traffic order includes the destination node region of each mobile robot
Information.S302, after each mobile robot receives respective traffic order, it can be according to respective destination node region
Information simultaneously calculates respectively path planning by A* algorithms.S303, each mobile robot will can calculate obtained
Respective path planning is sent to server.After the path planning that server gets transmitted by each mobile robot,
Corresponding subsequent treatment can be performed, path punching will not occur during Execution plan path in mobile robot to ensure
It is prominent.As an example, can be with multiple node regions respectively with unique node ID (such as shown in Fig. 4 on map
On 0 in the Node distribution table of close quarters, 1 ... No. 99 node region), mobile robot A0 receive traffic order it
Afterwards, it is necessary to reach No. 31 destination node regions from the node region of current location 73, mobile robot A0 can be calculated by A* at this time
Method calculates the shortest path for reaching No. 31 destination node regions, thus ensures that mobile robot A0 can reach destination node rapidly
Region.But do not consider that the operation of other mobile robots such as A1 in current spatial moves in calculating at this moment
Dynamic, it also only can take into account the barrier node of static state, and during mobile robot A0 operations are mobile, its in space
His mobile robot such as A1 is barrier relative to this mobile robot A0, it is therefore desirable to takes anti-collision measure to keep away
Other mobile robots are opened to prevent from bumping against.On the details of the conflict management measure, specifically will hereinafter be unfolded.
S202, the current location based on multiple mobile robots, determine multiple dividing regions pass in the block in presumptive area
In the dense distribution degree of mobile robot.
It should be not construed as limiting herein for the dividing mode of presumptive area (i.e. close quarters), it can be according to landform or root
According to user demand divided etc., and belong to protection scope of the present invention.Exemplarily, presumptive area quilt as shown in Figure 5
Division is for three division blocks (as different colour darkness is marked).Specifically, dense distribution degree can be logical
Cross and calculate the quantity of the mobile robot in the division block with the ratio of the area of division block to determine, as shown in Figure 5
Example in, can also be according to division block in mobile robot quantity with division block in number of nodes ratio
To determine.Specifically, in the example depicted in fig. 5, color marks the deeper dense distribution degree divided corresponding to block more
Greatly.
S203, according to dense distribution degree, determine multiple division respective window times of block, the wherein length of window time
Short relation negatively correlated between the size of dense distribution degree.
Correspondingly, in Figure 5, server can be when marking deeper division block for color to divide longer window
Between.
S204, according to identified window time, the mobile robot in the corresponding division block of scheduling performs respectively
Path planning operates, including：According to the current location of mobile robot and path planning, for mobile robot distribution and its institute
The adjacent node region in the current location at place, wherein mobile robot are configured only to pass through from the allocated node region.
Distribute on node region, carried out according to path planning.And it is possible to it is in 0 time in robot A0
Before point is intended to run to No. 63 node regions from No. 73 node region according to path planning, No. 63 node areas are distributed for A0 in advance
Domain.Preferably, can be needs (such as during when speed of mobile robot) according to mobile robot, the first movement
Robot A distributes multiple multiple node regions passed through for its next step, as shown in fig. 6, can be the operation according to robot
No. 24 node regions and No. 25 node regions are distributed in path for mobile robot A, and distribute No. 146 nodes for mobile robot B
Region and No. 147 node regions etc., and belong to above in protection scope of the present invention.
Distribution on the node resource in presumptive area overall can be realized in node resource table, such as Fig. 7
Show the example of node resource table, each of each node resource is counted in the node resource table on the presumptive area overall situation
A robot is shared and the situation of distribution, including the now shared node region ID of robot and is distributed by robot
Node region ID.Also, node resource table can be updated with the change of time, the money between mobile robot in order to prevent
Source conflicts, and one of node resource can be only shared by a mobile robot, that is, same node region is saving
Two mobile robots will not be corresponded at the same time in point resource table, and same mobile robot can correspond to multiple nodes at the same time
Region.
Can be that mobile robot is only received on next distribution from server on 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.
Term " window time " referred within this period, event or things can be handled or reacted；Cause
For when server is that multiple robots distribute resource, it is not necessary that each moment goes to calculate, and can so cause larger money
Source consumes, so needing to set window time.Window time in embodiments of the present invention can represent server for movement
The cycle of robot interval calculation.For example, the window time that server is mobile robot A1 distribution is 3, then server can be with
Go to calculate respectively in the 2nd time quantum and the 5th time quantum for mobile robot A1, can so economize on resources disappears
Consumption.In embodiments of the present invention, in the small division block of dense distribution degree, that is, mobile robot distribution is than sparse
Divide block, the longer window time of distribution；In the big division block of dense distribution degree, that is, mobile robot distribution ratio
The division block of comparatively dense, the shorter window time of distribution.Thus, it is not all to assign same length for all mobile robots
Short window time, according to the dense distribution degree of mobile robot, differentiated calculates, and reasonable distribution system resource, is ensureing
The CPU consumption of server can also be saved while the response time of server, most of cpu resource can be used in fate
In congestion block in domain, the path computing efficiency of congestion block is at utmost improved, reduces and clashes the general of collision
Rate.
Further, since during multiple mobile robots perform mobile task, can cause intensive in presumptive area
Distributed degrees are in the state of a change, it is therefore necessary to periodically make renewal to dense distribution degree, and it is further corresponding
Adjust the length of window time.In view of this, in a preferred embodiment of the embodiment of the present invention, can be based on it is predetermined when
Between be spaced, periodically obtain the current location of multiple mobile robots, and according to the current location periodically obtained, it is periodically again true
Fixed multiple dividing regions dense distribution degree in the block on mobile robot, afterwards based on intensive point periodically redefined
Cloth degree, accordingly regularly updates multiple division respective window times of block.
As shown in figure 8, the paths planning method of the multiple mobile robot of one embodiment of the invention, including：
S801, the respective current location of the multiple mobile robots of acquisition and path planning, wherein path planning can be got around
Barrier in presumptive area, and presumptive area include multiple node regions.
S802, the current location based on multiple mobile robots, determine multiple dividing regions pass in the block in presumptive area
In the dense distribution degree of mobile robot.
S803, according to dense distribution degree, determine multiple division respective window times of block, the wherein length of window time
Short relation negatively correlated between the size of dense distribution degree.
S804, according to identified window time, the mobile robot in the corresponding division block of scheduling performs respectively
Path planning operates, including：According to the current location of mobile robot and path planning, for mobile robot distribution and its institute
The adjacent node region in the current location at place, wherein mobile robot are configured only to pass through from the allocated node region.
On the more specifically details of S801-S804, the description of foregoing embodiments is referred to, is not just repeated herein.
S805, the node region for judging whether to be distributed by different mobile robots overlap；And
S806, when the section point region distributed by the second mobile robot and distributed to the first mobile robot
When there is coincidence between node region, there is the node region overlapped and be the conflicting nodes region of conflict situation in mark, and determine
There are path planning between first mobile robot and second mobile robot to conflict.
The embodiment illustrated in fig. 8 can be counted as a kind of preferred embodiment of embodiment illustrated in fig. 2, essentially consist in, Fig. 2
It can be that distribution computing resource is customized by the configuration of the length of window time, make the mobile robot of congestion block obtain
The computational efficiency of higher, avoids conflicting, but it can not be related to the detection to conflict situation.In view of this, S805 and S806 are passed through
Implementation can realize to node resource distribution detection, avoid same node region and distributed to two mobile machines at the same time
People.As an example, it is No. 10 node if the first mobile robot A institutes distribution node resource area in one case
Region, and for the second mobile robot B institutes distribution node resource area be also No. 10 node region；Alternatively, in another kind
In the case of, include No. 10 and No. 11 node regions, Yi Jiwei if the first mobile robot A institutes distribution node resource area
The node region that second mobile robot B is distributed includes No. 9 node region and No. 10 node region, then shows the first shifting
There is No. 10 node region overlapped in mobile robot A and the second mobile robot B, correspondingly mark No. 10 node as place
In the conflicting nodes region of conflict situation.Accordingly, it may be determined that the first mobile robot A and the second mobile robot B it
Between there are path planning conflict, corresponding conflict management measure should be taken at this time, can be there are conflicting nodes specifically
During region, conflict notification signal is generated, and the conflict notification signal is sent to O＆M terminal and is handled to remind operation maintenance personnel
And solve mobile robot conflict etc..
It is furthermore preferred that detecting the first mobile robot A or the second mobile robot B by No. 10 conflict section
During point region, conflicting nodes region can from conflict state transition be again the state that can be allocated by server, such as can be with
By different mark (by Node color or in the form of mark etc.) to conflicting nodes region and assignable node region it
Between distinguish, it is thus achieved that the reallocation work after recovering normal to conflicting nodes, has ensured normal node resource energy
It is enough to be recycled by mobile robot, improve the utilization ratio of close quarters.Specifically, definite first mobile robot with
Can be that the second mobile robot described in server controls is suspended after conflicting between second mobile robot there are path planning
Operation movement, and control first mobile robot to continue to run with movement according to the path planning corresponding to it；And when inspection
Measure first mobile robot by the conflicting nodes region when, which is reassigned to
One mobile robot.Thus, by the distribution of node resource, allow one of mobile robot first pass through conflicting nodes region it
Afterwards, then by another mobile robot by the node region, solve the problems, such as node distribution conflict, reduce more shiftings
Mobile robot clashes the probability of collision in the process of running.
As shown in figure 9, the path planning system 90 of the multiple mobile robot of one embodiment of the invention, including：Initial information
Acquiring unit 901, for obtaining the respective current location of multiple mobile robots and path planning, wherein the path planning energy
The barrier in presumptive area is enough got around, and the presumptive area includes multiple node regions；Dense distribution determination unit
902, for the current location based on the multiple mobile robot, determine that multiple dividing regions in the presumptive area are in the block
Dense distribution degree on mobile robot；Window time determination unit 903, for according to the dense distribution degree, really
The fixed the multiple division respective window time of block, wherein the length of the window time and the dense distribution degree is big
Negatively correlated relation between small；Path planning unit 904, for right according to the identified window time, the institute of scheduling respectively
The mobile robot execution route program operation in the division block answered, including：According to the current location of mobile robot
With the path planning, distributed for the mobile robot with it residing for the adjacent node region in the current location, wherein institute
Mobile robot is stated to be configured only to pass through from the allocated node region.
In some embodiments, the system also includes：Location updating unit, for based on predetermined time interval,
Periodically obtain the current location of multiple mobile robots；Dense distribution degree updating block, for according to the institute periodically obtained
Current location is stated, periodically redefines the multiple dividing regions dense distribution degree in the block on mobile robot；
Window time updating block, for based on the dense distribution degree periodically redefined, accordingly regularly updating described more
A division respective window time of block.
In some embodiments, the system also includes：Judging unit is overlapped, for judging whether to be different
The node region that mobile robot is distributed overlaps；Conflict determination unit, for when be distributed by the second mobile robot the
When two node regions are with having distributed between the node region of the first mobile robot in the presence of overlapping, mark is described to have what is overlapped
Node region is the conflicting nodes region of conflict situation, and determines first mobile robot and second mobile robot
Between there are path planning conflict.
In some embodiments, the system also includes：Control unit is stopped, for controlling the second movement machine
People's operation suspension moves, and controls first mobile robot to continue to run with movement according to the path planning corresponding to it；With
And unit is redistributed, for when detecting first mobile robot by the conflicting nodes region, by this
Conflicting nodes region reassigns to first mobile robot.
In some embodiments, the initial information acquiring unit includes：Traffic order sending module, for each
The mobile robot sends traffic order, wherein the destination node region that the traffic order includes each mobile robot is believed
Breath；Path planning receiving module, in response to the traffic order, path planning to be received from the multiple mobile robot,
Wherein described path planning according to respective destination node area information and passes through A* algorithm meters for each mobile robot
Determined by calculation.
It should be noted that the path planning system for the multiple mobile robot that the embodiment of the present invention is provided can be built
On server for managing multiple mobile robot concentratedly, and unit as described above and module can refer to journey
Sequence module or unit.And more details on system of the embodiment of the present invention and corresponding technique effect are referred to
The description of literary embodiment of the method, 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 reach accordingly
The technique effect that the invention described above embodiment of the method is reached, which is not described herein again.
Correlation function mould can 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 paths planning 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 possesses the corresponding function module of execution method and has
Beneficial effect.Not ins and outs 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 each particular technique feature described in above-mentioned embodiment, 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 realize that all or part of step in above-described embodiment method is to pass through
Program instructs relevant hardware to complete, and the program storage is in the storage medium, including some instructions are used 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 storage (ROM, Read-Only Memory), random access memory
(RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
In addition, it can also be combined between a variety of embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is run counter to, it should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of paths planning method of multiple mobile robot, including：
The respective current location of multiple mobile robots and path planning are obtained, wherein the path planning can get around fate
Barrier in domain, and the presumptive area include multiple node regions；
Based on the current location of the multiple mobile robot, determine multiple dividing regions in the presumptive area it is in the block on
The dense distribution degree of mobile robot；
According to the dense distribution degree, the multiple division respective window time of block is determined, wherein the window time
Length and the dense distribution degree size between negatively correlated relation；
According to the identified window time, the mobile robot dispatched respectively in the corresponding division block performs road
Footpath program operation, including：
According to the current location of mobile robot and the path planning, for mobile robot distribution with its residing for described in work as
The adjacent node region in front position, wherein the mobile robot is configured only to pass through from the allocated node region.
2. according to the method described in claim 1, it is characterized in that, the method further includes：
Based on predetermined time interval, the current location of multiple mobile robots is periodically obtained；
According to the current location periodically obtained, it is in the block on mobile machine periodically to redefine the multiple dividing regions
The dense distribution degree of people；
Based on the dense distribution degree periodically redefined, the respective institute of the multiple division block is accordingly regularly updated
State window time.
3. according to the method described in claim 1, it is characterized in that, in the current location according to mobile robot and described
After path planning distributes the adjacent node region in the current location residing for it for the mobile robot, this method is also wrapped
Include：
The node region for judging whether to be distributed by different mobile robots overlaps；And
When the section point region distributed by the second mobile robot and distribute to the node region of the first mobile robot
Between exist when overlapping, mark the conflicting nodes region that there is the node region overlapped and be conflict situation, and determine described
There are path planning between first mobile robot and second mobile robot to conflict.
4. according to the method described in claim 3, it is characterized in that, determine first mobile robot and described the described
After conflicting between two mobile robots there are path planning, the method further includes：
Control the second mobile robot operation suspension to move, and control first mobile robot according to corresponding to it
Path planning continues to run with movement；And
When detecting first mobile robot by the conflicting nodes region, by the conflicting nodes region again
Distribute to first mobile robot.
5. according to the method described in claim 1, it is characterized in that, described obtain multiple respective current locations of mobile robot
Include with path planning：
Traffic order is sent to each mobile robot, wherein the traffic order includes the target of each mobile robot
Node region information；
In response to the traffic order, path planning is received from the multiple mobile robot, wherein the path planning is each
A mobile robot is according to respective destination node area information and by determined by the calculating of A* algorithms.
6. a kind of path planning system of multiple mobile robot, including：
Initial information acquiring unit, for obtaining the respective current location of multiple mobile robots and path planning, wherein described
Path planning can get around the barrier in presumptive area, and the presumptive area includes multiple node regions；
Dense distribution determination unit, for the current location based on the multiple mobile robot, determines in the presumptive area
Multiple dividing regions dense distribution degree in the block on mobile robot；
Window time determination unit, for according to the dense distribution degree, determining the multiple division respective window of block
Time, wherein negatively correlated relation between the size of the length of the window time and the dense distribution degree；
Path planning unit, for according to the identified window time, dispatching respectively in the corresponding division block
Mobile robot execution route program operation, including：According to the current location of mobile robot and the path planning, for this
The adjacent node region in the current location of the mobile robot distribution residing for it, wherein the mobile robot is configured to
Only pass through from the allocated node region.
7. system according to claim 6, it is characterised in that the system also includes：
Location updating unit, for based on predetermined time interval, periodically obtaining the current location of multiple mobile robots；
Dense distribution degree updating block, for according to the current location periodically obtained, periodically redefining described more
A dividing regions dense distribution degree in the block on mobile robot；
Window time updating block, for based on the dense distribution degree periodically redefined, accordingly regularly updating institute
State multiple division respective window times of block.
8. system according to claim 6, it is characterised in that the system also includes：
Judging unit is overlapped, the node region for judging whether to be distributed by different mobile robots overlaps；
Conflict determination unit, for being moved when by the section point region that the second mobile robot is distributed with having distributed to first
When there is coincidence between the node region of robot, the conflicting nodes that there is the node region overlapped and be conflict situation are marked
Region, and determine that there are path planning between first mobile robot and second mobile robot to conflict.
9. system according to claim 8, it is characterised in that the system also includes：
Control unit is stopped, for controlling the second mobile robot operation suspension to move, and controls first moving machine
Device people continues to run with movement according to the path planning corresponding to it；And
Unit is redistributed, for when detecting first mobile robot by the conflicting nodes region, inciting somebody to action
The conflicting nodes region reassigns to first mobile robot.
10. system according to claim 6, it is characterised in that the initial information acquiring unit includes：
Traffic order sending module, for sending traffic order to each mobile robot, wherein the traffic order bag
Destination node area information containing each mobile robot；
Path planning receiving module, in response to the traffic order, path planning to be received from the multiple mobile robot,
Wherein described path planning according to respective destination node area information and passes through A* algorithm meters for each mobile robot
Determined by calculation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810053972.5A CN107992060B (en) | 2018-01-19 | 2018-01-19 | Path planning method and system for multiple mobile robots |
| PCT/CN2019/072270 WO2019141227A1 (en) | 2018-01-19 | 2019-01-18 | Method and system for planning routes of plurality of moving robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810053972.5A CN107992060B (en) | 2018-01-19 | 2018-01-19 | Path planning method and system for multiple mobile robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107992060A true CN107992060A (en) | 2018-05-04 |
| CN107992060B CN107992060B (en) | 2021-08-06 |
Family
ID=62041174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810053972.5A Active CN107992060B (en) | 2018-01-19 | 2018-01-19 | Path planning method and system for multiple mobile robots |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107992060B (en) |
| WO (1) | WO2019141227A1 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420371A (en) * | 2018-06-21 | 2018-08-21 | 马书翠 | A kind of separate type sweeping robot control method |
| CN109304712A (en) * | 2018-11-09 | 2019-02-05 | 浙江国自机器人技术有限公司 | A kind of mobile robot traffic control method and mobile-robot system |
| WO2019141227A1 (en) * | 2018-01-19 | 2019-07-25 | 库卡机器人(广东)有限公司 | Method and system for planning routes of plurality of moving robots |
| CN110737262A (en) * | 2018-07-03 | 2020-01-31 | 松下知识产权经营株式会社 | Moving body control system, moving body control method, moving body system, and recording medium |
| CN111493749A (en) * | 2019-01-31 | 2020-08-07 | 北京奇虎科技有限公司 | Sweeping robot-based sweeping method and device, electronic equipment and storage medium |
| CN111784249A (en) * | 2020-07-03 | 2020-10-16 | 上海木木聚枞机器人科技有限公司 | Method for locking and unlocking scheduling driving state, server and storage medium |
| CN111832678A (en) * | 2020-07-17 | 2020-10-27 | 中国科学技术大学 | Sorting robot scheduling method and device, sorting robot and storage medium |
| CN112578739A (en) * | 2019-09-29 | 2021-03-30 | 杭州海康机器人技术有限公司 | Scheduling method for mobile robot, scheduling server and storage medium |
| CN113253736A (en) * | 2021-06-17 | 2021-08-13 | 上海思岚科技有限公司 | Multi-robot scheduling method and equipment |
| CN113534803A (en) * | 2021-07-15 | 2021-10-22 | 北京京东振世信息技术有限公司 | Motion path determination method and device, electronic equipment and storage medium |
| CN114677068A (en) * | 2022-05-30 | 2022-06-28 | 深圳博鹏智能科技有限公司 | Scheduling management method and system for disinfection floor cleaning robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112799411B (en) * | 2021-04-12 | 2021-07-30 | 北京三快在线科技有限公司 | Control method and device of unmanned equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103217979A (en) * | 2013-03-29 | 2013-07-24 | 无锡普智联科高新技术有限公司 | Method for solving multiple mobile robot path conflict based on buffer area |
| KR20140045025A (en) * | 2012-10-08 | 2014-04-16 | 송세경 | Mobile robot and mthod for moving of mobile robot using virtual fence |
| CN104269048A (en) * | 2014-04-15 | 2015-01-07 | 明日交通公司 | Dynamic Scheduling And Time Control For Intelligent Bus System |
| CN105120971A (en) * | 2012-11-07 | 2015-12-02 | 国际海洋工程公司 | Method of managing loading, unloading, and routing of trackless vehicles and system using the same |
| CN105652838A (en) * | 2016-01-29 | 2016-06-08 | 哈尔滨工大服务机器人有限公司 | Multi-robot path planning method based on time window |
| CN106556406A (en) * | 2016-11-14 | 2017-04-05 | 北京特种机械研究所 | Many AGV dispatching methods |
| KR101740529B1 (en) * | 2015-12-30 | 2017-05-30 | 한국철도기술연구원 | Path planning determination and allocation method of driverless ground vehicle |
| CN107272698A (en) * | 2017-07-25 | 2017-10-20 | 哈尔滨工大特种机器人有限公司 | A kind of dispatch control method and system applied to many AGV cooperating operations |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5732921B2 (en) * | 2011-03-04 | 2015-06-10 | トヨタ自動車株式会社 | MOBILE MAP DEVICE, PROCESSING METHOD THEREOF, AND PROGRAM |
| CN105446343B (en) * | 2016-01-04 | 2019-03-08 | 杭州亚美利嘉科技有限公司 | A kind of dispatching method and device of robot |
| CN107168337A (en) * | 2017-07-04 | 2017-09-15 | 武汉视览科技有限公司 | A kind of mobile robot path planning and dispatching method of view-based access control model identification |
| CN107992060B (en) * | 2018-01-19 | 2021-08-06 | 广东美的智能机器人有限公司 | Path planning method and system for multiple mobile robots |
-
2018
- 2018-01-19 CN CN201810053972.5A patent/CN107992060B/en active Active
-
2019
- 2019-01-18 WO PCT/CN2019/072270 patent/WO2019141227A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140045025A (en) * | 2012-10-08 | 2014-04-16 | 송세경 | Mobile robot and mthod for moving of mobile robot using virtual fence |
| CN105120971A (en) * | 2012-11-07 | 2015-12-02 | 国际海洋工程公司 | Method of managing loading, unloading, and routing of trackless vehicles and system using the same |
| CN103217979A (en) * | 2013-03-29 | 2013-07-24 | 无锡普智联科高新技术有限公司 | Method for solving multiple mobile robot path conflict based on buffer area |
| CN104269048A (en) * | 2014-04-15 | 2015-01-07 | 明日交通公司 | Dynamic Scheduling And Time Control For Intelligent Bus System |
| KR101740529B1 (en) * | 2015-12-30 | 2017-05-30 | 한국철도기술연구원 | Path planning determination and allocation method of driverless ground vehicle |
| CN105652838A (en) * | 2016-01-29 | 2016-06-08 | 哈尔滨工大服务机器人有限公司 | Multi-robot path planning method based on time window |
| CN106556406A (en) * | 2016-11-14 | 2017-04-05 | 北京特种机械研究所 | Many AGV dispatching methods |
| CN107272698A (en) * | 2017-07-25 | 2017-10-20 | 哈尔滨工大特种机器人有限公司 | A kind of dispatch control method and system applied to many AGV cooperating operations |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019141227A1 (en) * | 2018-01-19 | 2019-07-25 | 库卡机器人(广东)有限公司 | Method and system for planning routes of plurality of moving robots |
| CN108420371A (en) * | 2018-06-21 | 2018-08-21 | 马书翠 | A kind of separate type sweeping robot control method |
| CN110737262A (en) * | 2018-07-03 | 2020-01-31 | 松下知识产权经营株式会社 | Moving body control system, moving body control method, moving body system, and recording medium |
| CN109304712A (en) * | 2018-11-09 | 2019-02-05 | 浙江国自机器人技术有限公司 | A kind of mobile robot traffic control method and mobile-robot system |
| CN111493749B (en) * | 2019-01-31 | 2023-10-03 | 北京奇虎科技有限公司 | Sweeping method and device based on sweeping robot, electronic equipment and storage medium |
| CN111493749A (en) * | 2019-01-31 | 2020-08-07 | 北京奇虎科技有限公司 | Sweeping robot-based sweeping method and device, electronic equipment and storage medium |
| CN112578739A (en) * | 2019-09-29 | 2021-03-30 | 杭州海康机器人技术有限公司 | Scheduling method for mobile robot, scheduling server and storage medium |
| CN111784249A (en) * | 2020-07-03 | 2020-10-16 | 上海木木聚枞机器人科技有限公司 | Method for locking and unlocking scheduling driving state, server and storage medium |
| CN111832678A (en) * | 2020-07-17 | 2020-10-27 | 中国科学技术大学 | Sorting robot scheduling method and device, sorting robot and storage medium |
| CN111832678B (en) * | 2020-07-17 | 2022-04-19 | 中国科学技术大学 | Sorting robot scheduling method and device, sorting robot and storage medium |
| CN113253736B (en) * | 2021-06-17 | 2021-11-09 | 上海思岚科技有限公司 | Multi-robot scheduling method and equipment |
| CN113253736A (en) * | 2021-06-17 | 2021-08-13 | 上海思岚科技有限公司 | Multi-robot scheduling method and equipment |
| CN113534803A (en) * | 2021-07-15 | 2021-10-22 | 北京京东振世信息技术有限公司 | Motion path determination method and device, electronic equipment and storage medium |
| CN114677068A (en) * | 2022-05-30 | 2022-06-28 | 深圳博鹏智能科技有限公司 | Scheduling management method and system for disinfection floor cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107992060B (en) | 2021-08-06 |
| WO2019141227A1 (en) | 2019-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107992060A (en) | The paths planning method and system of multiple mobile robot | |
| CN108279675A (en) | The method for collision management and system of multiple mobile robot | |
| CN108287547A (en) | The method for collision management and system of multiple mobile robot | |
| CN108268016A (en) | The method for collision management and system of multiple mobile robot | |
| CN108287545B (en) | Conflict management method and system for multiple mobile robots | |
| Qi et al. | On the evaluation of AGVS-based warehouse operation performance | |
| WO2019141222A1 (en) | Conflict management method and system for multiple mobile robots | |
| CN108268039A (en) | The paths planning method and system of mobile robot | |
| Möhring et al. | Conflict-free real-time AGV routing | |
| CN109541634A (en) | A kind of paths planning method, device and mobile device | |
| CN108267149A (en) | The method for collision management and system of multiple mobile robot | |
| CN108268038B (en) | Dispatching method and system for multiple mobile robots | |
| CN111762519B (en) | Method and system for guiding picking robot operation and scheduling device | |
| Schwerdfeger et al. | Order picking along a crane-supplied pick face: The SKU switching problem | |
| Zavichi et al. | Enhanced crane operations in construction using service request optimization | |
| Sinriech et al. | An introduction to the segmented flow approach for discrete material flow systems | |
| CN108227716A (en) | The paths planning method and system of mobile robot | |
| CN109765915A (en) | A kind of storage transfer robot task scheduling system based on computerized algorithm | |
| CN108268037A (en) | The method for collision management and system of multiple mobile robot | |
| CN108287546A (en) | The method for collision management and system of multiple mobile robot | |
| JP2020057050A (en) | Information processing apparatus and information processing program | |
| KR20210086400A (en) | Artificial intelligence-based intelligent drainage apparatus and operating method thereof | |
| Liu et al. | Multiple equipment scheduling and AGV trajectory generation in U-shaped sea-rail intermodal automated container terminal | |
| CN113371380B (en) | Path generation method, device, equipment, storage medium and program product | |
| Oliveira et al. | Efficient task allocation in smart warehouses with multi-delivery stations and heterogeneous robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220630 Address after: 528311 area a, 2nd floor, building B1, 3 Liaoshen Road, Beijiao Town, Shunde District, Foshan City, Guangdong Province Patentee after: KUKA ROBOT (GUANGDONG) Co.,Ltd. Address before: 528311 2nd floor, building 4, Midea Global Innovation Center, Beijiao Town, Shunde District, Foshan City, Guangdong Province Patentee before: GUANGDONG MIDEA INTELLIGENT ROBOT Co.,Ltd. |
|
| TR01 | Transfer of patent right |