CN108268016A - The method for collision management and system of multiple mobile robot - Google Patents
The method for collision management and system of multiple mobile robot Download PDFInfo
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- CN108268016A CN108268016A CN201810054742.0A CN201810054742A CN108268016A CN 108268016 A CN108268016 A CN 108268016A CN 201810054742 A CN201810054742 A CN 201810054742A CN 108268016 A CN108268016 A CN 108268016A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000013439 planning Methods 0.000 claims abstract description 172
- 238000007726 management method Methods 0.000 claims abstract description 19
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- 230000007704 transition Effects 0.000 claims description 10
- 238000004080 punching Methods 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The embodiment of the present invention provides a kind of method for collision management and system of multiple mobile robot, belongs to robot field.The method for collision management of the multiple mobile robot includes：Obtain the respective current location of multiple mobile robots and path planning；According to the respective current location of multiple mobile robots and path planning, for the distribution of each mobile robot for its by the node region adjacent with the position of mobile robot；When the second node region distributed by the second mobile robot is with having distributed between the node region of first movement robot in the presence of overlapping, there is the conflicting nodes region that the node region overlapped is conflict situation in label, and determine that there are path plannings between first movement robot and the second mobile robot to conflict.In multiple mobile robots before next step runs movement, distribution node region, and judge according to the node region distributed and detect conflict, help to manage the conflict of multiple mobile robot.
Description
Technical field
The present invention relates to robot field, more particularly to the method for collision management and system of a kind of multiple mobile robot.
Background technology
Lay multiple mobile robots in the close quarters (such as logistics warehouse region), and by these mobile robots Lai
Such as transporting goods for task is completed, is the research emphasis of current Internet of Things field to substitute hand labor.
In order to avoid the collision between multiple mobile robots in close quarters in operation, generally employ at present
The different processing scheme of the following two kinds：First, being by the current local environmental information of robot, robot is allowed to have good
Conflict resolution ability；Second, it is centralized management formula conflict resolution, mainly by the way that the motion path of robot to be segmented to disappear
Except conflict.
But present inventor found during the application is put into practice it is above-mentioned in the prior art at least exist it is as follows
Defect：First, although distributed method operation is simple, real-time and flexibility are strong, due to will appear local extreme points, often without
Method completely completes task；Second, centralized management formula method can relatively accurately perform task, but be easy to that robot is caused to transport
Row path conflict, will usually find optimal solution, but calculation amount is very big, real-time is poor, this current industry still can not be proposed compared with
Good solution.
Invention content
The purpose of the embodiment of the present invention is to provide the method for collision management and system of a kind of multiple mobile robot, to preferable
Ground solves the problems, such as path conflict of the multiple mobile robot in close quarters caused by centralized dispatching.
To achieve these goals, the embodiment of the present invention provides a kind of method for collision management 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, the presumptive area include multiple node regions；According to the respective current location of the multiple mobile robot and
Path planning distributes the node region adjacent with the position of the mobile robot, wherein institute for each mobile robot
Mobile robot is stated to be configured only to pass through from the allocated node region；When the second section distributed by the second mobile robot
When point region is with having distributed between the node region of first movement robot in the presence of overlapping, the node for existing and overlapping is marked
Region is the conflicting nodes region of conflict situation, and is determined between the first movement robot and second mobile robot
There are path planning conflicts.
Preferably, determine there is planning road between the first movement robot and second mobile robot described
After diameter conflict, the method further includes：When having detected the first movement robot or second mobile robot
It is the shape that can be assigned from the conflict state transition again by the conflicting nodes region during by the conflicting nodes region
State.
Preferably, determine there is planning road between the first movement robot and second mobile robot described
After diameter conflict, the method further includes：According to the first path planning of the first movement robot and second movement
Second path planning of robot, determines the conflict type in the conflicting nodes region, the conflict type include it is following in
Any one：Intersection conflict, in the same direction conflict or opposite conflict；According to the conflict type, the first movement robot is adjusted
First path planning and/or adjustment second mobile robot second path planning.
Specifically, when first path planning and second path planning vertical each other, the conflict class is determined
Type is intersection conflict, wherein it is described according to the conflict type, adjust the first planning road of the first movement robot
Diameter and/or second path planning of adjustment second mobile robot include：Control second mobile robot temporary
Row of stopping transport moves, and the first movement robot is controlled to continue to run with movement according to first path planning；And work as institute
When to state conflicting nodes region by conflict state transition be the state that can be assigned, second mobile robot is controlled to continue to execute
Mobile operation on second path planning.
Specifically, when first path planning and the second path planning direction are in the same direction or reversed, institute is determined
Conflict type is stated as conflict in the same direction or opposite conflict, wherein it is described including：Again it is second mobile robot distribution and institute
State the adjacent node region in the position of the second mobile robot, with exit node region residing for second mobile robot and
Second path planning；And the control first movement robot continues to run with movement according to first path planning.
Specifically, when first path planning and the second path planning direction are reversed, and the first movement
When node region residing for robot and second mobile robot is adjacent, the conflict type is determined to conflict with each other,
Described in first path planning of the adjustment first movement robot and/or the institute of adjustment second mobile robot
The second path planning is stated to include：The conflicting nodes region of the first movement robot has been distributed in release, and is divided again
With the node region adjacent with the position of the first movement robot to the first movement robot, to exit described first
Node region and first path planning residing for mobile robot；And control second mobile robot is according to described
Second path planning continues to run with movement.
The respective current location of multiple mobile robots is obtained specifically, described and path planning 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
State mobile robot according to respective destination node area information and pass through A* algorithms calculate determined by.
On the other hand the embodiment of the present invention provides a kind of conflict managementsystem of the multiple mobile robot of close quarters, wrap
It includes：Acquiring unit, 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, the presumptive area includes multiple node regions；Node allocation unit, for according to institute
The respective current location of multiple mobile robots and path planning are stated, for each mobile robot distribution and the moving machine
The adjacent node region in the position of device people, wherein the mobile robot is configured only to pass through from the allocated node region；
Collision detection unit, for when for second node region that the second mobile robot is distributed with having distributed to first movement machine
When there is coincidence between the node region of people, the conflicting nodes area that there is the node region overlapped and be conflict situation is marked
Domain, and determine that there are path plannings between the first movement robot and second mobile robot to conflict.
Optionally, the system also includes：State conversion unit detects the first movement robot or institute for working as
State the second mobile robot by the conflicting nodes region when, by the conflicting nodes region again from the conflict shape
State is converted to the state that can be assigned.
Optionally, the system also includes：Conflict type determining units, for the according to the first movement robot
Second path planning of one path planning and second mobile robot determines the conflict type in the conflicting nodes region,
It is described conflict type include it is following in any one：Intersection conflict, in the same direction conflict or opposite conflict；Conflict solving unit is used
According to the conflict type, first path planning of the first movement robot and/or adjustment described second are adjusted
Second path planning of mobile robot.
Specifically, the conflict type determining units include intersection conflict determining module and the Conflict solving unit
Module is solved including intersection conflict, wherein, the intersection conflict determining module is used for when first path planning and described the
When two path plannings are vertical each other, determine that the conflict type is intersection conflict；And the intersection conflict solves module and is used for
The second mobile robot operation suspension is controlled to move, and controls the first movement robot according to the described first planning road
Diameter continues to run with movement；And when the conflicting nodes region is the state that can be assigned by conflict state transition, institute is controlled
It states the second mobile robot and continues to execute the mobile operation on second path planning.
Specifically, the conflict type determining units are included with reversely conflict determining module and the Conflict solving list
Member is included with reversed conflict-solving module, wherein, it is described be used for reversely conflict determining module when first path planning and
When the second path planning direction is in the same direction or reversed, determine the conflict type for conflict in the same direction or opposite conflict；It is described
It is used for again as second mobile robot distribution and the position of second mobile robot with reversed conflict-solving module
Adjacent node region, with exit node region residing for second mobile robot and second path planning and
The first movement robot is controlled to continue to run with movement according to first path planning.
Specifically, the conflict type determining units include conflicting with each other determining module and the Conflict solving unit
Including conflicting with each other solution module, wherein, the determining module that conflicts with each other is for when first path planning and described the
Two path planning directions are reversed, and the first movement robot and the node region phase residing for second mobile robot
When adjacent, determine the conflict type to conflict with each other；The solution module that conflicts with each other has distributed to described first for discharging
The conflicting nodes region of mobile robot, and redistribute the node area adjacent with the position of the first movement robot
The first movement robot is given in domain, to exit node region and the first planning road residing for the first movement robot
Diameter and control second mobile robot continue to run with movement according to second path planning.
Specifically, the acquiring unit includes：Traffic order sending module, for being sent to each mobile robot
Traffic order, wherein the traffic order includes the destination node area information of each mobile robot；Path planning obtains mould
Block, for receiving path planning from the multiple mobile robot, wherein the path planning is each mobile robot
Determined by according to respective destination node area information and passing through 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, according to the current location of mobile robot
It is the node region adjacent with the position of mobile robot that mobile robot distributes that its next step can pass through with path planning, and
And when there is coincidence between the node region distributed by two different mobile robots, determine that there are robot path punchings
It is prominent.As a result, in multiple mobile robots before next step runs movement, distribution node region, and according to the node distributed
Region is judged and is measured whether multiple mobile robots can clash when next step runs mobile, contributes to moving more
The management of the conflict of mobile robot；Also, conflict is managed by the distribution to node and monitoring in embodiments of the present invention, it is real
Now to the low consumption of processor resource, there is stronger real-time.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is that the embodiment of the present invention is further understood for providing, and a part for constitution instruction, under
The specific embodiment in face is used to explain the embodiment of the present invention, but do not form the limitation to the embodiment of the present invention together.Attached
In figure：
Fig. 1 is the ground diagram of the close quarters of the method for collision management for the multiple mobile robot for implementing one embodiment of the invention
Example；
Fig. 2 is the flow chart of the method for collision management of the multiple mobile robot of one embodiment of the invention；
Fig. 3 is the flow chart about the path planning method for obtaining mobile robot in one embodiment of the invention；
Fig. 4 is the example about the Node distribution table of presumptive area in one embodiment of the invention；
Fig. 5 is the example distributed about node of one embodiment of the invention；
Fig. 6 is the example about the node resource table of the presumptive area overall situation；
Fig. 7 is the flow chart of the method for collision management of the multiple mobile robot of another embodiment of the present invention；
Fig. 8 A are the situation examples of the intersection conflict in node assigning process of one embodiment of the invention；
Fig. 8 B are the situation examples to conflict in the same direction in node assigning process of one embodiment of the invention；
Fig. 8 C are the situation examples to conflict in opposite directions in node assigning process of one embodiment of the invention；
Fig. 8 D are the conflicting situation examples in node assigning process of one embodiment of the invention；
Fig. 9 is the structure diagram of the conflict managementsystem of the multiple mobile robot of one embodiment of the invention.
Reference sign
A1, A0, A, B mobile robot B1, B2 barrier
502 node allocation unit of N1, N2 node
501 acquiring unit, 503 collision detection unit
The conflict managementsystem of 50 multiple mobile robots
Specific embodiment
The specific embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to restrict the invention embodiment.
As shown in Figure 1, the close quarters of the method for collision management 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, which can be that institute as needed is scheduled, such as it can refer to the region in warehouse, multiple
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 simultaneously, may result in conflict.Wherein, it is different
The size of node region N1, N2 can be equal, can pass through and institute's shape is divided to the map making equal proportions of close quarters
Into.It should be noted that the method for collision management of the embodiment of the present invention can be by managing multiple mobile robot concentratedly
Performed by server.
As shown in Fig. 2, the method for collision management 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 and presumptive area in presumptive area include multiple node regions.
Specifically, the acquisition modes about path planning, can independently be determined by mobile robot, and by its upload
To server or server by calculating, and above belong in protection scope of the present invention.
A kind of preferred embodiment of the acquisition modes about path planning 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, can be according to respective destination node region
Information simultaneously passes through the respectively path planning of A* algorithms calculating.S303, each mobile robot can will calculate obtained
Respective path planning is sent to server.After the path planning for getting transmitted by each mobile robot in server,
Corresponding subsequent processing can be performed, path punching will not occur during Execution plan path in mobile robot to ensure
It is prominent.As an example, can have multiple node regions for being respectively provided with unique node ID (such as shown in Fig. 4 on map
About 0,1 ... No. 99 node region in the Node distribution table of close quarters), mobile robot A0 receive traffic order it
Afterwards, it needs 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 rapidly destination node
Region.But there is no the operations for considering other mobile robots such as A1 in current spatial in calculating at this moment to move
It is dynamic, static barrier node is also only can take into account, 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 anti-collision measure be taken to keep away
Other mobile robots are opened to prevent from bumping against.About the details of the conflict management measure, specifically will hereinafter be unfolded.
S202, according to the respective current location of multiple mobile robots and path planning, distributed for each mobile robot
The node region adjacent with the position of mobile robot, wherein the mobile robot is configured only to from the allocated node area
Domain passes through.
Can be that mobile robot is only received from server about next distribution about the configuration of mobile robot
During the instruction of node region, movement can be just performed, that is, makes it possible to contexture by self and has got well operating path.
Furthermore it is possible to it is to run to No. 63 from No. 73 node region according to path planning at 0 time point in robot A0
Before node region, No. 63 node regions are distributed for A0 in advance.Preferably, can be needs (example according to mobile robot
Such as when the speed of mobile robot), first movement robot A distribution it is multiple for its next step by multiple node areas
Domain, as shown in figure 5, can distribute No. 24 node regions and 25 for first movement robot A according to the operating path of robot
Number node region, and No. 146 node regions and No. 147 node regions etc. are distributed, and belong to above for the second mobile robot B
In protection scope of the present invention.
S203, it when the second node region distributed by the second mobile robot and has distributed to first movement robot
When there is coincidence between node region, the conflicting nodes region that the node region that the presence overlaps is conflict situation is marked, and really
Determine between first movement robot and the second mobile robot that there are path plannings to conflict.
Specifically, can count each of each node resource in the node resource table about the presumptive area overall situation
Robot is occupied and the situation of distribution, occupied node region ID and is distributed now by robot including robot
Node region ID specifically can refer to example as shown in Figure 6.In one case, it is distributed if it is first movement robot A
Node resource region is No. 10 node region, is also later the 10th for the second mobile robot B institutes distribution node resource area
Number node region or in another case, the 10th is included if it is A institutes of first movement robot distribution node resource area
Number and No. 11 node regions, the node region distributed by the second mobile robot B include No. 9 node region and No. 10 section
Point region then shows that first movement robot A and the second mobile robot B has No. 10 node region overlapped, correspondingly
It is the conflicting nodes region in conflict situation to mark No. 10 node.Accordingly, it may be determined that in first movement robot A
There are path plannings between the second mobile robot B to conflict, and should take corresponding conflict management measure at this time, specifically,
It can be generation conflict notification signal, and the conflict notification signal is sent to operation maintenance personnel and is moved with reminding it to handle and solve
Mobile robot conflict.Preferred or the conflict between mobile robot is independently solved by server, detail will be
Hereinafter it is unfolded.
Preferably, detecting first movement robot A or the second mobile robot B by No. 10 conflicting nodes
During region, conflicting nodes region can be the state that can be assigned from conflict state transition again by server, such as can be with
Different marks (passing through mark to Node color or form etc.) are between conflicting nodes region and assignable node region
It distinguishes, it is thus achieved that the reallocation work after restoring normal to conflicting nodes, has ensured that normal node resource can
It is recycled by mobile robot, improves the utilization ratio of close quarters.
The flow chart of the method for collision management of the multiple mobile robot of another embodiment of the present invention is illustrated that referring to Fig. 7,
Including：
S401, the respective current location of the multiple mobile robots of acquisition and path planning, wherein path planning can be got around
Barrier and presumptive area in presumptive area include multiple node regions.
S402, according to the respective current location of multiple mobile robots and path planning, distributed for each mobile robot
For its by the node region adjacent with the position of mobile robot.
S403, it when the second node region distributed by the second mobile robot and has distributed to first movement robot
When there is coincidence between node region, the conflicting nodes region that the node region that the presence overlaps is conflict situation is marked, and really
Determine between first movement robot and the second mobile robot that there are path plannings to conflict.
S404, according to the first path planning of first movement robot and the second path planning of the second mobile robot,
Determine the conflict type in conflicting nodes region, conflict type include it is following in any one：Intersection conflict, in the same direction conflict or phase
To conflict；
S405, according to conflict type, the second moving machine of the first path planning and/or adjustment of adjustment first movement robot
The second path planning of device people.
The embodiment shown in Fig. 7 can be deemed to be a kind of preferred embodiment of embodiment illustrated in fig. 2 method, at this
It is also disclosed in embodiment after a conflict is detected, it should which how automatic, efficiently solution path planning conflict prevents from moving
Robot collides.Specifically, it is proposed that in the case where detecting path conflict, conflict type can be analyzed, and for conflict
Type targetedly adjust the respective path planning of the mobile robot clashed and it should be noted that, adjustment can be with
It is big adjustment (such as being detached from initial planning path or again path planning) or small adjustment (such as on initial planning path
Make) or the two combination etc..And it should be noted that, conflict type is in addition to the conflict class of those listed above several types
Other than type, can also include other unlisted conflict types and listed conflict type can also include son conflict
Type, such as opposite conflict type can include to conflict with each other type etc..
It is intersection conflict as shown in Figure 8 A respectively, as shown in Figure 8 B if Fig. 8 A-8D respectively illustrate four kinds of conflict types
Conflict in the same direction, opposite conflict as shown in Figure 8 C and conflicting with each other as in fig. 8d.
Specifically, as shown in Figure 8 A, when the planning of the path planning and the second mobile robot B of first movement robot A
When path is vertical each other, it is intersection conflict to determine conflict type.Correspondingly, the present embodiment is also disclosed herein for intersection conflict
Solution, such as when first movement robot A and the second mobile robot B can be in the dotted line frame node of path intersection
When region clashes, at this time since the node has been allocated to first movement robot A, therefore the second moving machine can be controlled
Device people B operation suspensions move, and it is mobile until wearing that first movement robot A is controlled to be continued to run with according to its set path planning
Cross the conflicting nodes region of dotted line frame expression；And it is as described above, when first movement robot A have passed through the conflict of dotted line frame
After node region, when which by conflict state transition is the state that can be assigned, control the second movement machine
People B continues to execute the mobile operation on the second path planning, that is, applies for that this is in the node that can be assigned state again
Region, and mobile operation.
Specifically, as shown in Figure 8 B, when the planning of the path planning and the second mobile robot B of first movement robot A
When path is in the same direction, conflict type is determined as conflict in the same direction, it can be appreciated that conflict of knocking into the back；As shown in Figure 8 C, when first moves
When the path planning of the path planning of mobile robot A and the second mobile robot B are reversed, determine conflict type for conflict in the same direction.
For conflict in the same direction or reversely conflict, due to being that first movement robot A is assigned with conflicting nodes region, can be at this time
Again the node region adjacent with the position of the second mobile robot B is distributed for the second mobile robot B, that is, in conflict point
Previous node region start to calculate, to exit node region residing for the second mobile robot B and its initial planning path, with
The paths are conceded, and first movement robot A is controlled to continue to run with movement according to the path of initial planning, are thus given way in advance,
It is clashed to avoid between mobile robot.Further, find that A has already been through conflict section in the second mobile robot B
After point, the second mobile robot B is enabled to recalculate path planning.
Specifically, as in fig. 8d, when the planning of the path planning and the second mobile robot B of first movement robot A
Path direction is reversed, and when the node region residing for first movement robot A and the second mobile robot B is adjacent, and determining should
Conflict type is conflicts with each other.Correspondingly, it proposes as in fig. 8d for the conflicting resolution policy, although at this time
Through being assigned with node region for first movement robot A, but the node region distributed has existed other robot, this
When should discharge the conflicting nodes region for having distributed to first movement robot A, and redistribute with first movement robot A's
The adjacent node region in position (such as one of upper and lower and the left side three nodes), to exit A institutes of first movement robot
The node region at place and the first path planning；It is possible to further control paths of the second mobile robot B according to its initial planning
Continue to run with movement.Later, it can be that mobile robot A is controlled to be recalculated to the path planning of destination node, thus solve
It conflicts with each other.
The embodiment of the invention discloses the above-mentioned conflict type in node resource assigning process, when conflict type, is predicted
, and it will not really occur.Also, implementation through the embodiment of the present invention can effectively avoid the hair of various conflict types
It is raw, effectively prevent collision problem of the mobile robot in the process of running between other robot.Meanwhile pass through the present invention
The implementation of embodiment realizes the reasonable distribution to resource, has ensured under the premise of not clashing, the space of closed area
Resource can be uses efficiently, and increase the quantity of concurrent tasks, optimize the conevying efficiency of mobile robot in space.Pass through
Repeatedly effectively experiment, calculates in the floor space of mobile robot according to 1.44 square metres, required for single mobile robot
Space size be less than 7 square metres so that in the case where realizing certain conevying efficiency, the entirety of close quarters such as plant area
Area may be reduced, so as to cost-effective.
As shown in figure 9, the knot of the conflict managementsystem 50 of its multiple mobile robot for being illustrated that one embodiment of the invention
Structure block diagram, including：Acquiring unit 501, for obtaining the respective current location of multiple mobile robots and path planning, wherein institute
Barrier in presumptive area can be got around by stating path planning, and the presumptive area includes multiple node regions；Node distribution is single
Member 502, for being each mobile robot according to the respective current location of the multiple mobile robot and path planning
The distribution node region adjacent with the position of the mobile robot, wherein the mobile robot is configured only to from the allocated
Node region pass through；Collision detection unit 503, for when the second node region distributed by the second mobile robot and
There is the node region overlapped to conflict to when there is coincidence between the node region of first movement robot, label is described in distribution
The conflicting nodes region of state, and determine there is planning road between the first movement robot and second mobile robot
Diameter conflict.
In some embodiments, the system 50 further includes：State conversion unit (not shown) detects institute for working as
State first movement robot or second mobile robot by the conflicting nodes region when, by the conflicting nodes
Region is the state that can be assigned from the conflict state transition again.
In some embodiments, the system also includes：Conflict type determining units (not shown), for according to
Second path planning of the first path planning of first movement robot and second mobile robot determines the conflict section
Point region conflict type, it is described conflict type include it is following in any one：Intersection conflict, in the same direction conflict or opposite punching
It is prominent；Conflict solving unit, for according to the conflict type, adjusting first path planning of the first movement robot
And/or second path planning of adjustment second mobile robot.
In some embodiments, the conflict type determining units include intersection conflict determining module and the punching
The prominent unit that solves includes intersection conflict solution module, wherein, the intersection conflict determining module is used for when the described first planning road
When diameter and second path planning vertical each other, determine that the conflict type is intersection conflict；And the intersection conflict solution
Certainly module is for controlling the second mobile robot operation suspension to move, and controls the first movement robot according to described
First path planning continues to run with movement；And when the conflicting nodes region is the state that can be assigned by conflict state transition
When, second mobile robot is controlled to continue to execute the mobile operation on second path planning.
In some embodiments, the conflict type determining units are included with reversely conflict determining module and described
Conflict solving unit is included with reversed conflict-solving module, wherein, it is described to be used for reversely conflict determining module when described first
When path planning and the second path planning direction are in the same direction or reversed, it is conflict in the same direction or opposite to determine the conflict type
Conflict；It is described to move machine with described second with reversed conflict-solving module for being distributed again for second mobile robot
The adjacent node region in the position of people, to exit node region and the second planning road residing for second mobile robot
Diameter and the control first movement robot continue to run with movement according to first path planning.
In some embodiments, the conflict type determining units include conflicting with each other determining module and the punching
The prominent unit that solves includes conflicting with each other solution module, wherein, the determining module that conflicts with each other is for when described first plans road
Diameter and the second path planning direction are reversed, and residing for the first movement robot and second mobile robot
When node region is adjacent, determine the conflict type to conflict with each other；The solution module that conflicts with each other has been distributed for discharging
To the conflicting nodes region of the first movement robot, and redistribute the position phase with the first movement robot
Adjacent node region is to the first movement robot, to exit node region residing for the first movement robot and described
First path planning and control second mobile robot continue to run with movement according to second path planning.
In some embodiments, acquiring unit 501 includes：Traffic order sending module, for each movement
Robot sends traffic order, wherein the traffic order includes the destination node area information of each mobile robot；Planning
Path acquisition module, for receiving path planning from the multiple mobile robot, wherein the path planning is each described
Mobile robot according to respective destination node area information and pass through A* algorithms calculate determined by.
It should be noted that the conflict managementsystem for the multiple mobile robot that the embodiment of the present invention is provided can be built
For managing concentratedly on the server of multiple mobile robot, and each unit as described above and module can refer to journey
Sequence module or unit.And more details about 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 optional embodiment of the embodiment of the present invention is described in detail above in association with attached drawing, still, the embodiment of the present invention is simultaneously
The detail being not limited in the above embodiment, can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various combinations of possible ways no longer separately illustrate.
It will be appreciated by those skilled in the art that all or part of the steps of the method in the foregoing embodiments are can to pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, is used including some instructions so that single
Piece machine, chip or processor (processor) perform all or part of step of each embodiment the method for the application.It is and preceding
The storage medium stated includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic disc or CD.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (14)
1. a kind of method for collision management 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, the presumptive area include multiple node regions；
According to the respective current location of the multiple mobile robot and path planning, for each mobile robot distribution with
The adjacent node region in the position of the mobile robot, wherein the mobile robot is configured only to from the allocated node
Region passes through；
When the second node region distributed by the second mobile robot and distribute to the node region of first movement 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 plannings between first movement robot and second mobile robot to conflict.
2. according to the method described in claim 1, it is characterized in that, determine the first movement robot and described the described
After conflicting between two mobile robots there are path planning, the method further includes：
When detecting the first movement robot or second mobile robot by the conflicting nodes region,
It is the state that can be assigned from the conflict state transition again by the conflicting nodes region.
3. according to the method described in claim 2, it is characterized in that, determine the first movement robot and described the described
After conflicting between two mobile robots there are path planning, the method further includes：
According to the first path planning of the first movement robot and the second path planning of second mobile robot, really
The conflict type in the fixed conflicting nodes region, the conflict type include it is following in any one：Intersection conflict, in the same direction punching
Prominent or opposite conflict；
According to the conflict type, first path planning of the first movement robot and/or adjustment described the are adjusted
Second path planning of two mobile robots.
4. according to the method described in claim 3, it is characterized in that：
When first path planning and second path planning vertical each other, determine that the conflict type is rushed to intersect
It is prominent, wherein it is described according to the conflict type, adjust first path planning and/or the adjustment of the first movement robot
Second path planning of second mobile robot includes：
The second mobile robot operation suspension is controlled to move, and controls the first movement robot according to the described first rule
It draws path and continues to run with movement；And
When the conflicting nodes region is the state that can be assigned by conflict state transition, second mobile robot is controlled
Continue to execute the mobile operation on second path planning.
5. according to the method described in claim 3, it is characterized in that：
When first path planning and the second path planning direction are in the same direction or reversed, determine that the conflict type is
Conflict or opposite conflict in the same direction, wherein it is described including：
Again the node region adjacent with the position of second mobile robot is distributed for second mobile robot, to move back
Go out the node region residing for second mobile robot and second path planning；And
The first movement robot is controlled to continue to run with movement according to first path planning.
6. according to the method described in claim 3, it is characterized in that：
When first path planning and the second path planning direction are reversed, and the first movement robot and described
When node region residing for second mobile robot is adjacent, the conflict type is determined to conflict with each other, wherein adjustment institute
State first path planning of first movement robot and/or the second planning road of adjustment second mobile robot
Diameter includes：
The conflicting nodes region of the first movement robot has been distributed in release, and is redistributed and the first movement
The node region that the position of robot is adjacent gives the first movement robot, to exit residing for the first movement robot
Node region and first path planning；
And
Second mobile robot is controlled to continue to run with movement according to second path planning.
7. 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 according to respective destination node area information and pass through A* algorithms calculate determined by.
8. a kind of conflict managementsystem of multiple mobile robot, including：
Acquiring unit, for obtaining the respective current location of multiple mobile robots and path planning, wherein the path planning
The barrier in presumptive area can be got around, the presumptive area includes multiple node regions；
Node allocation unit, for according to the respective current location of the multiple mobile robot and path planning, for each institute
It states mobile robot and distributes the node region adjacent with the position of the mobile robot, wherein the mobile robot is configured
Into only passing through from the allocated node region；
Collision detection unit, for when for second node region that the second mobile robot is distributed with having distributed to first movement
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 plannings between the first movement robot and second mobile robot to conflict.
9. system according to claim 8, which is characterized in that the system also includes：
State conversion unit detects that the first movement robot or second mobile robot have passed through institute for working as
It is the state that can be assigned from the conflict state transition again by the conflicting nodes region when stating conflicting nodes region.
10. system according to claim 9, which is characterized in that the system also includes：
Conflict type determining units, for the first path planning according to the first movement robot and second moving machine
The second path planning of device people, determines the conflict type in the conflicting nodes region, the conflict type include it is following in appoint
Meaning one：Intersection conflict, in the same direction conflict or opposite conflict；
Conflict solving unit, for according to the conflict type, adjusting the first planning road of the first movement robot
Second path planning of diameter and/or adjustment second mobile robot.
11. system according to claim 10, which is characterized in that it is true that the conflict type determining units include intersection conflict
Cover half block and the Conflict solving unit include intersection conflict and solve module, wherein,
The intersection conflict determining module is used for when first path planning and second path planning vertical each other, really
The fixed conflict type is intersection conflict；And
The intersection conflict solves module for the second mobile robot operation suspension to be controlled to move, and controls described first
Mobile robot continues to run with movement according to first path planning；And when the conflicting nodes region is turned by conflict situation
When being changed to the state that can be assigned, second mobile robot is controlled to continue to execute the movement on second path planning
Operation.
12. system according to claim 10, which is characterized in that the conflict type determining units are included with reversely conflict
Determining module and the Conflict solving unit are included with reversed conflict-solving module, wherein,
It is described to be used to when first path planning and the second path planning direction be in the same direction with reversely conflict determining module
Or when reversed, determine the conflict type for conflict in the same direction or opposite conflict；
It is described to move machine with described second with reversed conflict-solving module for being distributed again for second mobile robot
The adjacent node region in the position of people, to exit node region and the second planning road residing for second mobile robot
Diameter and the control first movement robot continue to run with movement according to first path planning.
13. system according to claim 10, which is characterized in that the conflict type determining units include conflicting with each other really
Cover half block and the Conflict solving unit include conflicting with each other solution module, wherein,
The determining module that conflicts with each other for when first path planning and the second path planning direction are reversed, and
When node region residing for the first movement robot and second mobile robot is adjacent, determine that the conflict type is
It conflicts with each other；
Described conflict with each other solves module for discharging the conflicting nodes region for having distributed to the first movement robot,
And the node region adjacent with the position of the first movement robot is redistributed to the first movement robot, to exit
Node region and first path planning and control second mobile robot residing for the first movement robot
Movement is continued to run with according to second path planning.
14. system according to claim 8, which is characterized in that the acquiring unit includes：
Traffic order sending module, for sending traffic order to each mobile robot, wherein the traffic order packet
Destination node area information containing each mobile robot；
Path planning acquisition module, for receiving path planning from the multiple mobile robot, wherein the path planning is
Each mobile robot according to respective destination node area information and pass through A* algorithms calculate determined by.
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| CN201810054742.0A CN108268016A (en) | 2018-01-19 | 2018-01-19 | The method for collision management and system of multiple mobile robot |
| PCT/CN2019/072259 WO2019141221A1 (en) | 2018-01-19 | 2019-01-18 | Conflict management method and system for multiple mobile robots |
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| CN201810054742.0A CN108268016A (en) | 2018-01-19 | 2018-01-19 | The method for collision management and system of multiple mobile robot |
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