CN108268038B - Dispatching method and system for multiple mobile robots - Google Patents
Dispatching method and system for multiple mobile robots Download PDFInfo
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- CN108268038B CN108268038B CN201810055319.2A CN201810055319A CN108268038B CN 108268038 B CN108268038 B CN 108268038B CN 201810055319 A CN201810055319 A CN 201810055319A CN 108268038 B CN108268038 B CN 108268038B
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The embodiment of the invention provides a scheduling method and a scheduling system for multiple mobile robots, and belongs to the field of robots. The scheduling method of the multi-mobile robot comprises the following steps: acquiring a plurality of groups of historical node region sequences corresponding to initial positions and planned paths; wherein the mobile robot is configured to pass only from the assigned sequence of nodes; counting historical execution parameters corresponding to the mobile robot when executing a plurality of groups of historical node region sequences; when a scheduling request for scheduling the mobile robot from an initial position to a planned path is detected, a first historical node region sequence is selected from the plurality of sets of historical node region sequences based on statistical results of the historical execution parameters, and the selected first historical node region sequence is assigned to the mobile robot. Therefore, the efficiency of server centralized calculation is improved, the response efficiency of the server is optimized, and meanwhile, the transportation efficiency of the mobile robot in the dense area is also improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a scheduling method and system of multiple mobile robots.
Background
The technical scheme is that a plurality of mobile robots are arranged in a dense area (such as a logistics warehouse area), and the mobile robots are used for completing tasks such as carrying goods to replace manual labor, and the research focus in the field of the internet of things is the present.
In order to avoid collision between a plurality of mobile robots in a dense area during work, the following two different processing schemes are generally adopted: firstly, the robot has good conflict resolution capability through the current local environment information of the robot; secondly, the method is centralized management type conflict resolution, and conflicts are eliminated mainly by segmenting the motion path of the robot.
However, the inventor of the present application found in the practice of the present application that at least the following disadvantages exist in the above prior art: firstly, although the distributed method is simple in operation and strong in real-time performance and flexibility, due to the fact that local poles appear, tasks cannot be completed completely; secondly, the centralized management method can accurately execute tasks, but can easily cause robot operation path conflict, usually an optimal solution needs to be found, but the calculation amount is large, a large amount of resources of a server are occupied, and the real-time performance is poor. For this reason, the industry still cannot provide a better solution.
Disclosure of Invention
The embodiment of the invention aims to provide a scheduling method and a scheduling system for multiple mobile robots, which are used for at least solving the technical problems of poor real-time performance caused by large calculated amount and occupation of a large amount of resources of a server in a centralized management type method in the prior art.
In order to achieve the above object, an embodiment of the present invention provides a scheduling method for multiple mobile robots, where the method includes: obtaining a plurality of sets of historical node region sequences corresponding to an initial position and a planned path, wherein the planned path is autonomously planned by the mobile robot and is capable of bypassing obstacles within a predetermined region including a plurality of node regions, and the historical node region sequences are assigned to the mobile robot according to the initial position and the planned path of the mobile robot, wherein the mobile robot is configured to pass through only the assigned node sequences; counting historical execution parameters corresponding to the mobile robot when executing the multiple groups of historical node region sequences; when a scheduling request for scheduling the mobile robot from the initial position to the planned path is detected, selecting a first historical node region sequence from the plurality of sets of historical node region sequences based on statistics of the historical execution parameters, and assigning the selected first historical node region sequence to the mobile robot.
Optionally, the statistical result of the historical execution parameter includes a historical congestion indicator, and the selecting a first historical node area sequence from the plurality of sets of historical node area sequences based on the statistical result of the historical execution parameter includes: and determining a group of historical node area sequences with the lowest historical congestion indexes from the plurality of groups of historical node area sequences, and using the group of historical node area sequences as the first historical node area sequence, wherein the historical congestion indexes are determined based on node sequence distances and path execution time lengths corresponding to the execution of the mobile robot through the historical node area sequences.
Optionally, the historical execution parameter includes an assigned frequency of the historical node region sequences, wherein the selecting a first historical node region sequence from the plurality of sets of historical node region sequences based on the statistical result of the historical execution parameter includes: and determining the group of historical node area sequences which are distributed with the highest frequency from the plurality of groups of historical node area sequences, and using the group of historical node area sequences as the first historical node area sequence.
Optionally, after assigning the selected first sequence of historical node regions to the mobile robot, the method further comprises: establishing a node resource table according to the first historical node area sequence of the mobile robot, wherein the node resource table records the corresponding relation between the node area ID and the occupied time; and controlling the mobile robot to occupy the node area of the corresponding node area ID according to the occupied time in the node resource table.
Optionally, the node resource table records a correspondence between a mobile robot ID, a node area ID, and an occupation time, and a plurality of the mobile robot IDs respectively correspond to a plurality of mobile robots in the predetermined area, where the controlling the mobile robots to occupy the node areas of the corresponding node area IDs according to the occupation time in the node resource table includes: and controlling the mobile robots to occupy the node areas of the corresponding node area IDs respectively according to the occupied time corresponding to the mobile robot IDs in the node resource table, wherein any two of the mobile robot IDs do not correspond to the same occupied time under the same node area ID in the node resource table.
Another aspect of an embodiment of the present invention provides a scheduling system for multiple mobile robots, including: an initial information acquisition unit configured to acquire a plurality of sets of historical node area sequences corresponding to an initial position and a planned path, wherein the planned path is autonomously planned by the mobile robot and can bypass an obstacle within a predetermined area including a plurality of node areas, and the historical node area sequences are allocated to the mobile robot according to the initial position and the planned path of the mobile robot, wherein the mobile robot is configured to pass through only the allocated node sequences; the statistical unit is used for counting the corresponding historical execution parameters when the mobile robot executes the plurality of groups of historical node region sequences; a history node selection unit configured to select a first history node area sequence from the plurality of sets of history node area sequences based on a statistical result of the history execution parameter when a scheduling request for scheduling the mobile robot from the initial position to the planned path is detected; a node assigning unit for assigning the selected first historical node region sequence to the mobile robot.
Optionally, the statistical result of the historical execution parameters includes a historical congestion index, and the historical congestion index corresponding to the first historical node area sequence is lower than the historical congestion indexes corresponding to other historical node area sequences in the multiple sets of historical node area sequences, where the historical congestion index is determined based on a time period consumed by the mobile robot to execute the historical node area sequences.
Optionally, the statistical result of the historical execution parameter includes historical frequency of allocation of the node region sequence, and the historical frequency of allocation corresponding to the first historical node region sequence is higher than the historical frequency of allocation corresponding to other historical node region sequences in the multiple sets of historical node region sequences.
Optionally, the system further comprises: a node resource table establishing unit, configured to establish a node resource table according to the first history node area sequence of the mobile robot after the selected first history node area sequence is allocated to the mobile robot, where a correspondence relationship between a node area ID and an occupation time is recorded in the node resource table; and the occupation control unit is used for controlling the mobile robot to occupy the node area of the corresponding node area ID according to the occupation time in the node resource table.
Optionally, a correspondence relationship among a mobile robot ID, a node area ID, and an occupation time is recorded in the node resource table, and a plurality of mobile robot IDs respectively correspond to a plurality of mobile robots in the predetermined area, where the occupation control unit is configured to control the plurality of mobile robots to occupy the node areas of the corresponding node area IDs respectively according to the occupation time corresponding to the respective mobile robot IDs in the node resource table, where any two of the plurality of mobile robot IDs do not jointly correspond to the same occupation time under the same node area ID in the node resource table.
By the technical scheme, the dispatching of the multiple mobile robots is realized based on the distribution and management of the node areas, and the moving states of the mobile robots in the dense areas can be effectively monitored; and the current path plan is determined according to the distribution of the historical node areas, the server is not required to recalculate the distribution of the node areas, the calculation efficiency is improved, the response efficiency of the server is optimized, and meanwhile, the transportation efficiency of the mobile robot in the dense area is also improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is an example of a map of a dense area implementing a scheduling method of a multi-mobile robot of an embodiment of the present invention;
FIG. 2 is a flow chart of a scheduling method for a multi-mobile robot according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for obtaining a planned path of a mobile robot according to an embodiment of the invention;
FIG. 4 is an example of a node distribution table for a predetermined area in one embodiment of the invention;
FIG. 5 is an example of a node resource table with respect to three-dimensional coordinate axes;
FIG. 6 is an example of a node resource table of an embodiment of the present invention;
fig. 7 is a block diagram of a scheduling system of a multi-mobile robot according to an embodiment of the present invention.
Description of the reference numerals
A1, A0 mobile robots B1, B2 obstacles
N1, N2 node 702 statistical unit
701 initial information acquisition unit 703 history node selection unit
Scheduling system of 70 multi-mobile robot
704 node allocation unit
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, a map of a dense area in which a scheduling method of a multi-mobile robot according to an embodiment of the present invention is implemented is marked with a plurality of obstacles B1, B2, and the like, a plurality of mobile robots a0, a1, and the like, and a plurality of node areas N1, N2, and the like. The dense area may be predetermined as needed, for example, it may refer to an area in a warehouse, the plurality of mobile robots a0, a1 may refer to a plurality of logistics robots, and the transfer of goods may be achieved by the operation movement of the mobile robots a0, a1, but a collision may be caused when the plurality of logistics robots operate simultaneously. Wherein the sizes of the different node areas N1, N2 may be equal, which may be formed by dividing the map of the dense area in equal scale. It should be noted that the scheduling method for multiple mobile robots according to the embodiment of the present invention may be executed by a server that centrally manages the multiple mobile robots.
As shown in fig. 2, a scheduling method of a multi-mobile robot according to an embodiment of the present invention includes:
s201, obtaining a plurality of sets of historical node area sequences corresponding to an initial position and a planned path, wherein the planned path is planned by the mobile robot autonomously and can bypass obstacles in a preset area comprising a plurality of node areas, and the historical node area sequences are allocated to the mobile robot according to the initial position and the planned path of the mobile robot, wherein the mobile robot is configured to pass through the allocated node sequences only.
Specifically, the planned path may be obtained by autonomous determination of the mobile robot and uploading the determined path to the server, or may be obtained by calculation by the server, and the above are all within the scope of the present invention.
Referring to fig. 3, which is a preferred embodiment of an acquisition method for a planned path, a mobile robot in an embodiment of the present invention may be an AGV (Automated Guided Vehicle), where the acquisition method includes: s301, the server may send a scheduling command to each mobile robot, where the scheduling command includes target node area information of each mobile robot. S302, after each mobile robot receives the respective scheduling command, it calculates the respective corresponding planned path according to the respective target node area information and through an a-algorithm. And S303, each mobile robot sends the calculated planning path to a server. Although the mobile robot can autonomously plan a path, the mobile robot does not have the concept of node resources, and cannot avoid collision for other mobile robots that move dynamically. After the server acquires the planned paths sent by the mobile robots, corresponding subsequent processing is executed to ensure that no path conflict occurs in the process of executing the planned paths by the mobile robots. As an example, there may be a plurality of node areas (e.g., node areas 0 and 1 … 99 in the node distribution table about the dense area shown in fig. 4) on the map, each of which has a unique node ID, and the mobile robot a0 needs to reach the destination node area 31 from the node area 73 at the current location after receiving the scheduling command, at which time the mobile robot a0 calculates the shortest path to the destination node area 31 through the a × algorithm, thereby ensuring that the mobile robot a0 can quickly reach the destination node area. However, the calculation at this time does not take into account the operation movement of other mobile robots in the current space, such as a1, which also only takes into account static obstacle nodes, and during the operation movement of the mobile robot a0, other mobile robots in the space, such as a1, are obstacles relative to the mobile robot a0, so that anti-collision measures are required to avoid other mobile robots to prevent collision. Details regarding the conflict management measures will be developed below.
With regard to the configuration of the mobile robot, it may be that the mobile robot performs a movement only when receiving an instruction on the next assigned node area from the server, even though it may have autonomously planned a travel path.
The historical sequence of node areas may be historical data of combined node areas (e.g., 63-53-43, or 63-64-54-44-43, etc.) previously assigned for the movement path of the mobile robot stored in the server. Moreover, the number of the historical node area sequences may be multiple groups, for example, two or more groups, and although the mobile robot may travel on the basis of a route autonomously planned by the mobile robot, since the actual multiple mobile robots may interfere with each other by many factors in the moving process (for example, the multiple mobile robots are further divided into a congestion sub-area and an evacuation sub-area in a dense area), the server may plan other more efficient routes according to the starting point and the ending point of the planned route, and this calculation process may consume resources of the server, affect real-time performance, but may ensure that the mobile robot can reach the target node more efficiently. For example, the calculation 63-64-54-44-43 node area sequence is in the evacuation sub-area and is executed according to the calculation, and then is stored as a history in the server, it should be noted that the calculation may be any calculation process, and the calculation process is within the protection scope of the present invention.
S202, counting historical execution parameters corresponding to the mobile robot when executing the plurality of groups of historical node region sequences.
Wherein, the historical execution parameter may be an evaluation parameter indicating that the mobile robot executes the planned path in a historical state.
S203, when a scheduling request for scheduling the mobile robot from an initial position to a planned path is detected, selecting a first historical node area sequence from the plurality of sets of historical node area sequences based on the statistical result of the historical execution parameters.
As an example, the scheduling request may be generated based on scheduling assignment of the operation and maintenance end, and after the scheduling request is generated, the scheduling request can be selected from the counted historical node areas in response to the scheduling request, so that response efficiency of the server is improved.
As an exemplary aspect, the statistical mobile robot is performing a historical congestion indicator corresponding to each group of node area sequences from node area No. 63 to node area No. 43, for example, the historical congestion indicator may be determined by counting a node sequence distance and a path execution time length corresponding to the historical node area sequence. Further, a history node area sequence corresponding to the lowest value of the history congestion index is selected as a first history node area sequence based on the statistical result of the history congestion index.
As another aspect of the example, the frequency of assigning the mobile robot to perform the respective sets of node region sequences from node region No. 63 to node region No. 43 is counted, and for example, the number of times each node region sequence is assigned to the mobile robot may be directly counted. Further, the history node area sequence corresponding to the value with the highest assigned frequency is selected as the first history node area sequence based on the statistical result of the assigned frequency.
And S204, distributing the selected first historical node area sequence to the mobile robot.
In the embodiment of the invention, the dispatching of the multiple mobile robots is realized by the allocation and management of the node areas, so that the moving states of the mobile robots in the dense areas can be effectively monitored; and the current path plan is determined according to the distribution of the historical node areas, the server is not required to recalculate the distribution of the node areas, the calculation efficiency is improved, the response efficiency of the server is optimized, and meanwhile, the transportation efficiency of the mobile robot in the dense area is also improved.
More preferably, the execution of S204 may be implemented based on a node resource table with time variables introduced, so as to more conveniently plan the whole-course operation dynamics of the mobile robot. Specifically, firstly, a node resource table is established according to a first historical node area sequence of the mobile robot, wherein a corresponding relation between a node area ID and an occupied time is recorded in the node resource table. In addition, the mobile robot is controlled to occupy the node area of the corresponding node area ID according to the occupied time in the node resource table. Thus, the node area is managed as an allocatable resource, and the occupied time of the node area is maintained as a variable, as shown in fig. 5, in the coordinates, x and y axes respectively represent positions in a two-dimensional space, and z axis is a time coordinate. As time goes on, the three-dimensional coordinates of the mobile robot at a certain time can be calculated according to the planned path of the mobile robot, and for example, the trajectory and coordinates of the mobile robot moving from the current position node area S to the target node area T at each time can be displayed on the three-dimensional coordinate axis shown in fig. 5. Specifically, since the mobile robot enters a certain node and leaves the certain node in a single process, the process needs a period of time, and therefore the occupation time in the node resource table may be an indication time period.
In a preferred embodiment, all the mobile robots can be globally managed and maintained in the node resource table. Specifically, the node resource table records a correspondence relationship among a mobile robot ID, a node area ID, and an occupied time, and the plurality of mobile robot IDs correspond to the plurality of mobile robots in the predetermined area, respectively. In the process of globally managing the plurality of mobile robots, the plurality of mobile robots may be controlled to occupy the node areas of the corresponding node area IDs according to the occupation time corresponding to the respective mobile robot IDs in the node resource table, where any two of the plurality of mobile robot IDs do not correspond to the same occupation time under the same node area ID in the node resource table.
Continuing as described above, during the travel of the mobile robot a0 from the current location node area S to the target node area T, it will autonomously bypass the stationary obstacle, but collision collisions with other moving robots in operation cannot be eliminated; for this purpose, the correspondence among the mobile robot ID, the node area ID, and the occupied time is recorded in the node resource table, and any two of the mobile robot IDs do not correspond to the same occupied time under the same node area ID in common in the node resource table. It will be appreciated that each mobile robot may be configured with a unique mobile robot ID (e.g., a0, a1, etc.), and that each node zone may also be configured with a unique node zone ID (as shown in fig. 4).
Fig. 6 shows an example of the node resource table according to an embodiment of the present invention, which is a result obtained after the node resource table is subjected to the dimensionality reduction processing, and exemplarily shows that the mobile robot a0 located in node area No. 73 at current time 0 plans to go to the resource allocation of node No. 31 in the target area, and the mobile robot a1 located in node No. 55 at current time 0 plans to go to the resource allocation of node No. 19 in the target area. As can be seen from fig. 6, each node ID is unique to a resource at a certain time, and can be identified by a hash table, for example, node area No. 73 with time 1 and node area No. 73 with time 2 are different resources. Furthermore, the resources allocated to different mobile robots (for example, a0 and a1) do not overlap, that is, any two of the mobile robot IDs do not correspond to the same occupied time under the same node area ID in the node resource table.
Therefore, the operation of the plurality of mobile robots is managed in a centralized manner through the node resource table, so that the same resource cannot be occupied by two different robots in the operation process, namely two mobile robots do not appear in the same node area simultaneously in the operation and movement process according to the planned path, and the problem of collision between the mobile robots and other mobile robots in the operation process is effectively avoided; meanwhile, through the implementation of the embodiment of the invention, the reasonable distribution of resources is realized, the space resources in a closed area can be efficiently utilized on the premise of no conflict, the number of concurrent tasks is increased, and the transportation efficiency of the mobile robot in the space is optimized. Through a plurality of effective experiments, the occupied area of the mobile robot is calculated according to 1.44 square meters, and the size of the space required by a single mobile robot is smaller than 7 square meters, so that the whole area of a dense area such as a factory area can be reduced under the condition of realizing certain transportation efficiency, and the cost is saved.
As shown in fig. 7, a scheduling system 70 for multiple mobile robots according to an embodiment of the present invention includes: an initial information obtaining unit 701 configured to obtain a plurality of sets of historical node region sequences corresponding to an initial position and a planned path, wherein the planned path is autonomously planned by the mobile robot and can bypass an obstacle within a predetermined region including a plurality of node regions, and the historical node region sequences are assigned to the mobile robot according to the initial position and the planned path of the mobile robot, wherein the mobile robot is configured to pass through only the assigned node sequences; a counting unit 702, configured to count historical execution parameters corresponding to the mobile robot executing the multiple sets of historical node region sequences; a historical node selecting unit 703 configured to select, when a scheduling request for scheduling the mobile robot from the initial position to the planned path is detected, a first historical node area sequence from the plurality of sets of historical node area sequences based on a statistical result of the historical execution parameters; a node assigning unit 704 for assigning the selected first historical sequence of node regions to the mobile robot.
In some embodiments, the historical execution parameter includes a historical congestion indicator, and the historical node selection unit is configured to determine, from the plurality of sets of historical node area sequences, a set of historical node area sequence with a lowest historical congestion indicator as the first historical node area sequence, where the historical congestion indicator is determined based on a node sequence distance and a path execution time length corresponding to the mobile robot executing the transit historical node area sequences.
In some embodiments, the historical execution parameter includes an assigned frequency of historical node region sequences, wherein the selecting a first historical node region sequence from the plurality of sets of historical node region sequences based on the statistics of the historical execution parameter includes: and determining the group of historical node area sequences which are distributed with the highest frequency from the plurality of groups of historical node area sequences, and using the group of historical node area sequences as the first historical node area sequence.
In some embodiments, the system further comprises: a node resource table establishing unit, configured to establish a node resource table according to the first history node area sequence of the mobile robot after the selected first history node area sequence is allocated to the mobile robot, where a correspondence relationship between a node area ID and an occupation time is recorded in the node resource table; and the occupation control unit is used for controlling the mobile robot to occupy the node area of the corresponding node area ID according to the occupation time in the node resource table.
In some embodiments, the node resource table records a correspondence relationship among a mobile robot ID, a node area ID, and an occupation time, and a plurality of mobile robot IDs respectively correspond to a plurality of mobile robots in the predetermined area, wherein the occupation control unit is configured to control the plurality of mobile robots to respectively occupy a node area of a corresponding node area ID according to the occupation time corresponding to the respective mobile robot ID in the node resource table, and any two of the plurality of mobile robot IDs do not jointly correspond to the same occupation time under the same node area ID in the node resource table.
It should be noted that the scheduling system for multiple mobile robots provided by the embodiment of the present invention may be built on a server for centrally managing multiple mobile robots, and each unit and module described above may refer to a program module or a unit. For more details and corresponding technical effects of the system according to the embodiment of the present invention, reference may be made to the description of the method embodiment above, and further description is omitted here.
The system of the embodiment of the present invention may be used to execute the corresponding method embodiment of the present invention, and accordingly achieve the technical effects achieved by the method embodiment of the present invention, which are not described herein again.
In the embodiment of the present invention, the relevant functional module may be implemented by a hardware processor (hardware processor).
In another aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, where the program is executed by a processor to perform the steps of the scheduling method for a multi-mobile robot as performed by the server above.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (8)
1. A method of scheduling multiple mobile robots, the method comprising:
obtaining a plurality of sets of historical node region sequences corresponding to an initial position and a planned path, wherein the planned path is autonomously planned by the mobile robot and is capable of bypassing obstacles within a predetermined region including a plurality of node regions, and the historical node region sequences are assigned to the mobile robot according to the initial position and the planned path of the mobile robot, wherein the mobile robot is configured to pass through only the assigned node sequences;
counting historical execution parameters corresponding to the mobile robot when executing the multiple groups of historical node region sequences;
when a scheduling request for scheduling the mobile robot from the initial position to the planned path is detected, selecting a first historical node area sequence from the plurality of sets of historical node area sequences based on statistics of the historical execution parameters, the selecting a first historical node area sequence from the plurality of sets of historical node area sequences based on statistics of the historical execution parameters when the historical execution parameters include historical congestion indicators comprising: determining a group of historical node area sequences with the lowest historical congestion indexes from the plurality of groups of historical node area sequences, and using the group of historical node area sequences as the first historical node area sequence, wherein the historical congestion indexes are determined based on node sequence distances and path execution time lengths corresponding to the execution of the mobile robot through the historical node area sequences; and
assigning the selected first sequence of historical node regions to the mobile robot.
2. The method of claim 1, wherein when the historical performance parameters include an assigned frequency of historical node region sequences, the selecting a first historical node region sequence from the plurality of sets of historical node region sequences based on statistics of the historical performance parameters comprises:
and determining the group of historical node area sequences which are distributed with the highest frequency from the plurality of groups of historical node area sequences, and using the group of historical node area sequences as the first historical node area sequence.
3. The method of claim 1, wherein assigning the selected first sequence of historical node regions to the mobile robot further comprises:
establishing a node resource table according to the first historical node area sequence of the mobile robot, wherein the node resource table records the corresponding relation between the node area ID and the occupied time;
and controlling the mobile robot to occupy the node area of the corresponding node area ID according to the occupied time in the node resource table.
4. The method of claim 3, wherein the node resource table records a correspondence relationship among mobile robot IDs, node area IDs and occupation time, and a plurality of mobile robot IDs correspond to a plurality of mobile robots in the predetermined area, respectively, and wherein the controlling the mobile robots to occupy the node areas of the corresponding node area IDs according to the occupation time in the node resource table comprises:
and controlling the mobile robots to occupy the node areas of the corresponding node area IDs respectively according to the occupied time corresponding to the mobile robot IDs in the node resource table, wherein any two of the mobile robot IDs do not correspond to the same occupied time under the same node area ID in the node resource table.
5. A scheduling system for multiple mobile robots, the system comprising:
an initial information acquisition unit configured to acquire a plurality of sets of historical node area sequences corresponding to an initial position and a planned path, wherein the planned path is autonomously planned by the mobile robot and can bypass an obstacle within a predetermined area including a plurality of node areas, and the historical node area sequences are allocated to the mobile robot according to the initial position and the planned path of the mobile robot, wherein the mobile robot is configured to pass through only the allocated node sequences;
the statistical unit is used for counting the corresponding historical execution parameters when the mobile robot executes the plurality of groups of historical node region sequences;
a history node selection unit for, when a scheduling request for scheduling the mobile robot from the initial position to the planned path is detected, selecting a first historical sequence of node regions from the plurality of sets of historical sequences of node regions based on the statistical result of the historical performance parameter, when the historical execution parameters include historical congestion indicators, the selecting a first historical node area sequence from the plurality of sets of historical node area sequences based on the statistical results of the historical execution parameters includes determining the set of historical node area sequences with the lowest historical congestion indicators from the plurality of sets of historical node area sequences as the first historical node area sequence, the historical congestion index is determined based on a node sequence distance and a path execution time length corresponding to the mobile robot execution passing through a historical node area sequence;
a node assigning unit for assigning the selected first historical node region sequence to the mobile robot.
6. The system of claim 5, wherein when the historical performance parameters include an assigned frequency of historical node region sequences, the selecting a first historical node region sequence from the plurality of sets of historical node region sequences based on statistics of the historical performance parameters comprises:
and determining the group of historical node area sequences which are distributed with the highest frequency from the plurality of groups of historical node area sequences, and using the group of historical node area sequences as the first historical node area sequence.
7. The system of claim 5, further comprising:
a node resource table establishing unit, configured to establish a node resource table according to the first history node area sequence of the mobile robot after the selected first history node area sequence is allocated to the mobile robot, where a correspondence relationship between a node area ID and an occupation time is recorded in the node resource table;
and the occupation control unit is used for controlling the mobile robot to occupy the node area of the corresponding node area ID according to the occupation time in the node resource table.
8. The system according to claim 7, wherein the node resource table records a correspondence relationship among mobile robot IDs, node area IDs, and occupation times, and a plurality of the mobile robot IDs respectively correspond to a plurality of mobile robots within the predetermined area, wherein the occupation controlling unit is configured to control the plurality of mobile robots to respectively occupy the node areas of the corresponding node area IDs according to the occupation times corresponding to the respective mobile robot IDs in the node resource table, and wherein any two of the mobile robot IDs do not commonly correspond to the same occupation time under the same node area ID in the node resource table.
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| CN113627703A (en) * | 2020-05-08 | 2021-11-09 | 北京京东乾石科技有限公司 | Scheduling method and apparatus for mobile device, computer system, and storage medium |
| CN111650935A (en) * | 2020-05-29 | 2020-09-11 | 北京三快在线科技有限公司 | Method and device for controlling transportation equipment, storage medium and server |
| CN114735388B (en) * | 2020-09-24 | 2023-09-05 | 深圳市海柔创新科技有限公司 | Task processing method, control terminal, robot, warehouse system and storage medium |
| CN113246129B (en) * | 2021-05-21 | 2022-04-26 | 佛山科学技术学院 | Forklift robot control system and method |
| CN114326753B (en) * | 2022-03-07 | 2022-06-24 | 杭州蓝芯科技有限公司 | Deadlock detection method for multiple robots in regulation and control area |
| CN116579586B (en) * | 2023-07-11 | 2024-01-09 | 浙江菜鸟供应链管理有限公司 | Resource scheduling method, device and system |
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