CN108287546A - 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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- CN108287546A CN108287546A CN201810055321.XA CN201810055321A CN108287546A CN 108287546 A CN108287546 A CN 108287546A CN 201810055321 A CN201810055321 A CN 201810055321A CN 108287546 A CN108287546 A CN 108287546A
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- 238000013439 planning Methods 0.000 claims abstract description 72
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- 238000001514 detection method Methods 0.000 claims description 9
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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
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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 planning path；Node resource table is established according to the respective current location of multiple mobile robots and planning path；Mobile robot is controlled according to the holding time corresponding to respective mobile robot ID in node resource table, occupies the node region of corresponding node region ID；Obtain real time position of the mobile robot under practical Execution plan path；Judge whether that the mobile robot corresponding to first movement robot ID does not reach the node region of corresponding first node region ID also in corresponding holding time；If in the presence of the holding time of the first node region ID corresponding to first movement robot ID is extended in node resource table.Thus under the premise of not clashing, the space resources of closed area is efficiently utilized.
Description
Technical field
The present invention relates to robot fields, 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
The completing such as to transport goods of the task 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 use at present
The different processing scheme of the following two kinds：First, being to allow robot to have good by the current local environmental information of robot
Conflict resolution ability；Second, being centralized management formula conflict resolution, mainly disappeared by the way that the motion path of robot to be segmented
Except conflict.
But present inventor found during putting into practice the application 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 execute task, but it is 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, to this current industry still can not propose compared with
Good solution.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of method for collision management and system of multiple mobile robot, at least
Solve the problems, such as path conflict of the multiple mobile robot in close quarters caused by centralized dispatching.
To achieve the goals above, 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 planning path are obtained, wherein the planning path can be got around in presumptive area
Barrier and the presumptive area include multiple node regions；Described work as according to the multiple mobile robot is respective
Front position and the planning path establish node resource table, wherein record has mobile robot ID, section in the node resource table
Correspondence between point region ID and holding time three, and arbitrary the two in multiple mobile robot ID is described
The same holding time under same node region ID is not corresponded in node resource table jointly；And the multiple mobile machine of control
People according to the holding time corresponding to respective mobile robot ID in the node resource table, occupies corresponding node area respectively
The node region of domain ID；And it obtains the mobile robot and is actually executing the real time position under the planning path；According to
The node resource table and the real time position judge whether that the mobile robot corresponding to first movement robot ID exists
Corresponding holding time does not reach the node region of corresponding first node region ID also；If in the presence of in the node resource
Extend the holding time of the first node region ID corresponding to the first movement robot ID in table.
Preferably, the corresponding section that the extended first movement robot ID is occupied in the node resource table
After the holding time of point ID, this method further includes：In the node resource table, first node region ID described in global detection
Whether the second mobile robot ID is also corresponded in the holding time after extension；And if also corresponding second movement machine
People ID, it is determined that between the mobile robot corresponding to the first movement robot ID and the second mobile robot ID
There is conflict in path planning.
Preferably, the moving machine corresponding to the first movement robot ID and the second mobile robot ID is being determined
After path planning between device people has conflict, this method further includes：Described second is adjusted in the node resource table to move
Mobile robot ID corresponds to the holding time of the first node region ID, to avoid the first movement robot ID and described
Two mobile robot ID correspond to the first node region ID in the holding time of coincidence.
Specifically, described establish node resource according to the current location and the planning path of the multiple mobile robot
Table includes：Obtain the respective movement speed of the multiple mobile robot；According to the movement speed, the multiple movement is determined
Robot be able within the unit interval by unit distance；According to the current location of the multiple mobile robot, institute
Unit distance, the size of the planning path and the node region are stated, determines in the node resource table to be each institute
State the node region ID and corresponding holding time that mobile robot ID is distributed respectively.
The respective current location of multiple mobile robots is obtained specifically, described and planning path 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, planning path is received from the multiple mobile robot, wherein the planning path is each institute
Mobile robot is stated according to respective destination node area information and by determined by the calculating of A* algorithms.
Specifically, the holding time is with a certain number of unit interval.
On the other hand the embodiment of the present invention provides a kind of conflict managementsystem of multiple mobile robot, including：Initial information
Acquiring unit, for obtaining the respective current location of multiple mobile robots and planning path, wherein the planning path can
Barrier and the presumptive area in bypass presumptive area include multiple node regions；Node resource table establishes unit, uses
In establishing node resource table according to the respective current location of the multiple mobile robot and the planning path, wherein institute
The correspondence for recording and having between mobile robot ID, node region ID and holding time three in node resource table is stated, and more
Arbitrary the two in a mobile robot ID does not correspond in the node resource table under same node region ID jointly
Same holding time；Control occupies unit, for controlling the multiple mobile robot respectively according in the node resource table
Holding time corresponding to respective mobile robot ID occupies the node region of corresponding node region ID；Real time position obtains
Unit is taken, the real time position under the planning path is actually being executed for obtaining the mobile robot；Judging unit is used for
According to the node resource table and the real time position, the mobile machine corresponding to first movement robot ID is judged whether
People does not reach the node region of corresponding first node region ID also in corresponding holding time；Delay occupies unit, if for
In the presence of then extending the first node region ID's corresponding to the first movement robot ID in the node resource table
Holding time.
Optionally, the system also includes：Global detection unit is used in the node resource table, global detection institute
State whether first node region ID also corresponds to the second mobile robot ID in the holding time after extension；Conflict determines
Unit, if for also corresponding second mobile robot ID, it is determined that the first movement robot ID and second moving machine
There is conflict in the path planning between the mobile robot corresponding to device people ID.
Optionally, which further includes：Resource table adjustment unit, for adjusting described second in the node resource table
Mobile robot ID corresponds to the holding time of the first node region ID, to avoid the first movement robot ID and described
Second mobile robot ID corresponds to the first node region ID in the holding time of coincidence.
Specifically, the initial information acquiring unit includes：Speed acquiring module obtains the multiple movement for mobile
The respective movement speed of robot；Unit distance determining module, for according to the movement speed, determining the multiple moving machine
Device people be able within the unit interval by unit distance；Resource distribution module, for according to the multiple mobile machine
The current location of people, the unit distance, the planning path and the node region size, determine the node provide
It is the node region ID and corresponding holding time that each mobile robot ID is distributed respectively in the table of source.
Specifically, the initial information acquiring unit includes：Traffic order sending module is used for each moving machine
Device human hair send traffic order, wherein the traffic order includes the destination node area information of each mobile robot；Plan road
Diameter receiving module, in response to the traffic order, planning path being received from the multiple mobile robot, wherein the rule
It is determined by each mobile robot is calculated according to respective destination node area information and by A* algorithms to draw path.
Through the above technical solutions, on the one hand, obtaining current location and the planning path of mobile robot, and according to multiple
The current location of mobile robot and planning path establish node resource table, and any two movement in node resource table
The same holding time under same node region ID will not be corresponded between robot ID, further control multiple mobile robots
Corresponding node region ID is occupied according to the holding time corresponding to respective mobile robot ID in node resource table respectively
Node region.As a result, in the scheduling process to mobile robot, the node resource table comprising time variable is introduced, is kept away
Exempt to exist together in same time point Liang Ge robots the situation of a node, has eliminated mobile robot at Execution plan path
Path conflict and the problem of collide；Also, the maintenance of node resource table can be realized to place in embodiments of the present invention
The low consumption of device resource is managed, there is stronger real-time；In addition, implementation through the embodiment of the present invention, also achieves to resource
Reasonable distribution so that under the premise of not clashing, efficiently using the space resources of closed area and increase concurrent
The quantity of task optimizes the conevying efficiency of mobile robot in space.On the other hand, mobile robot is obtained in practical execution
Real time position under planning path, and judge whether that mobile robot does not reach in node resource table also in holding time
Corresponding node region, and if so, extend the node corresponding to this for the mobile robot in node resource table
The holding time in region.So that when the practical movement speed of mobile robot is with expected that translational speed difference, adjust in time
The distribution of whole holding time, based on the fine tuning to node resource table, to have ensured that the actual motion of mobile robot can be with section
The distribution of point resource table is consistent, and reduces the probability that conflict occurs.
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 further understood to the embodiment of the present invention for providing, an and part for constitution instruction, under
The specific implementation mode in face is used to explain the embodiment of the present invention together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure：
Fig. 1 is the map 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 planning path method for obtaining mobile robot in one embodiment of the invention；
Fig. 4 is the example of the Node distribution table about presumptive area in one embodiment of the invention；
Fig. 5 is the example of the node resource table about 3-D walls and floor；
Fig. 6 is the example of the flow chart for establishing node resource table of one embodiment of the invention；
Fig. 7 is the example of the node resource table of one embodiment of the invention；
Fig. 8 is the flow chart of the method for collision management of the multiple mobile robot 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 mobile robot B1, B2 barrier
The delay of N1, N2 node 906 occupies unit
90 conflict managementsystem, 901 initial information acquiring unit
902 node resource tables establish the control of unit 903 and occupy unit
904 real time position acquiring unit, 905 judging unit
Specific implementation mode
The specific implementation mode of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
The described specific implementation mode in place is merely to illustrate and explain the present invention embodiment, is 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 may be implemented to transport goods, but when multiple merchandising machine people run simultaneously, may result in conflict.Wherein, 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
At.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 planning path, wherein planning path can be got around
Barrier and presumptive area in presumptive area include multiple node regions.
Specifically, the acquisition modes about planning path, can independently be determined by mobile robot, and uploaded by it
It can also be server by calculating to server, and belong in protection scope of the present invention above.
A kind of preferred embodiment of the acquisition modes about planning path, the embodiment of the present invention are shown referring to Fig. 3
In mobile robot can be AGV (Automated Guided Vehicle laser navigations vehicle), the wherein acquisition methods
Including：S301, server can send traffic order to each mobile robot, and wherein traffic order includes each mobile machine
The destination node area information of people.S302, after each mobile robot receives respective traffic order, can be according to each
From destination node area information and pass through A* algorithms and calculate respectively planning path.S303, each mobile robot
It can will calculate obtained respective planning path and be sent to server.It is got transmitted by each mobile robot in server
Planning path after, corresponding subsequent processing can be executed, with ensure during mobile robot is in Execution plan path
Path conflict will not occur.As an example, can have multiple node regions for being respectively provided with unique node ID on map
(such as 0,1 ... No. 99 node region in the Node distribution table shown in Fig. 4 about close quarters), mobile robot A0 is connecing
After receiving traffic order, needs to reach No. 31 destination node regions from the node region of current location 73, move machine at this time
People A0 can calculate the shortest path for reaching No. 31 destination node regions by A* algorithms, thus ensure that mobile robot A0 can be fast
Speed reaches destination node region.But there is no in view of other mobile robot examples in current spatial in calculating at this moment
If the operation of A1 is moved, static barrier node is also only can take into account, and in the process of mobile robot A0 operation movements
In, other mobile robots such as A1 in space is barrier relative to this mobile robot A0, it is therefore desirable to be taken
Anti-collision measure is to avoid other mobile robots to prevent from bumping against.It, specifically will be under about the details of the conflict management measure
It is unfolded in text.
S202, node resource table is established according to the current location and planning path of multiple mobile robots.Its interior joint provides
Record has correspondence and multiple movements between mobile robot ID, node region ID and holding time three in the table of source
Arbitrary the two in robot ID does not correspond to the same holding time under same node region ID jointly in node resource table.
In embodiments of the present invention, be managed node region as a kind of assignable resource, and introduce about
The holding time of node region is maintained as variable, as shown in figure 5, in coordinate, x, y-axis indicate two-dimentional empty respectively
Between middle position, and z-axis be time coordinate.Over time, shifting can be calculated according to the planning path of mobile robot
The three-dimensional coordinate of mobile robot at a time, for example, can be shown in Fig. 5 3-D walls and floor on show mobile robot
From current location, node region S runs to the track and coordinate that destination node region T is inscribed when each.Specifically, due to moving
To leave some node be a process to mobile robot from entering, and needs a period of time to carry out, such as holding time can be
With a certain number of unit interval, therefore the holding time in node resource table can refer to the period.As described above,
During mobile robot A0 runs to destination node region T from current location node region S, can independently it get around static
Barrier, but can not eliminate and conflict with the collision between other running mobile robots；For this purpose, the embodiment of the present invention carries
A kind of node resource table has been supplied, the corresponding pass between mobile robot ID, node region ID and holding time three is had recorded
System, and arbitrary the two in multiple mobile robot ID does not correspond in node resource table under same node region ID jointly
Same holding time.It is understood that each mobile robot can be configured with unique mobile robot ID (such as
10A, 10B, 10C etc.) and each node region can also be to be configured with unique node region ID (as shown in Figure 4).
Wherein, mobile robot can be arranged to only pass through from the allocated node region, specifically, can be mobile robot
When only receiving the instruction about the node region of next distribution from server, movement can be just executed, that is, is made it possible to
Contexture by self has got well operating path.
As Fig. 6 shows the flow chart for establishing node resource table of one embodiment of the invention, including：S401, server obtain
Take the respective movement speed of multiple mobile robots；S402, server determine multiple mobile robots in list according to movement speed
Position the time in be able to by unit distance；S403, server according to the current locations of multiple mobile robots, unit away from
From, the size of planning path and node region, determine that mobile robot ID each in node resource table is distributed respectively
Node region ID and corresponding holding time.
Specifically, on the one hand, can be server can by the historical position changes in coordinates to each mobile robot,
Calculate mobile robot within the unit interval by distance, determine therefrom that movement speed (the mobile speed of each mobile robot
Degree can be different)；On the other hand, can also be that server passes through power property arguments, the closed area ring to mobile robot
Border parameter carries out determined by comprehensive analysis, such as can be multiple machine when the mobile robot of selected same model
Person determines identical movement speed v, can thus calculate in a chronomere tx, mobile robot by distance
For：
S(Nx)=v*tx
Further, the position of all mobile robots node region residing at any time, example can be calculated
Can be for it one such as when the displacement distance of the first movement robot A1 in the unit interval is just a node region
A unit interval distribution next node region, and corresponding holding time can be that a unit interval or other times are long
The occupancy of degree.Wherein, under normal circumstances, it is only necessary to distribute a list for the next node region of first movement robot A1
The position time, but the case where there may be special path conflicts.For example, the use of aforesaid way being equally the second movement machine
People A0 distribution nodes region and holding time, but there may be first movement robot A1 and the second mobile robot A0 same
The holding time of sample occupies the case where same node region, and when detecting such happen, determines at this time
The risk that path planning has conflict or bumps against should be the second mobile robot A0 distribution nodes for finding resource contention again
Region ID and corresponding holding time, to be adjusted to the second mobile robot A0 planning paths, to avoid conflict.
Preferably, can be according to first movement robot and the second machine during the foundation of node resource table
The respective current location of people, state transit time, planning path, for first movement robot distribute multiple first node regions and
Corresponding first holding time, and for the second mobile robot distribute multiple second node regions and corresponding second occupy when
Between；And when identical as one of second node region there are one of first node region, judge one of them
Whether the second holding time corresponding to the first holding time and one of second node region corresponding to one node region
There are coincidences；If so, it is conflicting nodes region that label, which has one of coincidence second node region, and in node resource
It is the second mobile robot distribution node region ID and corresponding holding time again in table.It is multiple thereby, it is possible to effectively realize
Arbitrary the two in mobile robot ID, when not corresponding to the same occupancy under same node region ID jointly in node resource table
Between.
The example of the node resource table of one embodiment of the invention as shown in Fig. 7 is that node resource table carries out dimensionality reduction
It is obtained as a result, it illustratively illustrates 0 time mobile machine for being located at No. 73 node regions of current time after processing
0 time movement for being located at No. 55 nodes of resource allocation conditions and current time of the node of target area 31 is gone in people's A0 planning
Robot A1 plans the resource allocation conditions for going to No. 19 nodes of destination node.As can be seen from Figure 7 come, each node ID pair
All it is unique in the resource of some time, can be identified by Hash table, such as No. 73 section that holding time is 1
No. 73 node regions that point region and holding time are 2 are just different resource.Also, between different mobile robots
What the resource that (such as A0 and A1) is distributed did not overlapped, that is, both arbitrary in multiple mobile robot ID provide in node
The same holding time under same node region ID is not corresponded in the table of source jointly.
S203, the multiple mobile robots of control are respectively according to corresponding to respective mobile robot ID in node resource table
Holding time occupies the node region of corresponding node region ID.
As an example, can be that server sends control command to mobile robot, mobile robot is receiving the control
After system order, when can parse the node region information for being matched with node resource table and corresponding occupancy from control command
Between information.Further, at Execution plan path after mobile robot, mobile robot is needed in the occupancy parsed
Between occupy corresponding node region.
But present inventor has found during putting into practice the application：Mobile robot is in Execution plan path
When movement speed may not (historical position as described above calculates or power performance with the movement speed that obtains in advance
Parameter analysis) it is identical, or even since environmental factor can cause practical movement speed to be differed with the movement speed for calculating or obtaining
It is very big.So that in one case, can cause the operation of practical mobile robot that can not also will not be operated according to node resource table,
It is easy to cause the failure of node resource table, just has to make adjustment to node resource table at this time, to solve above-mentioned entanglement.In view of
This, proposes corresponding solution in the S204-S206 of present invention method.
S204, real time position of the mobile robot under practical Execution plan path is obtained.
Specifically, mobile robot can be reported residing for it to server in real time when Execution plan Path Tasks
Position.
S205, according to node resource table and real time position, judge whether the shifting corresponding to first movement robot ID
Mobile robot does not reach the node region of corresponding first node region ID also in corresponding holding time.
As an example, No. 3 nodes should be occupied in time 5-10 by having recorded mobile robot A0 in node resource table
Region, however, it was found that A0 also rests on the previous node region (such as No. 2 node regions) of No. 3 node regions at time 5,
Thereby determine that mobile robot A0 does not reach corresponding No. 3 node regions also in corresponding holding time.
If S206, in the presence of extending the first node region corresponding to first movement robot ID in node resource table
The holding time of ID.
Continue example above, it is preferable that can be by extend node resource table in mobile robot A0 in No. 2 nodes
The holding time in region, and correspondingly mobile robot A0 makes in the holding time of No. 3 node regions in extension node resource table
The actually located node regions of mobile robot A0 are obtained to be consistent with the information in node resource table.
In the present embodiment, the physical location according to mobile robot in practical execution route task is realized, to node
Resource table is finely tuned, and solving mobile robot actual motion speed leads to mobile machine different from expected that translational speed
The practical occupancy node of the people situation inconsistent with the distribution of node resource table has ensured the low probability that conflict occurs.
It should be noted that due to may between movement speed of each mobile robot in practical execution route task
There are deviations, therefore can be directed to multiple mobile robots and respectively correspond to execution respectively in the process of moving about node resource table
Fine tuning operation.
As shown in figure 8, the method for collision management of the multiple mobile robot of one embodiment of the invention, including：
S801, the respective current location of the multiple mobile robots of acquisition and planning path, wherein planning path can be got around
Barrier and presumptive area in presumptive area include multiple node regions.
S802, node resource table is established according to the respective current location of multiple mobile robots and planning path, wherein saving
Record has the correspondence between mobile robot ID, node region ID and holding time three, and multiple shiftings in point resource table
Arbitrary the two in mobile robot ID does not correspond to the same holding time under same node region ID jointly in node resource table.
S803, the multiple mobile robots of control are respectively according to corresponding to respective mobile robot ID in node resource table
Holding time occupies the node region of corresponding node region ID.
S804, real time position of the mobile robot under practical Execution plan path is obtained.
S805, according to node resource table and real time position, judge whether the shifting corresponding to first movement robot ID
Mobile robot does not reach the node region of corresponding first node region ID also in corresponding holding time.
If S806, in the presence of extending the first node region corresponding to first movement robot ID in node resource table
The holding time of ID.
S807, in node resource table, global detection first node region ID in the holding time after extension whether
Also corresponding second mobile robot ID.And
If S808, also corresponding second mobile robot ID, it is determined that first movement robot ID and the second mobile robot
There is conflict in the path planning between the mobile robot corresponding to ID.
Embodiment illustrated in fig. 8 can be counted as a kind of preferred embodiment of embodiment illustrated in fig. 2, about S801-806
Concrete details and corresponding technique effect are referred to the description above for embodiment illustrated in fig. 2, just do not repeat herein.Figure
After 8 it is highly preferred that the node resource table for being to solve in fig. 2 is finely adjusted, there may be the moving machine being trimmed off
Resource allocation conflict under device people and the node resource table established before between other mobile robots.And correspondingly, lead to
The implementation of S807 and 808, the detection and judgement of the contention situation of the node resource table after degree of realizing fine tuning are crossed, and is ensured
There is no same node regions to correspond to same holding time in node resource table after fine tuning, has ensured the micro- of node resource table
Tune will not will produce conflict to the path planning of the mobile robot in presumptive area.
In some embodiments, can be that the second mobile robot ID is adjusted in node resource table after S808
The holding time of corresponding first node region ID, to avoid first movement robot ID and the second mobile robot ID in weight
The holding time of conjunction corresponds to first node region ID.As an example, can be that the second mobile robot is corresponded to first node area
The holding time of domain ID also extends backward, and this should be more than first movement robot to the second mobile robot extended time
By the node region required time corresponding to the ID of the first node region, led it is possible thereby to solve fine tuning node resource
The problem of distribution conflict of cause.
As shown in figure 9, the conflict managementsystem 90 of the multiple mobile robot of one embodiment of the invention, including：Initial information
Acquiring unit 901, for obtaining the respective current location of multiple mobile robots and planning path, wherein the planning path energy
Barrier and the presumptive area enough in bypass presumptive area include multiple node regions；Node resource table establishes unit
902, for establishing node resource table according to the respective current location of the multiple mobile robot and the planning path,
Record has the corresponding pass between mobile robot ID, node region ID and holding time three in the wherein described node resource table
System, and arbitrary the two in multiple mobile robot ID does not correspond to same node region jointly in the node resource table
Same holding time under ID；Control occupies unit 903, for controlling the multiple mobile robot respectively according to the node
Holding time in resource table corresponding to respective mobile robot ID occupies the node region of corresponding node region ID；It is real
When position acquisition unit 904, actually executing the real time position under the planning path for obtaining the mobile robot；Sentence
Disconnected unit 905, for according to the node resource table and the real time position, judging whether ID institutes of first movement robot
Corresponding mobile robot does not reach the node region of corresponding first node region ID also in corresponding holding time；Delay accounts for
With unit 906, if in the presence of, extend in the node resource table corresponding to the first movement robot ID described in
The holding time of first node region ID.
In some embodiments, system 900 further includes：Global detection unit is used in the node resource table, entirely
Office detects whether the first node region ID also corresponds to the second mobile robot ID in the holding time after extension；
Conflict determination unit, if for also corresponding second mobile robot ID, it is determined that the first movement robot ID and described the
There is conflict in the path planning between the mobile robot corresponding to two mobile robot ID.
In some embodiments, which further includes：Resource table adjustment unit, for being adjusted in the node resource table
The whole second mobile robot ID corresponds to the holding time of the first node region ID, to avoid the first movement machine
People ID and the second mobile robot ID corresponds to the first node region ID in the holding time of coincidence.
In some embodiments, initial information acquiring unit 901 includes：Speed acquiring module obtains institute for mobile
State the respective movement speed of multiple mobile robots；Unit distance determining module, described according to the movement speed, determining
Multiple mobile robots be able within the unit interval by unit distance；Resource distribution module, for according to described more
The current location of a mobile robot, the unit distance, the planning path and the node region size, determine exist
It is the node region ID and corresponding holding time that each mobile robot ID is distributed respectively in the node resource table.
In some embodiments, initial information acquiring unit 901 includes：Traffic order sending module is used for each
The mobile robot sends traffic order, wherein the destination node region that the traffic order includes each mobile robot is believed
Breath；Planning path receiving module, in response to the traffic order, planning path to be received from the multiple mobile robot,
The wherein described planning path is that each mobile robot according to respective destination node area information and passes through A* algorithm meters
Determined by calculation.
The system of the embodiments of the present invention can be used for executing corresponding embodiment of the method in the present invention, and reach accordingly
The technique effect that aforementioned present invention embodiment of the method is reached, which is not described herein again.
Correlation function mould can be realized in the embodiment of the present invention by hardware processor (hardware processor)
Block.
On the other hand, the embodiment of the present invention provides a kind of storage medium, is stored thereon with computer program, which is located
The step of reason device executes the method for collision management of the multiple mobile robot performed by server as above.
The said goods can perform the method that the embodiment of the present application is provided, and has the corresponding function module of execution method and has
Beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present application is provided.
The optional embodiment of the embodiment of the present invention is described in detail above in association with attached drawing, still, the embodiment of the present invention is simultaneously
The detail being not limited in the above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.
It is further to note that 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 it is that can pass through to implement the method for the above embodiments
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of step of each embodiment the method for the application.And it is 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, disclosure of that of the embodiment of the present invention is equally should be considered as.
Claims (11)
1. a kind of method for collision management of multiple mobile robot, including:
The respective current location of multiple mobile robots and planning path are obtained, wherein the planning path can get around fate
Barrier and the presumptive area in domain include multiple node regions；
Node resource table is established according to the respective current location of the multiple mobile robot and the planning path, wherein
Record has the correspondence between mobile robot ID, node region ID and holding time three in the node resource table, and
Arbitrary the two in multiple mobile robot ID does not correspond in the node resource table under same node region ID jointly
Same holding time；And
The multiple mobile robot is controlled respectively according to corresponding to respective mobile robot ID in the node resource table
Holding time occupies the node region of corresponding node region ID；And
It obtains the mobile robot and is actually executing the real time position under the planning path；
According to the node resource table and the real time position, the movement corresponding to first movement robot ID is judged whether
Robot does not reach the node region of corresponding first node region ID also in corresponding holding time；
If in the presence of the first node area corresponding to the first movement robot ID is extended in the node resource table
The holding time of domain ID.
2. according to the method described in claim 1, wherein, the extended first movement robot in the node resource table
After the holding time for the corresponding node ID that ID is occupied, this method further includes：
In the node resource table, first node region ID described in global detection is in the holding time after extension
No also corresponding second mobile robot ID；And
If also corresponding second mobile robot ID, it is determined that the first movement robot ID and the second mobile robot ID
There is conflict in the path planning between corresponding mobile robot.
3. according to the method described in claim 2, wherein, determining the first movement robot ID and second moving machine
After path planning between mobile robot corresponding to device people ID has conflict, this method further includes：
When adjusting the second mobile robot ID in the node resource table and corresponding to the occupancy of the first node region ID
Between, to avoid the first movement robot ID and the second mobile robot ID described is corresponded in the holding time of coincidence
One node region ID.
4. according to the method described in claim 1, it is characterized in that, the current location according to the multiple mobile robot
Establishing node resource table with the planning path includes：
Obtain the respective movement speed of the multiple mobile robot；
According to the movement speed, determine the multiple mobile robot be able within the unit interval by unit away from
From；
According to the current location of the multiple mobile robot, the unit distance, the planning path and the node area
The size in domain, determining is the node region ID and phase that each mobile robot ID is distributed respectively in the node resource table
The holding time answered.
5. according to the method described in claim 1, it is characterized in that, described obtain multiple respective current locations of mobile robot
Include with planning path：
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, planning path is received from the multiple mobile robot, wherein the planning path is each
Determined by a mobile robot is calculated according to respective destination node area information and by A* algorithms.
6. according to the method described in claim 1, it is characterized in that, when the holding time is with a certain number of units
Between.
7. a kind of conflict managementsystem of multiple mobile robot, including:
Initial information acquiring unit, for obtaining the respective current location of multiple mobile robots and planning path, wherein described
It includes multiple node regions that planning path, which can get around barrier in presumptive area and the presumptive area,；
Node resource table establishes unit, for according to the respective current location of the multiple mobile robot and the planning
Node resource table is established in path, wherein when record has mobile robot ID, node region ID and occupies in the node resource table
Between correspondence between three, and both arbitrary in multiple mobile robot ID in the node resource table not altogether
With the same holding time under corresponding same node region ID；
Control occupies unit, for controlling the multiple mobile robot respectively according to respective movement in the node resource table
Holding time corresponding to robot ID occupies the node region of corresponding node region ID；
Real time position acquiring unit is actually executing the real-time position under the planning path for obtaining the mobile robot
It sets；
Judging unit, for according to the node resource table and the real time position, judging whether first movement robot
Mobile robot corresponding to ID does not reach the node region of corresponding first node region ID also in corresponding holding time；
Delay occupies unit, if in the presence of it is right to extend first movement robot ID institute in the node resource table
The holding time of the first node region ID answered.
8. system according to claim 7, which is characterized in that the system also includes：
Global detection unit, in the node resource table, first node region ID to be after extension described in global detection
The holding time in whether also corresponding second mobile robot ID；
Conflict determination unit, if for also corresponding second mobile robot ID, it is determined that the first movement robot ID and institute
There is conflict in the path planning stated between the mobile robot corresponding to the second mobile robot ID.
9. system according to claim 8, wherein the system further includes：
Resource table adjustment unit corresponds to described first for adjusting the second mobile robot ID in the node resource table
The holding time of node region ID, to avoid the first movement robot ID and the second mobile robot ID in coincidence
Holding time corresponds to the first node region ID.
10. system according to claim 7, which is characterized in that the initial information acquiring unit includes：
Speed acquiring module obtains the multiple respective movement speed of mobile robot for mobile；
Unit distance determining module, for according to the movement speed, determining the multiple mobile robot within the unit interval
Be able to by unit distance；
Resource distribution module, for according to the current location of the multiple mobile robot, the unit distance, the planning road
The size of diameter and the node region determines in the node resource table to be that each mobile robot ID is distributed respectively
Node region ID and corresponding holding time.
11. system according to claim 7, which is characterized in that the initial information 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；
Planning path receiving module, in response to the traffic order, planning path to be received from the multiple mobile robot,
The wherein described planning path is that each mobile robot according to respective destination node area information and passes through A* algorithm meters
Determined by calculation.
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| CN201810055321.XA CN108287546A (en) | 2018-01-19 | 2018-01-19 | The method for collision management and system of multiple mobile robot |
| PCT/CN2019/072267 WO2019141226A1 (en) | 2018-01-19 | 2019-01-18 | Conflict management method and system for multiple mobile robots |
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| CN201810055321.XA CN108287546A (en) | 2018-01-19 | 2018-01-19 | The method for collision management and system of multiple mobile robot |
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Application publication date: 20180717 |