CN109144003B - Mobile robot scheduling device and method - Google Patents
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
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- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/4186—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by protocol, e.g. MAP, TOP
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- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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Abstract
The invention provides a mobile robot scheduling device and method, and relates to an intelligent robot. When two mobile robots move towards the direction of an intersection point and grid coordinates of the two mobile robots are in different paths and distances between the two mobile robots and the intersection point are within a preset range respectively, a pause movement instruction is generated and sent to the mobile robot with a first virtual wall or a second virtual wall in front of the current moment, and the first virtual wall and the second virtual wall are generated alternately and periodically, so that the phenomenon of mutual blocking (the problem that the robots constantly and autonomously plan paths and do not turn around due to mutual blocking of the robots) does not occur, and because the path width can only allow one mobile robot to pass through, the mobile robot cannot bypass the front mobile robot according to an obstacle avoidance program of the mobile robot, and only can queue and advance in sequence, so that the mobile robot moves orderly, the normal operation of the mobile robot is ensured, and the operation efficiency of the mobile robot is improved.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a mobile robot scheduling device and method.
Background
A mobile Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. When a plurality of mobile robots need to be placed in the same area for operation, the current autonomous obstacle avoidance mode of the mobile robots can easily cause mutual blockage at the road junctions, and can also cause the movement of the mobile robots to be disordered and influence the normal operation of the robots.
Disclosure of Invention
It is therefore an object of the present invention to provide a mobile robot scheduling apparatus and method to improve the above-mentioned problems.
In a first aspect, an embodiment of the present invention provides a mobile robot scheduling apparatus, where the mobile robot scheduling apparatus includes:
the mobile robot comprises a storage unit, a control unit and a processing unit, wherein the storage unit is used for storing a moving route and a moving path width, the moving route comprises one or more moving paths, the moving route and the moving path width are pre-stored in each mobile robot, intersection points are arranged among the pre-stored moving routes of different mobile robots, and the path width can only allow one mobile robot to pass through;
the virtual wall generating unit is used for periodically generating a first virtual wall at two opposite inlets of two moving paths with an intersection point facing the intersection point and maintaining the first virtual wall for a preset time, periodically generating a second virtual wall at two other opposite inlets of the two moving paths with the intersection point facing the intersection point and maintaining the second virtual wall for the preset time, and only one of the first virtual wall or the second virtual wall can exist at the same time;
the information receiving unit is used for receiving grid coordinates fed back by at least two mobile robots in the moving process according to a pre-stored moving route;
the judging unit is used for judging whether the two mobile robots move towards the direction of the intersection or not according to the fed back grid coordinates, whether the grid coordinates of the two mobile robots are in different paths or not and whether the distances between the two mobile robots and the intersection are within a preset range or not;
the command generation unit is used for generating a pause movement command if two mobile robots move towards the direction of the intersection point, the grid coordinates of the two mobile robots are in different paths, and the distances between the two mobile robots and the intersection point are within a preset range;
and the information sending unit is used for sending the pause moving instruction to the mobile robot with the first virtual wall or the second virtual wall in front of the current moment.
In a second aspect, an embodiment of the present invention further provides a mobile robot scheduling method, which is applied to a mobile robot scheduling device, where the mobile robot scheduling device includes:
the mobile robot comprises a storage unit, a control unit and a processing unit, wherein the storage unit is used for storing a moving route and a moving path width, the moving route comprises one or more moving paths, the moving route and the moving path width are pre-stored in each mobile robot, intersection points are arranged among the pre-stored moving routes of different mobile robots, and the path width can only allow one mobile robot to pass through;
the mobile robot scheduling method comprises the following steps:
periodically generating a first virtual wall at two opposite inlets of two moving paths with an intersection point facing the intersection point and maintaining the first virtual wall for a preset time, periodically generating a second virtual wall at the other two opposite inlets of the two moving paths with the intersection point facing the intersection point and maintaining the second virtual wall for a preset time, and only one of the first virtual wall or the second virtual wall can exist at the same time;
receiving grid coordinates fed back by at least two mobile robots in the moving process according to a pre-stored moving route; the mobile robot is provided with a plurality of pre-stored mobile routes and a plurality of pre-stored mobile routes, wherein the mobile routes comprise one or more mobile paths, each mobile robot is pre-stored with a mobile route and a mobile path width, the pre-stored mobile routes of different mobile robots are provided with junction points, and the path width can only allow one mobile robot to pass through;
judging whether two mobile robots move towards the direction of the intersection or not according to the fed grid coordinates, whether the grid coordinates of the two mobile robots are in different paths or not and whether the distances between the two mobile robots and the intersection are within a preset range or not;
if the two mobile robots move towards the direction of the junction and the distance between the two mobile robots and the junction is within a preset range, generating a pause movement instruction;
and sending the pause moving instruction to the mobile robot with the first virtual wall or the second virtual wall in front of the current moment.
Compared with the prior art, the mobile robot scheduling device and method provided by the invention generate the pause moving instruction when two mobile robots move towards the direction of the junction and the grid coordinates of the two mobile robots are in different paths and the distances between the two mobile robots and the junction are within the preset range respectively, and send the pause moving instruction to the mobile robot with the first virtual wall or the second virtual wall in front of the current moment, because the first virtual wall and the second virtual wall are periodically and alternately generated, the phenomenon of mutual blocking (the problem that the robots continuously plan the path and continuously rotate around due to mutual blocking of the robots) can not occur, and because the path width can only allow one mobile robot to pass through, the mobile robots can not bypass the front mobile robot according to the self obstacle avoidance program, and only can queue and advance in sequence, therefore, the mobile robot can move orderly, the normal operation of the mobile robot is ensured, and the operation efficiency of the mobile robot is improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of interaction between a server and a plurality of mobile robots according to an embodiment of the present invention;
fig. 2 is a block diagram of a server according to an embodiment of the present invention;
fig. 3 is a functional block diagram of a mobile robot scheduling apparatus according to an embodiment of the present invention;
fig. 4 and 5 are schematic views of scenes of a mobile robot in a moving process according to an embodiment of the present invention;
fig. 6 is a flowchart of a mobile robot scheduling method according to an embodiment of the present invention.
Icon: 100-a server; 200-mobile robot scheduling device; 300-a mobile robot; 101-a memory; 102-a memory controller; 103-a processor; 104-peripheral interfaces; 105-a junction; 106-a first virtual wall; 107-a second virtual wall; 301-an information receiving unit; 302-a determination unit; 303-instruction generation unit; 304-an information transmitting unit; 305-a virtual wall generation unit; 306-memory cell.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The mobile robot scheduling apparatus and method according to the preferred embodiment of the present invention can be applied to the server 100. As shown in fig. 2, the server 100 interacts with a plurality of mobile robots 300 through a network. Fig. 2 shows a block diagram of the server 100 in the embodiment of the present invention. As shown in fig. 2, the server 100 includes a mobile robot scheduling apparatus 200, a memory 101, a storage controller 102, one or more (only one shown) processors 103, a peripheral interface 104, and the like. These components communicate with each other via one or more communication buses/signal lines. The mobile robot scheduling device 200 includes at least one software function module which may be stored in the memory 101 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the server 100.
The memory 101 may be used to store software programs and modules, such as program instructions/modules corresponding to the image processing apparatus and method in the embodiment of the present invention, and the processor 103 executes various functional applications and data processing by running the software programs and modules stored in the memory 101, such as the mobile robot scheduling method provided in the embodiment of the present invention.
The peripheral interface 104 couples various input/output devices to the processor 103 as well as to the memory 101. In some embodiments, the peripheral interface 104, the processor 103, and the memory controller 102 may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.
It will be appreciated that the configuration shown in fig. 2 is merely illustrative and that server 100 may include more or fewer components than shown in fig. 2 or have a different configuration than shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 3, an embodiment of the present invention provides a mobile robot scheduling apparatus 200, where the mobile robot scheduling apparatus 200 includes an information receiving unit 301, a determining unit 302, a command generating unit 303, an information transmitting unit 304, a virtual wall generating unit 305, and a storage unit 306.
The storage unit 306 is configured to store a moving route and a moving path width, where the moving route includes one or more moving paths, each of the mobile robots 300 pre-stores the moving route and the moving path width, and the pre-stored moving routes of different mobile robots 300 have an intersection, and the path width can only allow one mobile robot 300 to pass through.
The virtual wall generating unit 305 is configured to periodically generate the first virtual wall 106 at two opposite entrances of the two movement paths having the intersection point facing the intersection point and maintain the first virtual wall 106 for a preset time, periodically generate the second virtual wall 107 at the other two opposite entrances of the two movement paths having the intersection point facing the intersection point and maintain the second virtual wall 107 for a preset time, and only either one of the first virtual wall 106 or the second virtual wall 107 can exist at the same time.
For example, as shown in fig. 4, two moving paths form an "intersection", where two opposite intersections are rounded at 8 points to form a first virtual wall 106, and at this time, the other two opposite intersections are clear, and the mobile robot 300 on the moving path passing through the other two opposite intersections can pass through the intersections. As shown in fig. 5, after maintaining the first virtual wall 106 for 10 seconds, the first virtual wall 106 disappears, two opposite intersections are unblocked, the mobile robot 300 on the moving path passing through the two opposite intersections can pass through the intersections, and the second virtual wall 107 is generated at the other two opposite intersections, the mobile robot 300 on the moving path passing through the other two opposite intersections is blocked at the intersections by the second virtual wall 107, so that the mobile robots 300 on the moving paths having the intersection are prevented from being blocked by each other.
The information sending unit 304 is further configured to send the moving route, the moving path width, and the moving instruction to at least two mobile robots 300.
The moving route includes one or more moving paths, each of the mobile robots 300 pre-stores the moving route and a moving path width, and the pre-stored moving routes of different mobile robots 300 have an intersection 105, and the path width can only allow one mobile robot 300 to pass through. Each mobile robot 300 stores the movement route and the movement path width after receiving the movement route and the movement path width, and starts and moves along the movement route after receiving the movement instruction, and each mobile robot 300 cannot cross the boundary of the movement path width and enter the area outside the movement path width.
The information receiving unit 301 is configured to receive grid coordinates fed back by starting point positions of at least two mobile robots 300 after receiving the first start instruction. The mobile robot 300 is equipped with a position sensor, and can transmit its own grid coordinates to the information receiving unit 301 in real time.
The virtual wall generation unit 305 generates a third virtual wall at the start point position corresponding to the grid coordinates.
The mobile robot 300's own program restricts the mobile robot 300 from being able to cross the virtual wall, thus enabling each mobile robot 300 to advance only in order.
The information receiving unit 301 is further configured to receive grid coordinates fed back by at least two mobile robots 300 during a moving process according to a pre-stored moving route.
The determining unit 302 is configured to determine whether two of the mobile robots 300 both move toward the direction of the intersection 105, whether the grid coordinates of the two mobile robots 300 are on different paths, and whether respective distances from the intersection 105 are within a preset range.
Specifically, as shown in fig. 4 and 5, it can be determined whether both of the two mobile robots 300 move toward the intersection 105 according to the movement routes pre-stored in the two mobile robots 300 respectively. When the distance between each of the two mobile robots 300 and the intersection 105 is within the preset range, if both mobile robots 300 continue to move forward, there is a possibility that a jam occurs at the intersection 105, and therefore it is necessary to control one of the mobile robots to stop moving forward.
The instruction generating unit 303 is configured to generate a pause movement instruction if both of the two mobile robots 300 move towards the direction of the intersection 105, the grid coordinates of the two mobile robots 300 are on different paths, and the distances between the two mobile robots 300 and the intersection 105 are within a preset range.
The information sending unit 304 is configured to send a pause movement instruction to the mobile robot 300 having the first virtual wall 106 or the second virtual wall 107 ahead of the current time.
The instruction generating unit 303 is further configured to generate a pause movement instruction when the distance between the two mobile robots 300 on the same movement path is smaller than a preset safety threshold, and the information sending unit 304 is further configured to send the pause movement instruction to the mobile robot 300 that is located behind in the movement direction in the two mobile robots 300 on the same movement path, so that the mobile robots 300 can advance in order.
The information sending unit 304 is further configured to send a pause moving instruction to the mobile robot 300 moving to the destination. When the mobile robot 300 reaches the end point, the grid coordinates are transmitted to the information receiving unit 301, and at this time, the information receiving unit 301 transmits a movement suspension instruction to the mobile robot 300 moving to the end point, and at this time, the mobile robot 300 reaches the end point and suspends the movement.
Referring to fig. 6, an embodiment of the present invention further provides a mobile robot scheduling method, which is applied to a mobile robot scheduling device, and it should be noted that the basic principle and the generated technical effects of the mobile robot scheduling method provided in the embodiment are the same as those of the foregoing embodiment, and for brief description, reference may be made to corresponding contents in the foregoing embodiment for parts that are not mentioned in the embodiment. The mobile robot scheduling device includes:
the storage unit 306 is configured to store a moving route and a moving path width, where the moving route includes one or more moving paths, each mobile robot 300 pre-stores the moving route and the moving path width, and the pre-stored moving routes of different mobile robots 300 have an intersection, and the path width can only allow one mobile robot 300 to pass through.
The mobile robot scheduling method comprises the following steps:
step S401: periodically generating the first virtual wall 106 at two opposite entrances of the two moving paths with the intersection point towards the intersection point and maintaining the first virtual wall 106 for a preset time.
Step S402: periodically generating the second virtual wall 107 at the other two opposite entrances of the two moving paths having the intersection toward the intersection and maintaining the second virtual wall 107 for a preset time.
Wherein only either the first virtual wall 106 or the second virtual wall 107 can exist at the same time.
Step S403: the movement route, the movement path width, and the movement instruction are transmitted to at least two mobile robots 300.
Step S404: receiving grid coordinates fed back by the starting point positions of the at least two mobile robots 300 after receiving the first starting instruction.
Step S405: and generating a third virtual wall at the starting position corresponding to the grid coordinate.
Step S406: receiving grid coordinates fed back by at least two mobile robots 300 in the moving process according to the pre-stored moving route.
The moving route includes one or more moving paths, each of the mobile robots 300 pre-stores a moving route and a moving path width, and the pre-stored moving routes of different mobile robots 300 have an intersection 105, and the path width can only allow one mobile robot 300 to pass through.
Step S407: whether two of the mobile robots 300 move towards the direction of the intersection 105 and whether the grid coordinates of the two mobile robots 300 are in different paths and whether the distances between the two mobile robots 300 and the intersection 105 are within a preset range are determined, and if yes, step S405 is executed.
Step S408: a pause move instruction is generated.
Step S409: the pause movement instruction is sent to the mobile robot 300 having the first virtual wall 106 or the second virtual wall 107 in front of the current time.
Step S410: when the distance between the two mobile robots 300 on the same movement path is less than a preset safety threshold, a pause movement instruction is generated.
Step S411: the pause movement instruction is sent to the mobile robot 300 located at the rear in the movement direction among the two mobile robots 300 located on the same movement path.
Step S412: and sending a pause movement instruction to the mobile robot 300 moving to the terminal.
In summary, when two mobile robots move towards the direction of the intersection point and the grid coordinates of the two mobile robots are in different paths and the distances between the two mobile robots and the intersection point are within a preset range, the mobile robot scheduling device and the mobile robot scheduling method generate a pause movement instruction, send the pause movement instruction to the mobile robot with the first virtual wall or the second virtual wall in front of the current time, because the first virtual wall and the second virtual wall are generated periodically and alternately, the phenomenon of mutual blocking (the problem that the robot continuously and autonomously plans the path and turns around when the robot blocks each other) does not occur, and because the path width can only allow one mobile robot to pass through, the mobile robot cannot bypass the mobile robot in front according to the obstacle avoidance program of the mobile robot, and only can queue and advance in sequence, so the orderly movement of the mobile robot is realized, the normal operation of the mobile robot is ensured, and the operation efficiency of the mobile robot is improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. 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. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A mobile robot scheduling apparatus, comprising:
the mobile robot comprises a storage unit, a control unit and a processing unit, wherein the storage unit is used for storing a moving route and a moving path width, the moving route comprises one or more moving paths, the moving route and the moving path width are pre-stored in each mobile robot, intersection points are arranged among the pre-stored moving routes of different mobile robots, and the path width can only allow one mobile robot to pass through;
the virtual wall generating unit is used for periodically generating a first virtual wall at two opposite inlets of two moving paths with an intersection point facing the intersection point and maintaining the first virtual wall for a preset time, periodically generating a second virtual wall at two other opposite inlets of the two moving paths with the intersection point facing the intersection point and maintaining the second virtual wall for the preset time, and only one of the first virtual wall or the second virtual wall can exist at the same time;
the information receiving unit is used for receiving grid coordinates fed back by at least two mobile robots in the moving process according to a pre-stored moving route;
the judging unit is used for judging whether the two mobile robots move towards the direction of the intersection or not according to the fed back grid coordinates, whether the grid coordinates of the two mobile robots are in different paths or not and whether the distances between the two mobile robots and the intersection are within a preset range or not;
the command generation unit is used for generating a pause movement command if two mobile robots move towards the direction of the intersection point, the grid coordinates of the two mobile robots are in different paths, and the distances between the two mobile robots and the intersection point are within a preset range;
and the information sending unit is used for sending the pause moving instruction to the mobile robot with the first virtual wall or the second virtual wall in front of the current moment.
2. The mobile robot scheduling device according to claim 1, wherein the information sending unit is further configured to send a start instruction to the mobile robot that previously received the pause movement instruction when the first virtual wall or the second virtual wall located in front of the mobile robot disappears after a certain time.
3. The mobile robot scheduling apparatus of claim 1, further comprising:
the information sending unit is also used for sending a moving route, a moving path width and a moving instruction to the at least two mobile robots;
the information receiving unit is used for receiving grid coordinates fed back by the starting point positions of the at least two mobile robots after receiving the first starting instruction;
and the virtual wall generating unit is used for generating a third virtual wall at the starting point position corresponding to the grid coordinate.
4. The mobile robot scheduling device according to claim 1, wherein the instruction generating unit is further configured to generate a pause movement instruction when a distance between two mobile robots on the same movement path is smaller than a preset safety threshold;
the information sending unit is further used for sending the pause moving instruction to a mobile robot behind in the moving direction in the two mobile robots on the same moving path.
5. The mobile robot scheduling device of claim 1, wherein the information sending unit is further configured to send a pause movement instruction to the mobile robot moving to the destination.
6. A mobile robot scheduling method is applied to a mobile robot scheduling apparatus, and the mobile robot scheduling apparatus includes:
the mobile robot comprises a storage unit, a control unit and a processing unit, wherein the storage unit is used for storing a moving route and a moving path width, the moving route comprises one or more moving paths, the moving route and the moving path width are pre-stored in each mobile robot, intersection points are arranged among the pre-stored moving routes of different mobile robots, and the path width can only allow one mobile robot to pass through;
the mobile robot scheduling method comprises the following steps:
periodically generating a first virtual wall at two opposite inlets of two moving paths with an intersection point facing the intersection point and maintaining the first virtual wall for a preset time, periodically generating a second virtual wall at the other two opposite inlets of the two moving paths with the intersection point facing the intersection point and maintaining the second virtual wall for a preset time, and only one of the first virtual wall or the second virtual wall can exist at the same time;
receiving grid coordinates fed back by at least two mobile robots in the moving process according to a pre-stored moving route;
judging whether two mobile robots move towards the direction of the intersection or not according to the fed grid coordinates, whether the grid coordinates of the two mobile robots are in different paths or not and whether the distances between the two mobile robots and the intersection are within a preset range or not;
if the two mobile robots move towards the direction of the intersection point, the grid coordinates of the two mobile robots are in different paths, and the distances between the two mobile robots and the intersection point are within a preset range, a pause movement instruction is generated;
and sending the pause moving instruction to the mobile robot with the first virtual wall or the second virtual wall in front of the current moment.
7. The mobile robot scheduling method according to claim 6, wherein after the step of transmitting the pause movement instruction to the mobile robot having the first virtual wall or the second virtual wall ahead of the current time, the mobile robot scheduling method further comprises:
after a certain time, when the first virtual wall or the second virtual wall in front of the mobile robot disappears, a starting instruction is sent to the mobile robot which previously received the pause moving instruction.
8. The mobile robot scheduling method of claim 6, wherein, prior to the step of receiving the grid coordinates fed back by the at least two mobile robots during movement according to the pre-stored movement routes, the mobile robot scheduling method further comprises:
sending a moving route, a moving path width and a moving instruction to at least two mobile robots;
receiving grid coordinates fed back by starting point positions of at least two mobile robots after receiving a first starting instruction;
and generating a third virtual wall at the starting position corresponding to the grid coordinate.
9. The mobile robot scheduling method according to claim 6, further comprising:
when the distance between the two mobile robots on the same moving path is smaller than a preset safety threshold, generating a moving pause instruction;
and sending the pause movement instruction to a mobile robot behind in the movement direction in the two mobile robots on the same movement path.
10. The mobile robot scheduling method according to claim 6, further comprising:
and sending a pause moving instruction to the mobile robot moving to the terminal.
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