CN109991977B - Path planning method and device for robot - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The embodiment of the invention discloses a path planning method and a device of a robot, wherein the method comprises the following steps: receiving a task to be processed, and determining a running path of a target robot based on a starting point and an end point in the task to be processed; determining the direction of the running path of the target robot according to the moving direction of the target robot, and performing collision detection on the running paths of at least two target robots based on the direction of the running path; when the running paths of the at least two target robots have conflict, the running paths of the at least two target robots are re-planned according to a preset path planning strategy. By the method, the path direction is taken into consideration when the robot is subjected to path planning, the detection time of the robot operation conflict can be reduced, the path planning scheme is enriched, and the operation efficiency of the system is improved.
Description
Technical Field
The invention relates to the technical field of navigation and control, in particular to a path planning method and device for a robot.
Background
With the development and progress of science and technology, the intelligent robot is more and more widely applied. The multi-robot system can better realize information and resource sharing, has higher parallelism and robustness, can complete more complex tasks, is applied to a plurality of fields such as intelligent production, unknown environment detection, carrying and cleaning, service industry, search and rescue, remote communication and the like, and has good practical value. When multiple robots cooperate, how to plan the operation paths of the multiple robots to avoid collisions becomes a focus of attention.
Currently, industries related to article circulation, such as logistics, warehousing, etc., gradually start to adopt a plurality of Automated Guided Vehicles (AGVs) to perform cooperative operations. As the number of AGVs increases, situations such as collisions, deadlocks, etc. are likely to occur, which directly results in a flow turnaround breaking down once such situations occur.
The traditional AGV dispatching system adopts a one-way path network layout, so that the possibility of congestion and deadlock of the system can be reduced. However, the fixed path direction increases the travel distance of the AGV, which causes poor flexibility of the system and robustness of fault handling, and reduces the operating efficiency of the AGV.
Disclosure of Invention
The embodiment of the invention provides a method and a device for planning a path of a robot, which can enrich the path planning line of the robot and improve the operation efficiency of a system.
A method of path planning for a robot, comprising:
receiving a task to be processed, and determining a running path of a target robot based on a starting point and an end point in the task to be processed;
determining the direction of the running path of the target robot according to the moving direction of the target robot, and performing collision detection on the running paths of at least two target robots based on the direction of the running path;
when the running paths of the at least two target robots have conflict, the running paths of the at least two target robots are re-planned according to a preset path planning strategy.
Optionally, in one embodiment, the receiving the task to be processed and determining the operation path of the target robot based on the starting point and the ending point in the task to be processed includes:
reading starting point information and end point information in the task to be processed;
and determining a starting point and an end point of the target robot according to the starting point information and the end point information, and selecting a preset path passing through the starting point and the end point from preset map data as a running path of the target robot.
Optionally, in one embodiment, the performing collision detection on the travel paths of at least two target robots based on the directions of the travel paths includes:
acquiring nodes through which the running paths of the at least two target robots pass, and dividing path sections according to the nodes;
sequentially comparing two end points of each path section and the direction of the path section;
and when the two end points of at least two path sections are the same and the directions are opposite, judging that the running paths of the target robot have conflict.
Optionally, in one embodiment, when the operation paths of the at least two target robots have a conflict, the replanning the operation paths of the at least two target robots according to a preset path planning strategy includes:
determining conflicting path segments of the travel paths of the at least two target robots;
calculating a distance length to the collision path segment along the travel path of each target robot;
and when the distance length is larger than a preset length value, updating the running path of the target robot to be the path reaching the conflict path segment.
Optionally, in one embodiment, the method further includes:
determining conflicting path segments of the travel paths of the at least two target robots;
calculating a distance length to the collision path segment along the travel path of each target robot;
and when the distance length is less than or equal to a preset length value, replanning the running path of the conflict path segment for the target robot.
Optionally, in one embodiment, the replanning the operation path for the target robot excluding the collision path segment includes:
and selecting a preset path which passes through the starting point and the end point and excludes the conflict path section from preset map data according to the starting point and the end point of the task to be processed, which needs to be executed by the target robot, as the running path of the target robot.
Optionally, in one embodiment, the method includes:
when a target robot starts to operate, binding the target robot with an operation path thereof to occupy the operation path;
releasing the path of travel when the target robot leaves the path of travel.
A path planning apparatus for a robot, comprising:
the path determining module is used for receiving a task to be processed and determining the running path of the target robot based on a starting point and an end point in the task to be processed;
the collision detection module is used for determining the direction of the running path of the target robot according to the movement direction of the target robot and carrying out collision detection on the running paths of at least two target robots based on the direction of the running path;
and the path planning module is used for replanning the running paths of the at least two target robots according to a preset path planning strategy when the running paths of the at least two target robots have conflict.
A terminal comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to carry out the steps of the method as described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
The embodiment of the invention has the following beneficial effects:
the path planning method and the device of the robot receive the task to be processed, determine the operation path of the target robot based on the starting point and the end point in the task to be processed, determine the direction of the operation path of the target robot according to the motion direction of the target robot, perform conflict detection on the operation paths of at least two target robots based on the direction of the operation paths, and re-plan the operation paths of at least two target robots according to a preset path planning strategy when the operation paths of at least two target robots have conflict. By the method, the path direction is taken into consideration when the robot is subjected to path planning, the detection time of the robot operation conflict can be reduced, the path planning scheme is enriched, and the operation efficiency of the system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a flow diagram of a method for path planning for a robot in one embodiment;
FIG. 2 is a flow chart of a method for path planning for a robot in another embodiment;
FIG. 3 is a flow chart of a method for path planning for a robot in another embodiment;
FIG. 4 is a flow chart of a method for path planning for a robot in another embodiment;
FIG. 5 is a schematic flow chart diagram illustrating a method for path planning for an AGV according to one embodiment;
FIG. 6 is a schematic diagram of the travel path of an AGV according to one embodiment;
FIG. 7 is a block diagram showing the construction of a path planning apparatus for a robot according to an embodiment;
fig. 8 is a schematic diagram of the internal structure of the terminal in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first application may be referred to as a second application, and similarly, the second application may be the first application, without departing from the scope of the present application. The first application and the second application are both applications, but they are not the same application.
Fig. 1 is a flowchart of a path planning method of a robot in one embodiment. The path planning method for the robot in the embodiment can be applied to logistics and warehousing industries, and the robot can independently or cooperatively operate to complete the transportation of goods. Specifically, the robot may be an Automated Guided Vehicle (AGV), which is a Vehicle equipped with an electromagnetic or optical automatic guide device, can travel along a predetermined guide path, and has safety protection and various transfer functions. Alternatively, the number of robots may be one or more, and the types of robots may be the same type or different types. The path planning method for the robot provided by the embodiment can enrich the path planning lines of the robot and improve the system operation efficiency. As shown in fig. 1, the path planning method for a robot includes the following steps 102 to 106:
step 102: and receiving a task to be processed, and determining the operation path of the target robot based on the starting point and the end point in the task to be processed.
The task to be processed refers to a task waiting for the robot to process in the system, such as goods waiting for being carried in a warehouse; the target robot may be understood as a robot in the system that can perform the task to be processed. The task to be processed comprises a starting point and an end point of the object to be transported, and the running path of the target robot is determined according to the starting point and the end point of the object to be transported, wherein the running path refers to the walking path from the starting point to the end point of the task of the target robot. Optionally, there may be multiple operation paths determined based on the starting point and the ending point in the task to be processed, and the operation path may be selected from fixed paths. Optionally, the shortest path may be generated according to the starting point and the ending point of the task to be processed.
Specifically, the starting point information and the end point information in the task to be processed are read, the starting point and the end point of the target robot are determined according to the starting point information and the end point information, and a preset path passing through the starting point and the end point is selected from preset map data to serve as an operation path of the target robot.
Step 104: and determining the direction of the running path of the target robot according to the moving direction of the target robot, and performing collision detection on the running paths of at least two target robots based on the direction of the running path.
And performing conflict detection on the running path of the target robot, and detecting whether a conflict point exists on the running path of the target robot, wherein the conflict point can be understood as a part of the running path of the target robot, which is overlapped with the running paths of other robots in the dispatching area. Each operation path can be divided into a plurality of path segments according to the passing nodes, and whether a conflict exists can be judged by comparing the end point and the operation direction of each path segment.
The direction of the running path of the target robot can be determined according to the moving direction of the target robot, specifically, the target robot is communicated with the main control system in real time, and real-time position and posture information is reported, for example, the target robot can be communicated with the main control system in a TCP/IP communication mode. Further, the system performs collision detection on the target robots in the scheduling area based on the direction of the travel path, and it can be understood that the number of the target robots in the scheduling area is at least two.
If there is a conflict between the paths of at least two target robots within the scheduling area, step 106 is performed.
Step 106: when the running paths of the at least two target robots have conflict, the running paths of the at least two target robots are re-planned according to a preset path planning strategy.
When the running paths of at least two target robots have conflict, replanning the running paths of the at least two target robots according to a preset path planning strategy, specifically, determining conflict path sections of the running paths of the at least two target robots, calculating the distance length reaching the conflict path sections along the running path of each target robot, and judging whether the distance length from the target robot running to the conflict path sections is greater than a preset length value; if so, updating the running path of the target robot to be the path reaching the conflict path section; and if not, replanning the operation path of the conflict path section for the target robot.
The path planning method of the robot comprises the steps of receiving a task to be processed, determining the operation path of a target robot based on a starting point and an end point in the task to be processed, determining the direction of the operation path of the target robot according to the motion direction of the target robot, carrying out conflict detection on the operation paths of at least two target robots based on the direction of the operation paths, and when the operation paths of at least two target robots have conflict, re-planning the operation paths of at least two target robots according to a preset path planning strategy. By the method, the path direction is taken into consideration when the robot is subjected to path planning, the detection time of the robot operation conflict can be reduced, the path planning scheme is enriched, and the operation efficiency of the system is improved.
As shown in fig. 2, in one embodiment, the receiving a task to be processed and determining the operation path of the target robot based on the starting point and the ending point in the task to be processed, that is, step 102 further includes the following steps 202 to 204:
step 202: and reading the starting point information and the end point information in the task to be processed.
The target robot is allocated with the tasks to be processed, one target robot can correspondingly execute one task to be processed, and a plurality of robots can cooperatively work and jointly execute the task to be processed. It is to be understood that any robotic task assignment method used in the art can be employed to assign tasks to target robots.
Further, starting point information and end point information in the task to be processed are read, wherein the starting point information represents the starting point position of the goods to be transported, and the end point information represents the end point position of the goods to be transported.
Step 204: and determining a starting point and an end point of the target robot according to the starting point information and the end point information, and selecting a preset path passing through the starting point and the end point from preset map data as a running path of the target robot.
Specifically, after a starting point and an end point of a task to be processed are obtained, a path of the target robot can be planned in an off-line planning mode, and a preset path passing through the starting point and the end point is selected from preset map data to serve as an operation path of the target robot. Optionally, the shortest path may be generated according to the starting point and the ending point of the task, so as to reduce the operation time of the target robot and improve the work efficiency.
As shown in fig. 3, in one embodiment, the collision detection of the operation paths of at least two target robots based on the directions of the operation paths includes the following steps 302 to 306:
step 302: and acquiring nodes passed by the running paths of the at least two target robots, and dividing path sections according to the nodes.
Specifically, in the operation path of the target robot, a plurality of nodes are provided, and path segments can be divided into the operation path by the nodes, and each two adjacent nodes can form one path segment, and optionally, each path segment can be a straight line or a curved line. Optionally, the number of nodes may be set according to requirements.
Step 304: the two end points of each path segment are compared in turn, as well as the direction of the path segment.
Specifically, all path segments in the operation path of the target robot are acquired, the path segments between different target robots in the scheduling area are compared, and two end points of each path segment and the direction of the path segment are sequentially compared. For example, the operation path of the first robot includes a path segment a, a path segment B, and a path segment C, and the operation path of the second robot includes a path segment D, a path segment E, and a path segment F, and the system compares the path segment a with the path segment D, the path segment E, and the path segment F, compares the path segment B with the path segment D, the path segment E, and the path segment F, and compares the path segment C with the path segment D, the path segment E, and the path segment F, respectively, to screen out the path segment where the first robot and the second robot have a conflict.
Step 306: and when the two end points of at least two path sections are the same and the directions are opposite, judging that the running paths of the target robot have conflict.
Specifically, the path is defined by an edge, which is defined by two points. If the two end points of the two path sections are the same, the two path sections are the same road, the motion direction of the target robot is judged at the moment, and if the motion directions of the two target robots are the same, no conflict exists; if the moving directions of the two target robots are opposite, the two target robots conflict.
The direction of the operation path is taken into consideration by the embodiment, and in the process of judging whether the path conflicts, if the motion directions of at least two target robots are the same, the current path can be operated, so that the target robots can realize the front-back following operation, the waiting time of the robots occupied by roads is reduced, and the work efficiency of the system is improved.
As shown in fig. 4, in one embodiment, when there is a conflict between the operation paths of at least two target robots, the operation paths of the at least two target robots are re-planned according to a preset path planning strategy, that is, step 106 includes the following steps 402 to 408:
step 402: determining conflicting path segments of the paths of travel of the at least two target robots.
When the running paths of at least two target robots have conflict, the paths of the target robots need to be re-planned, and at the moment, the conflict path sections of the running paths of at least two target robots are determined according to the conflict detection result. The conflict path section is a path section with the same end point and the opposite path direction.
Step 404: calculating a distance length to the collision path segment along the travel path of each target robot.
Judging the necessity of running through the current path by calculating the distance length to the conflict path section, and controlling the target robot to run to the conflict path section if the distance from the target robot to the conflict path section is long enough; if the distance between the target robot and the conflict path section is too short, removing the path section with conflict and planning the path again; the waiting time of the target robot can be saved, and the operating efficiency of the system can be increased;
step 406: and when the distance length is larger than a preset length value, updating the running path of the target robot to be the path reaching the conflict path segment.
Step 408: and when the distance length is less than or equal to a preset length value, replanning the running path of the conflict path segment for the target robot.
For example, the number of the path segments to be experienced when the target robot operates to the conflict path segment is judged, and if the number of the experienced path segments is greater than 2, the operation path of the target robot is updated to be the path operating to the conflict path segment; and if the number of the experienced path segments is less than or equal to 2, removing all conflict paths and planning the path again.
In one embodiment, step 408 includes: and selecting a preset path which passes through the starting point and the end point and excludes the conflict path section from preset map data according to the starting point and the end point of the task to be processed, which needs to be executed by the target robot, as the running path of the target robot.
As shown in fig. 5, a schematic flow chart of a method for planning a path of an AGV according to an embodiment includes:
step 501: and planning the running path of the AGV by using the offline path.
Step 502: taking the real-time position and attitude information of the other AGVs, detecting whether conflicts exist among the AGVs, and if the conflicts exist, executing step 503; if there is no conflict, step 506 is executed.
Step 503: checking whether the number of paths reaching the nearest conflict point is more than 2, if so, executing a step 505; if not, go to step 504.
Step 504: all conflicting paths are removed and step 501 is performed to plan the path again.
Step 505: the travel path of the AGV is the path to the nearest conflict point.
Step 506: and updating the occupation condition of the running path, binding the AGV and all paths to be run, and starting the AGV to run.
Step 507: and the AGV leaves the running path, removes the binding relationship, and releases the path and the path direction.
Step 508: judging whether the task is finished or not, if not, executing step 501; if so, go to step 509.
Step 509: the AGV is set to be in an idle state.
According to the AGV path planning method, on the basis of path distribution and occupation, the dimension occupied by the path direction is increased, the scheduling based on the path direction distribution is provided, and the AGV can run at high efficiency under the condition that the multiple AGVs are not blocked or collided.
Fig. 6 is a schematic diagram of a running track of AGVs in an embodiment, for example, fig. 6 shows a running track of 2 AGVs in a map, in which a path is a road capable of bidirectional passage. Specifically, in the initial state, AGV1 is traveling in the figure, i.e., about to travel the road 7-6-3-2-1. Further, AGV2 begins to run, planning an off-line path of 5-4-3-6-9-10. Further, the system starts to calculate whether there is a collision between the AGV2 and the AGV1, and compares the start point, the end point, and the direction of the path to determine whether there is a collision between the 3-6 or 6-3 paths. Further, the number of paths to the start node of the conflicting path is calculated along the travel path of AGV2, and two paths 5-4-3 are needed to reach the conflicting path, and is not greater than 2, then the path 3-6 is removed from the map, and whether the path from node 5 to node 10 can be planned or not can be found again, if not, waiting is performed, and if so, the conflict detection step is repeated. Further, the system issues the path to the AGV2 and the AGV2 begins operation.
According to the path planning method of the robot, the path direction is taken into consideration when the path of the robot is planned, so that the detection time of the operation conflict of the robot can be reduced, the path planning scheme is enriched, and the operation efficiency of the system is improved.
It should be understood that, although the steps in the above-described figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.
As shown in fig. 7, in one embodiment, a path planning apparatus for a robot is provided, which includes a path determining module 710, a collision detecting module 720, and a path planning module 730.
And a path determining module 710 for receiving the task to be processed and determining the operation path of the target robot based on the starting point and the end point in the task to be processed.
And a collision detection module 720, configured to determine the direction of the operation path of the target robot according to the movement direction of the target robot, and perform collision detection on the operation paths of at least two target robots based on the direction of the operation path.
And a path planning module 730, configured to re-plan the operation paths of the at least two target robots according to a preset path planning strategy when there is a conflict between the operation paths of the at least two target robots.
The path planning device of the robot receives a task to be processed, determines the operation path of the target robot based on a starting point and an end point in the task to be processed, determines the direction of the operation path of the target robot according to the motion direction of the target robot, detects the conflict of the operation paths of at least two target robots based on the direction of the operation paths, and replans the operation paths of at least two target robots according to a preset path planning strategy when the operation paths of at least two target robots have conflict. By the aid of the device, the path direction is taken into consideration when the robot is subjected to path planning, detection time of robot operation conflict can be shortened, a path planning scheme is enriched, and operation efficiency of the system is improved.
For the specific definition of the path planning apparatus for the robot, reference may be made to the above definition of the path planning method for the robot, and details are not described here. All or part of the modules in the path planning device of the robot can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The implementation of each module in the path planning apparatus for a robot provided in the embodiments of the present application may be in the form of a computer program. The computer program may be run on a terminal or a server. The program modules constituted by the computer program may be stored on the memory of the terminal or the server. The computer program, when executed by a processor, implements the steps of the method for path planning for a robot described in the embodiments of the present application.
Fig. 8 is a schematic diagram of the internal structure of the terminal in one embodiment. As shown in fig. 8, the terminal includes a processor, a memory, and a communication module connected through a system bus. Wherein, the processor is used for providing calculation and control capability and supporting the operation of the whole terminal. The memory is used for storing data, programs and the like, and the memory stores at least one computer program which can be executed by the processor to realize the path planning method of the robot suitable for the terminal provided by the embodiment of the application. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by a processor for implementing a method for planning a path of a robot provided in the following embodiments. The internal memory provides a cached execution environment for the operating system computer programs in the non-volatile storage medium. The communication module may be a 4G communication module, a WiFi communication module, or a COFDM communication module, etc., and is configured to communicate with an external communication transmission platform. The terminal may be an automated guided vehicle.
Those skilled in the art will appreciate that the configuration shown in fig. 8 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the terminal to which the present application is applied, and that a particular terminal may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform a method of path planning for a robot as described in the embodiments above.
The embodiment of the application also provides a computer program product. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of path planning for a robot as described in the various embodiments above.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented using a software program, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (7)
1. A method for planning a path of a robot, comprising:
receiving a task to be processed, and determining a running path of a target robot based on a starting point and an end point in the task to be processed;
determining the direction of the running path of the target robot according to the moving direction of the target robot, and performing collision detection on the running paths of at least two target robots based on the direction of the running path; the method comprises the following steps: acquiring nodes through which the running paths of the at least two target robots pass, and dividing path sections according to the nodes; sequentially comparing two end points of each path section and the direction of the path section; when two end points of at least two path sections are the same and the directions are opposite, judging that the running paths of the target robot have conflict;
when the running paths of at least two target robots have conflict, the running paths of the at least two target robots are re-planned according to a preset path planning strategy; the method comprises the following steps: determining conflicting path segments of the travel paths of the at least two target robots; calculating a distance length to the collision path segment along the travel path of each target robot; when the distance length is larger than a preset length value, updating the running path of the target robot to be the path reaching the conflict path section; and when the distance length is less than or equal to a preset length value, replanning the running path of the conflict path segment for the target robot.
2. The method of claim 1, wherein the receiving a task to be processed, determining a path of travel of a target robot based on a start point and an end point in the task to be processed, comprises:
reading starting point information and end point information in the task to be processed;
and determining a starting point and an end point of the target robot according to the starting point information and the end point information, and selecting a preset path passing through the starting point and the end point from preset map data as a running path of the target robot.
3. The method of claim 1, wherein said re-planning the travel path for the target robot excluding the conflicting path segment comprises:
and selecting a preset path which passes through the starting point and the end point and excludes the conflict path section from preset map data according to the starting point and the end point of the task to be processed, which needs to be executed by the target robot, as the running path of the target robot.
4. A method according to any one of claims 1 to 3, comprising:
when a target robot starts to operate, binding the target robot with an operation path thereof to occupy the operation path;
releasing the path of travel when the target robot leaves the path of travel.
5. A path planning apparatus for a robot, comprising:
the path determining module is used for receiving a task to be processed and determining the running path of the target robot based on a starting point and an end point in the task to be processed;
the collision detection module is used for determining the direction of the running path of the target robot according to the movement direction of the target robot and carrying out collision detection on the running paths of at least two target robots based on the direction of the running path; the method comprises the following steps: acquiring nodes through which the running paths of the at least two target robots pass, and dividing path sections according to the nodes; sequentially comparing two end points of each path section and the direction of the path section; when two end points of at least two path sections are the same and the directions are opposite, judging that the running paths of the target robot have conflict;
the path planning module is used for replanning the operation paths of the at least two target robots according to a preset path planning strategy when the operation paths of the at least two target robots have conflict; the method comprises the following steps: determining conflicting path segments of the travel paths of the at least two target robots; calculating a distance length to the collision path segment along the travel path of each target robot; when the distance length is larger than a preset length value, updating the running path of the target robot to be the path reaching the conflict path section; and when the distance length is less than or equal to a preset length value, replanning the running path of the conflict path segment for the target robot.
6. A terminal, comprising a memory and a processor, the memory having stored thereon a computer program that, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1 to 4.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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