CN110244711A - Robot path planning's system and method, computer readable storage medium, device - 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
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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Abstract
The present invention relates to intelligent carriage control technology fields, specifically a kind of robot path planning's system and method, computer readable storage medium, device, the planning system includes mapping module, weight setting module, path planning module, vehicle-mounted receiving module, planing method is specially to assign weight respectively according to workload to each path line, and judge optimal walking path according to the weights sum of path-line between starting point and terminal；Compared to the prior art, for path-line the present invention assigns dynamic weight, shortest path is made to happen variation according to actual traffic, and robot is made to select most efficient path always, improves working efficiency, effectively evades risk of collision.
Description
Technical field
The present invention relates to intelligent carriage control technology field, specifically a kind of robot path planning's system and side
Method, computer readable storage medium, device.
Background technique
Currently, in industrial production scene, when intelligent forklift executes task, need one from current location to target position
Shortest path.But increasing with vehicle, especially at the parting of the ways or in relatively narrow tunnel, under quiescent conditions most
Short path is not necessarily the shortest path in practical walking, and the common method of the prior art is that fixed weight is assigned for path, path power
Value is constant value, and directly use can not accomplish the path planning of dynamic flexible, leads to low efficiency.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of robot path planning's systems
And method, computer readable storage medium, device.The problem of aiming to solve the problem that static path planning low efficiency in the prior art.
In order to achieve the above object, this invention takes following technical schemes:
The present invention provides a kind of robot path planning's system, comprising:
Mapping module is stored with several path points and path-line in the mapping module；
Weight setting module, for detecting the working condition of several path-lines, and according to the work of the path-line
The weight of every path-line is arranged in state；
Path planning module, according to the weight of path-line described in every, plan, store and send two path points it
Between optimal walking path；
Vehicle-mounted receiving module is respectively provided in several robots, for receiving the optimal walking path and controlling machine
People moves along the optimal walking path.
Further, dry state symbol unit is additionally provided in the path planning module, the dry state symbol unit is used for will
Several path-lines that current robot will walk are labeled as fixed route line, and the fixed route line and fixed route point are not
By weight influenced to walking path.
The present invention also provides a kind of robot path planning methods, comprising:
Obtain starting point, target point, the path-line and weight；
Plan the walking path set between the starting point and the target point；
Based on weight, determine that the walking path for meeting the first preset condition is optimal walking path and stores.
Further, first preset condition are as follows: the walking path collection between the starting point and the target point
In conjunction, total weight value is minimum.
Further, further includes:
The robot walks according to the optimal walking path, before the robot reaches the target point, if
The path-line weight variation that presently described optimal walking path included will walk, then planning is i.e. by starting point to the target
The optimal walking path of point simultaneously stores.
Further, further includes:
If the path-line weight variation in current non-walking optimal storage path, relatively more current optimal walking path and weight
The total weight value in the current non-walking optimal storage path of variation, the current optimal walking path of the small conduct of total weight value.
Further, the weight of the path-line is positively correlated with its current task amount.
Further, further includes: by presently described optimal walking path walk in several path-lines and path point lock, quilt
The path-line and path point of locking will not generate other tasks.
Further, the total weight value of the optimal walking path need to be less than or equal to the preset weights upper limit, if more than then needing
Again the optimal walking path is planned.
The present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, when processor is read
When the computer readable storage medium, as above any robot path planning method is executed.
The present invention also provides a kind of robot path planning's devices, comprising:
Mapping module stores the path-line and path point in the mapping module；
Module is obtained, the acquisition module obtains starting point, target point, path-line and path point；
Weight setting module, the weight setting module updates and setting weight；
Path planning module, the path planning module change Dynamic Programming and store path according to weight.
Compared with prior art, the present invention assigning dynamic weight for path-line, make shortest path according to actual traffic feelings
Condition changes, and robot is made to select optimal walking path always, improves working efficiency, effectively evades risk of collision.
Detailed description of the invention
Fig. 1 is scene map schematic diagram of the present invention；
Fig. 2 is second embodiment of the invention the method flow chart.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described, it should be understood that preferred embodiment described herein is only used
In the description and interpretation present invention, it is not intended to limit the present invention.
Embodiment 1
The present embodiment provides a kind of robot path planning's systems, comprising:
Mapping module is stored with several path points and path-line in the mapping module；
Weight setting module, for detecting the working condition of several path-lines, and according to the work of the path-line
The weight of every path-line is arranged in state；
Path planning module, according to the weight of path-line described in every, Dynamic Programming, storage simultaneously send two paths
Optimal walking path between point；
Vehicle-mounted receiving module is respectively provided in several robots, for receiving the optimal walking path and controlling machine
People moves along the optimal walking path.
Dry state symbol unit is additionally provided in the path planning module, the dry state symbol unit is used for current robot
Several path-lines that will be walked are labeled as fixed route line, and the fixed route line is the road to be walked not influenced by weight
Diameter.
Specifically, the mapping module provides operative scenario map and is given to other modules, the operative scenario map referring to
Attached drawing 1 mainly includes the path point and path-line information.
The workflow of system are as follows: the path-line and path point composition of the robot in the operative scenario
Walk on path, execute task, the weight setting module sets initial weight to the path-line, in the path-line or
When the state of path point changes, the weight setting module dynamic updates the weight of the path-line；And the robot is held
Optimal walking path used by row task is that the path planning module is based on mapping module and weight setting module is advised
It draws, and during the robot ambulation, is walked according to the weight setting module to the update Dynamic Programming of weight
Path determines optimal walking path, and the optimal walking path is sent to vehicle-mounted receiving module, the vehicle-mounted receiving module
The robot is controlled to walk according to the optimal walking path received.
After the path planning module plans optimal walking path, because might have described in others in operative scenario
Robot, in order to ensure the task of a certain specific robot can be completed within a certain period of time, or certain special
In the case of, can mark several path-lines in the optimal walking path of the specific robot is fixed route line, described solid
The fixed route line can not be planned for by determining path-line other robots before the specific robot does not walk
In its corresponding walking path.
It is understood that the system also includes scheduling moulds in the case where having multiple robots in operative scenario
Block.
Embodiment 2
The present embodiment provides a kind of robot path planning methods.
Referring to fig. 2, the robot path planning method includes: to obtain starting point, target point, the path-line and power
Value；
Plan the walking path set between the starting point and the target point；
Based on weight, determine that the walking path for meeting the first preset condition is optimal walking path and stores.
With reference to Fig. 1, illustratively, the robot that number is 1, which obtains, is located at A point, needs to go to E point, then, described
Initial point is A point, and target point is E point；Planning is from A point to the walking path set of E point, i.e. A-1-B-2-C-3-D-4-E, A-1-B-
2-C-3-D-8-I-13-J-9-E, A-5-F-10-G-11-H-12-I-13-J-9-E etc. are then based on weight, will meet
The walking path of one preset condition is determined as optimal walking path and stores.
First preset condition can be in the walking path set between the starting point and the target point, always
Weight is minimum, and in the present embodiment, the weight of the path-line is positively correlated with its current task amount, illustratively, every institute
The initial weight for stating path-line is 1, then the total weight value of A-1-B-2-C-3-D-4-E is 4, and other walking paths
Total weight value is all larger than 4, then A-1-B-2-C-3-D-4-E is optimal walking path and saves, and completes the path planning at current time.
First preset condition can be other conditions, can be selected according to different weight rules, such as,
Being also possible to the maximum walking path of total weight value is optimal walking path, and in this preset condition, weight may be for according to speed
Degree is configured, and big weight represents speed of the robot on the path-line can be bigger.
In order to improve the machine task efficiency, when determining the optimal walking path, also need to be judged have
Body, the total weight value of the optimal walking path need to be less than or equal to the preset weights upper limit, if more than then needing to plan again described
Optimal walking path.
Illustratively, the robot that number is 1 walks from A point to E point, if the setting preset weights upper limit is 15, that
Also some walking paths are just eliminated, avoiding the robot is being more than the walking path row of the preset weights
It walks and inefficiency.Correspondingly, upper limit value also can be set in the weight of path-line described in single.
So first preset condition can be other conditions, that is, include: the starting point and the target point it
Between walking path set in, total weight value is minimum, and total weight value is less than or equal to the preset weights upper limit.
The robot path planning method, further includes: the robot walks according to the optimal walking path, in institute
Before stating the robot arrival target point, if the path-line weight that will be walked that presently described optimal walking path includes becomes
Change, then planning will starting point to the target point optimal walking path and store.Will starting point be weight variation
Distance described in the current nearest path point of robot or on the direction that the robot advances described in current distance
The nearest path point of robot.
Illustratively, the robot that number is 1 is from A point according to optimal walking path A-1-B-2-C-3-D-4-E row
During going to E point, the robot ambulation is on the path-line 1, synchronization, has another volume at the path-line 4
It number is passed by for 8 robot, at this point, the weight of the path-line 4 change, it is 5 from 1 variation, that is, presently described optimal walking road
The path-line weight variation that diameter included will walk, then starting to plan the optimal walking i.e. by starting point to the target point
Path simultaneously stores, and the starting point is the path point B at this time, that is, plans from the path point B to the target location E most
Excellent walking path, and as above, it is first determined from the path point B to the collection of all walking paths of the target location E
It closes, including last moment, the optimal walking path used by the robot that number is 1 is from the path point B
To the walking path of the target location, at this point, the total weight value of the walking path has been updated to 7, and B-2-C-3-D-8-I-
13-J-9-E, the total weight value of this paths are 5, therefore, for the robot for being 1 at this point for the number, from the road
The optimal path of the optimal walking path of diameter point B to the target location E is B-2-C-3-D-8-I-13-J-9-E.
In the case of other, the robot can move ahead still along the current optimal walking path, i.e., along path
B-2-C-3-D, if robot weight of the path-line 4 at the time of path-line 3 remains as 5, then planning from
Will starting point described in path point D be planned for the optimal walking path of path point 5 described in the target point.
Robot path planning method further include: if the path-line weight variation in current non-walking optimal storage path,
Compare the total weight value in the current non-walking optimal storage path of current optimal walking path and weight variation, the small conduct of total weight value
Current optimal walking path.
The current non-walking optimal storage path is to be confirmed as optimal walking path but current time at the moment before
The optimal walking path that the robot does not use.
Illustratively, the robot that number is 1 is from A point according to optimal walking path A-1-B-2-C-3-D-4-E row
During going to E point, the robot ambulation is on the path-line 2, synchronization, the walking on the path-line 4
The robot that another number is 8 has walked onto the path-line 9, and the right value update of the path-line 4 is 1, at this point, institute
Stating i.e. is C point by starting point, and planning is from the path point C to the optimal walking path of the target location E, and as above,
It is determined first from the path point C to the set of all walking paths of the target location E, including the current non-row
The C-3-D-4-E in the A-1-B-2-C-3-D-4-E of optimal storage path is walked, the total weight value of C-3-D-4-E is 2 at this time, currently most
The total weight value of excellent walking path C-3-D-8-I-13-J-9-E is 4, therefore, for the robot for being 1 at this point for the number,
It is C-3-D-4-E from the path point C to the optimal path of the optimal walking path of the target location E.
Assuming that hereafter weight variation does not occur again for the path C-3-D-4-E.
So final, the robot that number is 1 is from A point to the optimal walking path of E point are as follows: A-1-B-2-C-3-D-
4-E。
The robot according to most walking path walking go to the target point during, can by it is presently described most
Excellent walking path walk in several path-lines and path point locking, the locked path-line and path point will not generate other
Task.
Illustratively, currently, the robot that number is 1 is located on the path point C, goes to the target point E's
Current optimal walking path is C-3-D-4-E, then the 3-D-4-E can be locked, in this way, other robot without
Method by the path point D, the path point E, there are also any one in path point 3 and path point 4 to be planned for its walking road
In diameter.
It is further preferable that will walk the 3 bar path-line quilt in the current walking path of the robot planning
Locking, the weight of 3 path-lines locked will not change, and other described robots can not plan this 3
The path point at the path-line and its both ends；At this point, the described path-line weight variation that will be walked be only possible to be away from
Wherein one path point in 3 farthest path-lines of position from presently described robot, then this road
Diameter point may for will starting point；Alternatively, will starting point be that robot described in the distance of weight variation is current nearest
The path point.
Illustratively, the robot that number is 1 is from A point according to optimal walking path A-1-B-2-C-3-D-4-E-9-
During J-18-O walking to O point, presently described robot is located at A point, can lock, 1-B-2-C-3-D, other described machines
Because the path-line 1,2,3 is locked against the described of the planning path-line 1,2,3 and both ends when device people's planning path
Path point B, C, D；If meanwhile the weight of the path-line 4 changes, then, the robot that number is 1 by planning i.e.
By starting point D to the target point O optimal walking path.
If the when path-line 11 of weight variation occurs at this time, then will plan will for the robot that number is 1
Starting point J to the target point O optimal walking path.It is understood that when the robot does not walk to J point, than
Such as, current time, the robot is located at the path point D point, and the weight of the path-line 18 changes, the machine
People can plan that D point to the optimal walking path of the target point O point, can also wait the robot ambulation to arrive with current time
J point, then plan optimal walking path described in optimal walking path of the J point to the target point O point.
Embodiment 3
The present embodiment provides a kind of computer readable storage mediums, are stored thereon with computer program, when processor is read
When the computer readable storage medium, robot path planning method as described above is executed.
Embodiment 4
The present embodiment provides a kind of robot path planning's devices, comprising:
Mapping module stores the path-line and path point in the mapping module；
Module is obtained, the acquisition module obtains starting point, target point, path-line and path point；
Weight setting module, the weight setting module updates and setting weight；
Path planning module, the path planning module change Dynamic Programming and store path according to weight.
Robot path planning's device realizes the active path planning of robot.
Compared with prior art, the present invention assigning dynamic weight for path-line, make optimal walking path according to practical friendship
Understanding and considerate condition changes, and robot is made to select most efficient walking path always, improves working efficiency, effectively evades collision danger
Danger.
Claims (10)
1. a kind of robot path planning's system characterized by comprising
Mapping module is stored with several path points and path-line in the mapping module；
Weight setting module, for detecting the working condition of several path-lines, and according to the working condition of the path-line
The weight of every path-line is set；
Path planning module, according to the weight of path-line described in every, Dynamic Programming, storage and send two path points it
Between optimal walking path；
Vehicle-mounted receiving module is respectively provided in several robots, for receiving the optimal walking path and controlling Robot
The optimal walking path it is mobile.
2. a kind of robot path planning method characterized by comprising
Obtain starting point, target point, the path-line and weight；
Plan the walking path set between the starting point and the target point；
Based on weight, determine that the walking path for meeting the first preset condition is optimal walking path and stores.
3. a kind of robot path planning method according to claim 2, which is characterized in that first preset condition
Are as follows: in the walking path set between the starting point and the target point, total weight value is minimum.
4. a kind of robot path planning method according to claim 3, which is characterized in that further include:
The robot walks according to the optimal walking path, before the robot reaches the target point, if currently
The path-line weight variation that the optimal walking path included will walk, then planning is i.e. by starting point to the target point
Optimal walking path simultaneously stores.
5. a kind of robot path planning method according to claim 4, which is characterized in that further include:
If the path-line weight variation in current non-walking optimal storage path, relatively more current optimal walking path and weight change
Current non-walking optimal storage path total weight value, the current optimal walking path of the small conduct of total weight value.
6. a kind of robot path planning method according to claim 2, which is characterized in that the weight of the path-line with
Its current task amount is positively correlated.
7. a kind of robot path planning method according to claim 2, which is characterized in that further include: it will be presently described
Optimal walking path walk in several path-lines and path point locking, the locked path-line and path point will not generate it
His task.
8. a kind of robot path planning method according to claim 2, which is characterized in that the optimal walking path
Total weight value need to be less than or equal to the preset weights upper limit, if more than then needing to plan the optimal walking path again.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that described in being read when processor
When computer readable storage medium, the robot path planning method as described in claim 2-8 is executed.
10. a kind of robot path planning's device characterized by comprising
Mapping module stores the path-line and path point in the mapping module；
Module is obtained, the acquisition module obtains starting point, target point, path-line and path point；
Weight setting module, the weight setting module updates and setting weight；
Path planning module, the path planning module change Dynamic Programming and store path according to weight.
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