CN110394800A - A kind of barrier-avoiding method and system of multiple robots - Google Patents
A kind of barrier-avoiding method and system of multiple robots Download PDFInfo
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- CN110394800A CN110394800A CN201910620093.0A CN201910620093A CN110394800A CN 110394800 A CN110394800 A CN 110394800A CN 201910620093 A CN201910620093 A CN 201910620093A CN 110394800 A CN110394800 A CN 110394800A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses the barrier-avoiding methods and system of a kind of multiple robots, the status information of robot, each of multiple robots is obtained in real time, according to the status information of each robot, the target robot and target obstacle-avoidance area corresponding with target robot needed into obstacle-avoidance area is determined.It controls remaining ordinary robot in addition to target robot and stops traveling, and control target robot into corresponding target obstacle-avoidance area, so that target robot is entered target obstacle-avoidance area and hidden, destination channel is conceded.After determining that target robot enters corresponding target obstacle-avoidance area, all ordinary robots are controlled to travel again, and it is all driven through after destination channel corresponds to the target meeting area of target obstacle-avoidance area in all ordinary robots, all target robots traveling in target obstacle-avoidance area is controlled into destination channel and according into the route running pre-planned before target obstacle-avoidance area, realizes that multiple robot securities are effectively current.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of the barrier-avoiding method and system of multiple robots.
Background technique
With the continuous progress of science and technology, field in intelligent robotics is developed rapidly.Since intelligent robot can replace
For workers carry's material, is conducive to save manpower, reduces cost, handling efficiency is improved, so that intelligent robot is answered extensively
For in logistic storage and intelligent plant production line.Generally, since the space of storage or factory floor is limited, usually only it is arranged and permits
Perhaps the destination channel of robot traveling, so that robot travels on the destination channel.However, on the destination channel also
The case where will appear two or more robots while carrying material.How to realize that multiple robot securities efficiently travel is this
Field technical staff technical problem urgently to be resolved.
Summary of the invention
The embodiment of the present invention provides the barrier-avoiding method and system of a kind of multiple robots, to realize multiple robot securities
Efficient traveling.
The embodiment of the invention provides a kind of barrier-avoiding method of multiple robots, each of the multiple robot machines
Device people is according to corresponding route running pre-planned in same destination channel；At least side of the destination channel is arranged
There is at least one obstacle-avoidance area；
The barrier-avoiding method includes:
Status information of the robot described in each of multiple robots in the destination channel is obtained in real time；Its
In, the status information includes: position and driving direction of the robot in the destination channel；
According to the status information of robot described in each, determine need into obstacle-avoidance area target robot and with
The corresponding target obstacle-avoidance area of the target robot；
It controls all ordinary robots in addition to the target robot and stops traveling, and control the target robot
Into the corresponding target obstacle-avoidance area；
After determining that all target robots fully enter the corresponding target obstacle-avoidance area, control all described
Ordinary robot continues to travel according to the corresponding route pre-planned, and all leads in all ordinary robots
After crossing the target meeting area that the destination channel corresponds to the target obstacle-avoidance area, all target robot travelings are controlled
Continue to travel into the destination channel and according to the corresponding route pre-planned.
Optionally, in embodiments of the present invention, robot described in each of multiple robots is obtained in real time described
After the status information in the destination channel, and in the status information according to robot described in each, determine need into
Before the target robot and the target obstacle-avoidance area corresponding with the target robot that enter obstacle-avoidance area, further includes:
Whether the driving direction that judgement travels on multiple robots in the same destination channel is all the same；
The status information according to robot described in each, determine need target robot into obstacle-avoidance area with
And target obstacle-avoidance area corresponding with the target robot, comprising:
When the driving direction for judging the multiple robot is not all the same, according to the traveling of robot described in each
Direction, determine the robot travelled along first extending direction and the robot that is travelled along second extending direction whether be
Opposite traveling；Wherein, the multiple robot includes: the M robot travelled along the first extending direction of the destination channel
With N number of robot of the second extending direction traveling along the destination channel；Wherein, first extending direction and described second
Extending direction is opposite；M is positive integer, and N is positive integer；
If so, determining the target needed into the obstacle-avoidance area respectively according to the position of robot described in each
Robot and target obstacle-avoidance area corresponding with the target robot.
Optionally, in embodiments of the present invention, the position according to robot described in each, respectively determine need into
Enter the obstacle-avoidance area target robot and the obstacle-avoidance area corresponding with the target robot, comprising:
According to the position of robot described in each, the determining obstacle-avoidance area in front of the robot driving direction is most
Close robot；
According to the robot nearest apart from the obstacle-avoidance area, by the nearest machine of obstacle-avoidance area described in the distance determined
People and robot identical with the robot driving direction nearest apart from the obstacle-avoidance area are determined as the target robot；
Different obstacle-avoidance areas is corresponded to according to the different target robots, determining and each target robot distance is most
Close obstacle-avoidance area is the corresponding target obstacle-avoidance area of the target robot.
Optionally, in embodiments of the present invention, the status information further include: the speed of the robot；
The status information according to robot described in each, determine need target robot into obstacle-avoidance area with
And target obstacle-avoidance area corresponding with the target robot, comprising:
When the driving direction for judging the multiple robot is all the same, according to the driving direction of robot described in each
With speed, determine whether arbitrary neighborhood Liang Ge robot meets in same predetermined position；
If so, using the previous robot in the Liang Ge robot that the predetermined position is met as target machine
People, and according to the position of the target robot, determine target obstacle-avoidance area corresponding with the target robot.
Optionally, in embodiments of the present invention, the position according to the target robot, the determining and target machine
The corresponding target obstacle-avoidance area of device people, comprising:
Different obstacle-avoidance areas is corresponded to according to the different target robots, determining and each target robot distance is most
Close obstacle-avoidance area is the corresponding target obstacle-avoidance area of the target robot.
Optionally, in embodiments of the present invention, all ordinary robots of the control in addition to the target robot
Stop traveling, comprising:
Determining the distance satisfaction between a nearest ordinary robot of distance and a target robot
When pre-determined distance range, controls all ordinary robots and stop traveling.
Optionally, in embodiments of the present invention, described to obtain robot described in each of multiple robots in real time and exist
Status information in the destination channel, comprising:
The sensor unit of each robot collected sensing data in real time is obtained in real time；Wherein, the biography
Sensor data include the status information.
The embodiment of the invention also provides a kind of obstacle avoidance system of multiple robots, each of the multiple robots
Robot is according to corresponding route running pre-planned in same destination channel；At least side of the destination channel is set
It is equipped at least one obstacle-avoidance area；
The obstacle avoidance system includes:
Acquiring unit, for obtaining robot described in each of multiple robots in real time in the destination channel
Status information；Wherein, the status information includes: position and driving direction of the robot in the destination channel；
Determination unit determines the mesh needed into obstacle-avoidance area for the status information according to robot described in each
Scalar robot and target obstacle-avoidance area corresponding with the target robot；
First control unit stops traveling for controlling all ordinary robots in addition to the target robot, and
The target robot is controlled into the corresponding target obstacle-avoidance area；
Second control unit, for determining that all target robots fully enter corresponding target avoidance area
Behind domain, controls all ordinary robots and continue to travel according to the corresponding route pre-planned, and in all institutes
After stating the target meeting area that ordinary robot all corresponds to the target obstacle-avoidance area by the destination channel, control is all
The target robot traveling enters the destination channel and continues to travel according to the corresponding route pre-planned.
Optionally, in embodiments of the present invention, further includes: judging unit, for judging that travelling on the same target leads to
Whether the driving direction of multiple robots in road is all the same；
The determination unit is specifically used for when the driving direction for judging the multiple robot is not all the same, according to every
The driving direction of one robot determines the robot travelled along first extending direction and along the second extension side
It whether is to travel in opposite directions to the robot of traveling；Wherein, the multiple robot includes: to extend along the first of the destination channel
N number of robot that M robot of direction running is travelled with the second extending direction along the destination channel；Wherein, described
One extending direction is opposite with second extending direction；M is positive integer, and N is positive integer；If so, according to machine described in each
The position of device people determines need into the target robot of the obstacle-avoidance area and corresponding with the target robot respectively
Target obstacle-avoidance area.
Optionally, in embodiments of the present invention, the determination unit is specifically used for the position according to robot described in each
It sets, the nearest robot of the determining obstacle-avoidance area in front of the robot driving direction；According to apart from the avoidance
The nearest robot in region, by the nearest robot of obstacle-avoidance area described in the distance determined and with apart from the obstacle-avoidance area
The nearest identical robot of robot driving direction is determined as the target robot；According to the different target robots pair
Different obstacle-avoidance areas is answered, it is determining corresponding for the target robot apart from nearest obstacle-avoidance area with each target robot
Target obstacle-avoidance area.
Optionally, in embodiments of the present invention, the status information further include: the speed of the robot；
The determination unit is specifically used for when the driving direction for judging the multiple robot is all the same, according to each
The driving direction and speed of the robot, determine whether arbitrary neighborhood Liang Ge robot meets in same predetermined position；If
Be, then using the previous robot in the Liang Ge robot that the predetermined position is met as target robot, and according to
The position of the target robot determines target obstacle-avoidance area corresponding with the target robot.
Optionally, in embodiments of the present invention, the determination unit is specifically used for according to the different target robots pair
Different obstacle-avoidance areas is answered, it is determining corresponding for the target robot apart from nearest obstacle-avoidance area with each target robot
Target obstacle-avoidance area.
Optionally, in embodiments of the present invention, the first control unit is used to determine apart from described in nearest one
When the distance between ordinary robot and a target robot meet pre-determined distance range, all common machines are controlled
Device people stops traveling.
Optionally, in embodiments of the present invention, the acquiring unit is used to obtain the sensing of each robot in real time
Device unit collected sensing data in real time；Wherein, the sensing data includes the status information.
The present invention has the beneficial effect that:
The barrier-avoiding method and system of multiple robots provided in an embodiment of the present invention can obtain in real time in multiple robots
Each robot status information, needed with determining according to the status information of each robot into obstacle-avoidance area
Target robot and target obstacle-avoidance area corresponding with target robot.Later, remaining of control in addition to target robot
Ordinary robot stops traveling, and controls target robot into corresponding target obstacle-avoidance area, can make target robot into
Enter target obstacle-avoidance area to be hidden, destination channel is conceded.In this way determine target robot enter corresponding target keep away
After hindering region, it can control all ordinary robots and travel again, and all drive through target in all ordinary robots and lead to
After road corresponds to the target meeting area of target obstacle-avoidance area, all target robots controlled in target obstacle-avoidance area travel entrance
Destination channel is simultaneously travelled according into the route pre-planned before target obstacle-avoidance area.In this way by destination channel
At least side be arranged obstacle-avoidance area, partial robotic can be made to enter in obstacle-avoidance area, will destination channel to be conceded, thus
Realize that multiple robot securities effectively pass through on the destination channel that a robot can only can be allowed to pass through at the same time.
Detailed description of the invention
Fig. 1 is the flow chart of barrier-avoiding method provided in an embodiment of the present invention；
Fig. 2 is a kind of overlooking structure diagram of destination channel and obstacle-avoidance area provided in an embodiment of the present invention；
Fig. 3 is the overlooking structure diagram of another destination channel and obstacle-avoidance area provided in an embodiment of the present invention；
Fig. 4 is the overlooking structure diagram of another destination channel and obstacle-avoidance area provided in an embodiment of the present invention；
Fig. 5 is the overlooking structure diagram of another destination channel and obstacle-avoidance area provided in an embodiment of the present invention；
Fig. 6 a to Fig. 6 c is respectively a kind of current structural schematic diagram of multiple robots provided in an embodiment of the present invention；
Fig. 7 is the specific flow chart of barrier-avoiding method provided in an embodiment of the present invention；
Fig. 8 a to Fig. 8 c is respectively the current structural schematic diagram of the multiple robots of another kind provided in an embodiment of the present invention；
Fig. 9 is overlooking structure diagram when a kind of multiple robots provided in an embodiment of the present invention move in the same direction；
Figure 10 is overlooking structure diagram when the multiple robots of another kind provided in an embodiment of the present invention move in the same direction；
Figure 11 a to Figure 11 c is respectively a kind of current structural schematic diagram of multiple robots provided in an embodiment of the present invention；
Figure 12 is the structural schematic diagram of obstacle avoidance system provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Attached drawing, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this hair
Bright a part of the embodiment, instead of all the embodiments.And in the absence of conflict, the embodiment and reality in the present invention
The feature applied in example can be combined with each other.Based on described the embodiment of the present invention, those of ordinary skill in the art are being not necessarily to
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
Unless otherwise defined, the technical term or scientific term that the present invention uses should be tool in fields of the present invention
The ordinary meaning for thering is the personage of general technical ability to be understood." first ", " second " used in the present invention and similar word are simultaneously
Any sequence, quantity or importance are not indicated, and are used only to distinguish different component parts." comprising " or "comprising" etc.
Similar word means that the element or object before the word occur covers the element or object for appearing in the word presented hereinafter
And its it is equivalent, and it is not excluded for other elements or object.The similar word such as " connection " or " connected " is not limited to physics
Or mechanical connection, but may include electrical connection, it is either direct or indirectly.
It should be noted that the size and shape of each figure do not reflect actual proportions in attached drawing, purpose is schematically illustrate
The content of present invention.And same or similar label indicates same or similar element or has same or like function from beginning to end
The element of energy.
The embodiment of the invention provides a kind of barrier-avoiding methods of multiple robots, wherein each in multiple robot
A robot according to corresponding route running pre-planned in same destination channel, and at least the one of the destination channel
Side is provided at least one obstacle-avoidance area.
As shown in Figure 1, the barrier-avoiding method of multiple robots provided in an embodiment of the present invention, may include steps of:
S100, status information of the robot, each of multiple robots in destination channel is obtained in real time；Wherein, shape
State information includes: position and driving direction of the robot in destination channel；
S200, the status information according to each robot, determine need into obstacle-avoidance area target robot and
Target obstacle-avoidance area corresponding with target robot；
S300, all ordinary robots of the control in addition to target robot stop traveling, and control target robot into
Enter corresponding target obstacle-avoidance area；
S400, after determining that all target robots fully enter corresponding target obstacle-avoidance area, control all common machines
Device people continues to travel according to corresponding route pre-planned, and all corresponding by destination channel in all ordinary robots
Behind the target meeting area of target obstacle-avoidance area, controls all target robot travelings and enter destination channel and according to corresponding pre-
The route first planned continues to travel.
The barrier-avoiding method of multiple robots provided in an embodiment of the present invention can obtain each in multiple robots in real time
The status information of a robot, to determine the target machine needed into obstacle-avoidance area according to the status information of each robot
Device people and target obstacle-avoidance area corresponding with target robot.Later, remaining common machine of control in addition to target robot
Device people stops traveling, and controls target robot into corresponding target obstacle-avoidance area, target robot can be made to enter target
Obstacle-avoidance area is hidden, and destination channel is conceded.Determining target robot into corresponding target obstacle-avoidance area in this way
Afterwards, all ordinary robots be can control to travel again, and all drive through destination channel in all ordinary robots and correspond to
Behind the target meeting area of target obstacle-avoidance area, all target robots traveling controlled in target obstacle-avoidance area is logical into target
Road is simultaneously travelled according into the route pre-planned before target obstacle-avoidance area.In this way by destination channel at least
Obstacle-avoidance area is arranged in side, partial robotic can be made to enter in obstacle-avoidance area, destination channel is conceded, so as at the same time
Realize that multiple robot securities effectively pass through on the destination channel that a robot can only be allowed to pass through.
Illustratively, in the specific implementation, in embodiments of the present invention, each robot has road pre-planned
Line, to be travelled according to route pre-planned, to execute task.In the process of moving, these robots are corresponding pre-
The route first planned might have the region of overlapping, and the region of the overlapping can be used as above-mentioned destination channel.Illustratively, should
Destination channel can be whole route pre-planned, or the partial region in route pre-planned, herein
It is not construed as limiting.
Illustratively, in the specific implementation, in embodiments of the present invention, the number of the robot of same destination channel is travelled on
Amount can be 2,3,4,5 etc., this needs to design determination according to actual application environment, be not limited thereto.
Illustratively, in the specific implementation, in embodiments of the present invention, as shown in Fig. 2, destination channel L can have
One extending direction F1 (direction of F1 arrow meaning) and the second extending direction F2 (direction of F2 arrow meaning), the first extending direction
F1 is opposite and parallel with the second extending direction F2.If the quantity for travelling on the robot of same destination channel is 2, Ke Nengyou
First Robot the first extending direction F1 traveling, second Robot the second extending direction F2 traveling.Lead to this in this way
Liang Ge robot, which will appear, to be at loggerheads, and does not give in mutually, can not all pass through so as to cause any one robot, causes locked problem.
An obstacle-avoidance area can be set in this way, so that first robot enters the obstacle-avoidance area, concede mesh for second robot
Mark channel.After second robot drives through the obstacle-avoidance area for being provided with robot, then first robot is allowed to sail again
Enter destination channel to be travelled, so as to safely and efficiently make the two robots pass through destination channel.
If the quantity for travelling on the robot of same destination channel is 3, possible there are two Robots first to extend
Direction running, the second extending direction of third Robot traveling.An obstacle-avoidance area can be set in this way, so that wherein third
A robot enters the obstacle-avoidance area, concedes destination channel for other two robot.Or Liang Ge avoidance area also can be set
Target is conceded for third robot so that the Liang Ge robot along the first extending direction traveling respectively enters obstacle-avoidance area in domain
Channel.Or three obstacle-avoidance areas also can be set, to choose two obstacle-avoidance areas for travel along the first extending direction two
Robot enters, and concedes destination channel for third robot.
If the quantity for travelling on the robot of same destination channel is 4, possible there are two Robots first to extend
Direction running, the second extending direction of another two Robot traveling.Two obstacle-avoidance areas can be set in this way, so as to prolong along first
The Liang Ge robot for stretching direction running respectively enters obstacle-avoidance area, concedes destination channel for other two robot.Or it can also
Three obstacle-avoidance areas are arranged, entered with choosing two obstacle-avoidance areas for the Liang Ge robot travelled along the first extending direction, from
It and is that other two robot concedes destination channel.Certainly, in practical applications, the quantity of obstacle-avoidance area can be according to actually answering
Determination is designed with environment, is not limited thereto.
In the specific implementation, in embodiments of the present invention, at least one avoidance can be set in the same side of destination channel
Region.Illustratively, as shown in Figure 2 and Figure 3, destination channel L has opposite the first side C1 and second side C2.Illustratively,
As shown in Fig. 2, an obstacle-avoidance area BQ can be arranged in the first side C1 of destination channel L.As shown in figure 3, can be logical in target
Two obstacle-avoidance area BQ are arranged in the first side C1 of road L.It is of course also possible to which second side C2 in destination channel L is arranged one, two
Or three obstacle-avoidance area BQ.In practical applications, the quantity of obstacle-avoidance area can design determination, according to actual application environment
This is not construed as limiting.
In the specific implementation, in embodiments of the present invention, at least one can be respectively set in the two sides of destination channel to keep away
Hinder region.Illustratively, as shown in figure 4, an obstacle-avoidance area BQ can be arranged in the first side C1 of destination channel L, in target
An obstacle-avoidance area BQ is arranged in second side C2 of channel L.It illustratively, as shown in figure 5, can also be the first of destination channel L
Two obstacle-avoidance area BQ are arranged in side C1, and an obstacle-avoidance area BQ is arranged in second side C2 of destination channel L.In practical applications,
The quantity of obstacle-avoidance area can design determination according to actual application environment, be not limited thereto.Also, obstacle-avoidance area is in target
The specific location of the side in channel can also design determination according to actual application environment, be not limited thereto.
As shown in connection with fig. 2, general traveling the driving direction of multiple robots of same destination channel may be identical,
The driving direction that might have partial robotic is different from the driving direction of rest part robot.In the specific implementation, at this
In inventive embodiments, after obtaining status information of the robot, each of multiple robots in destination channel in real time,
And in the status information according to each robot, the target robot and and target machine needed into obstacle-avoidance area is determined
It can also include: the row for multiple robots that judgement travels in same destination channel before the corresponding target obstacle-avoidance area of people
Whether all the same sail direction.
Also, in the specific implementation, in embodiments of the present invention, according to the status information of each robot, determining is needed
Will enter obstacle-avoidance area target robot and target obstacle-avoidance area corresponding with target robot, may include:
When the driving direction for judging multiple robots is not all the same, according to the driving direction of each robot, really
Whether the fixed robot travelled along the first extending direction is to travel in opposite directions with the robot travelled along the second extending direction；Wherein,
Multiple robots include: that the M robot travelled along the first extending direction of destination channel extends with along the second of destination channel
N number of robot of direction running；Wherein, the first extending direction is opposite with the second extending direction；M is positive integer, and N is positive integer；
If so, according to the position of each robot, determine respectively need the target robot into obstacle-avoidance area with
And target obstacle-avoidance area corresponding with target robot.
In the specific implementation, in embodiments of the present invention, according to the position of each robot, determination needs to enter respectively
The target robot of obstacle-avoidance area and obstacle-avoidance area corresponding with target robot, comprising:
According to the position of each robot, the nearest machine of the determining obstacle-avoidance area in front of robot driving direction
People；
According to the robot nearest apart from obstacle-avoidance area, by the robot nearest apart from obstacle-avoidance area determined and with
The robot driving direction identical robot nearest apart from obstacle-avoidance area is determined as target robot；
Correspond to different obstacle-avoidance areas according to different target robot, it is determining nearest with each target robot distance
Obstacle-avoidance area is the corresponding target obstacle-avoidance area of target robot.
In the specific implementation, in embodiments of the present invention, the speed for travelling the robot in same destination channel can be made
It spends roughly the same.Certainly, in practical applications, it is impossible to it is identical, therefore identical in the present invention refers to that error allows
It is identical in range.
Illustratively, in the specific implementation, in embodiments of the present invention, control is all common in addition to target robot
Robot stops traveling, may include: to determine between a nearest ordinary robot of distance and a target robot
When distance meets pre-determined distance range, controls all ordinary robots and stop traveling.
Illustratively, in the specific implementation, in embodiments of the present invention, each of multiple robots machine is obtained in real time
Status information of the device people in destination channel may include: to obtain the sensor unit of each robot in real time to collect in real time
Sensing data；Wherein, sensing data includes status information.
Illustratively, sensor unit may include laser radar, camera, ultrasonic wave, infrared sensor etc..Sensor
Data may include: the distance between position of robot, driving direction, Liang Ge robot etc.；For example, apart from nearest one
The distance between ordinary robot and a target robot.Illustratively, in the specific implementation, in embodiments of the present invention,
Status information can also include: the information such as acceleration, electricity, be not limited thereto.
Below by taking the machine travelled on same destination channel artificial 2 and structure shown in Fig. 2 as an example, in conjunction with Fig. 6 a
It is illustrated to barrier-avoiding method of Fig. 6 c to multiple robots provided in an embodiment of the present invention.But reader should be advised that detailed process
It is not limited to this.
The barrier-avoiding method of multiple robots provided in an embodiment of the present invention, as shown in fig. 7, may include steps of:
S701, position and the driving direction for obtaining robot A in real time, and position and the traveling of robot B is obtained in real time
Direction.Wherein, in conjunction with shown in Fig. 6 a.
Specifically, the destination channel L that optimal route can be determined according to starting point and terminal, controls robot A and machine
Device people B is sailed in the enterprising every trade of destination channel L of the optimal route.Wherein it is possible to obtain the sensor list of each robot in real time
First collected sensing data in real time；Wherein, sensing data includes status information.So as to be distinguished by communication unit
Real-time, interactive is carried out with robot A and robot B, to get position and the driving direction of robot A and robot B in real time.
Alternatively, can also directly control robot A and robot B on destination channel L using any driving direction into
Every trade is sailed, so as to directly obtain driving direction and the position of robot A and robot B in real time.
Whether the driving direction of S702, the driving direction for judging robot A and robot B are all the same.
S703, when the driving direction of the driving direction and robot B that judge robot A is not identical, according to robot A's
The driving direction of driving direction and robot B is determined along the first extending direction F1 robot A travelled and along the second extending direction
Whether the robot B of F2 traveling is to travel in opposite directions；
S704, if so, according to the position of the position of robot A and robot B, determine in front of its driving direction
Obstacle-avoidance area BQ nearest robot.Specifically, in front of can be by comparing the position of robot A and robot A driving direction
The distance between obstacle-avoidance area BQ and robot B position and obstacle-avoidance area BQ in front of robot B driving direction between
Distance, determine that obstacle-avoidance area BQ of which robot in front of it is nearest.For example, in conjunction with shown in Fig. 6 a.It determines
Obstacle-avoidance area BQ of the robot B in front of it is nearest.In this way car backing operation can be carried out to avoid robot.
S705, using the above-mentioned robot B nearest apart from obstacle-avoidance area BQ determined as target robot.
S706, using with target robot B apart from nearest obstacle-avoidance area BQ target avoidance corresponding as target robot B
Region BQ-M.Wherein, in conjunction with shown in Fig. 6 a.
S708, using robot A as ordinary robot, control robot A and stop traveling, and control target robot B into
Enter corresponding target obstacle-avoidance area BQ-M, so that target robot B is rested in target obstacle-avoidance area BQ-M, is allowed for robot A
Destination channel L out.Wherein, in conjunction with shown in Fig. 6 b.
It is additionally provided with driving unit in S709, robot, is instructed by being sent to the driving unit of robot A, makes to drive
Unit control robot A is travelled again, so that the task that robot A is executed required for continuing to execute.Also, in robot A row
After sailing the target meeting area YQ-M for corresponding to target obstacle-avoidance area BQ-M by destination channel L, pass through the driving list to robot B
Member sends instruction, and the target robot B traveling in driving unit control target obstacle-avoidance area BQ-M is made to enter destination channel L and root
It is gone according to the driving direction (i.e. along the second extending direction F2) for entering the route planned before target obstacle-avoidance area BQ-M
It sails, so that the task that robot B is executed required for continuing to execute.Wherein, in conjunction with shown in Fig. 6 c.
In practical applications, the robot to go in the same direction may be it is multiple, for example, 2, same side can be made in this way
To all robots by all target meeting areas after, then walk out the robot in target obstacle-avoidance area, continue to execute
Task.
Below by taking the machine travelled on same destination channel artificial 4 and structure shown in Fig. 3 as an example, in conjunction with Fig. 8 a
It is illustrated to barrier-avoiding method of Fig. 8 c to multiple robots provided in an embodiment of the present invention.But reader should be advised that detailed process
It is not limited to this.
The barrier-avoiding method of multiple robots provided in an embodiment of the present invention, may include steps of:
(1) position and the driving direction for obtaining robot A in real time obtain position and the driving direction of robot B in real time, real
When obtain robot C position and driving direction, and in real time obtain robot D position and driving direction.Wherein, in conjunction with figure
Shown in 8a.
Specifically, the destination channel L of optimal route, control robot A to machine can be determined according to starting point and terminal
Device people D is sailed in the enterprising every trade of destination channel L of the optimal route.Wherein it is possible to obtain the sensor list of each robot in real time
First collected sensing data in real time；Wherein, sensing data includes status information.So as to be distinguished by communication unit
Real-time, interactive is carried out with robot A to robot D, to get position and driving direction of the robot A to robot D in real time.
Alternatively, can also directly control robot A to robot D on destination channel L using any driving direction into
Every trade is sailed, so as to directly obtain driving direction and position of the robot A to robot D in real time.
(2) judge whether the driving direction of robot A, robot B, robot C and robot D are all the same.
(3) when the driving direction and robot B that judge robot A and D and C be not identical, such as robot A and D is along the
One extending direction F1 traveling, robot B and C are travelled along the second extending direction F2.According to robot A to the traveling side of robot D
To whether the determining robot A and D travelled along the first extending direction F1 and the robot B and C along the second extending direction F2 traveling
To travel in opposite directions.
(4) if so, according to robot A to the position of robot D, the obstacle-avoidance area in front of its driving direction is determined
BQ nearest robot.Specifically, can by comparing robot A position and its driving direction in front of obstacle-avoidance area BQ it
Between distance, the distance between the obstacle-avoidance area BQ in front of the position of robot B and its driving direction, the position of robot C with
Obstacle-avoidance area in front of the distance between obstacle-avoidance area BQ in front of its driving direction, the position of robot D and its driving direction
The distance between BQ determines that obstacle-avoidance area BQ of which robot in front of its driving direction is nearest.For example, combining figure
Shown in 8a.It can determine that obstacle-avoidance area BQ1 of the robot B in front of its driving direction is nearest.
(5) using the above-mentioned robot B and robot C nearest apart from obstacle-avoidance area BQ1 determined as target
Robot.
(6) due to needing the corresponding obstacle-avoidance area BQ of a target robot, different target robot corresponds to different
Obstacle-avoidance area BQ, can using with target robot B apart from nearest obstacle-avoidance area BQ1 target corresponding as target robot B
Obstacle-avoidance area BQ1-M is kept away with target robot C apart from nearest obstacle-avoidance area BQ2 target corresponding as target robot C
Hinder region BQ2-M.Wherein, in conjunction with shown in Fig. 8 a.
(7) it using robot A and D as ordinary robot, controls robot A and D and stops travelling, and control target robot
B enters corresponding target obstacle-avoidance area BQ1-M, so that target robot B is rested in target obstacle-avoidance area BQ1-M, it is machine
People A and D concede destination channel L.And control target robot C enters corresponding target obstacle-avoidance area BQ2-M, so that target machine
Device people C is rested in target obstacle-avoidance area BQ2-M, is that robot A and D concede destination channel L.Wherein it is possible to control target machine
After device people B drives into target obstacle-avoidance area BQ1-M in advance, then controls target robot C traveling and enter target obstacle-avoidance area BQ2-
M.Wherein, in conjunction with shown in Fig. 8 b.
(8) control robot A and D is travelled again, so that the task that robot A and D are executed required for continuing to execute.And
And robot A and D drive through the corresponding target obstacle-avoidance area BQ1-M of destination channel L target meeting area YQ1-M and
After the target meeting area YQ2-M of corresponding target obstacle-avoidance area BQ2-M, the target machine in target obstacle-avoidance area BQ1-M is controlled
Target robot C in people B and target obstacle-avoidance area BQ2-M is travelled again enters destination channel L.And control target robot
B and C is respectively according to the driving direction for entering the route planned before target obstacle-avoidance area (i.e. along the second extending direction F2)
It is travelled, so that the task that robot B and C are executed required for continuing to execute.Wherein, in conjunction with shown in Fig. 8 c.
In practical applications, it may appear that traveling may phase in the driving direction of multiple robots of same destination channel
Together, but robot speed is different, so as to cause subsequent robot overtake other vehicles previous machine people the case where.Therefore, it is being embodied
When, status information can also include: the speed of robot.In embodiments of the present invention, believed according to the state of each robot
Breath determines the target robot and target obstacle-avoidance area corresponding with target robot needed into obstacle-avoidance area, can wrap
It includes:
When the driving direction for judging multiple robots is all the same, according to the driving direction and speed of each robot,
Determine whether arbitrary neighborhood Liang Ge robot meets in same predetermined position；
If so, using the previous robot in the Liang Ge robot that predetermined position is met as target robot,
And according to the position of target robot, target obstacle-avoidance area corresponding with target robot is determined.
In the specific implementation, the corresponding predeterminated position of arbitrary neighborhood Liang Ge robot can be different.For example, shown in Fig. 9, phase
The default position corresponding with robot C adjacent Liang Ge robot A predeterminated position YP1 corresponding with robot B, adjacent Liang Ge robot B
Set YP2.Alternatively, the corresponding predeterminated position of arbitrary neighborhood Liang Ge robot can also be identical.For example, shown in Fig. 9, adjacent two
Robot A predeterminated position YP1 corresponding with robot B, adjacent Liang Ge robot B also correspond to predeterminated position YP1 with robot C.
For example, shown in Figure 10, adjacent Liang Ge robot A predeterminated position YP1 corresponding with robot B.Certainly, predeterminated position can basis
Actual application environment designs determination, is not limited thereto.
In the specific implementation, in embodiments of the present invention, according to the position of target robot, determining and target robot pair
The target obstacle-avoidance area answered may include:
Correspond to different obstacle-avoidance areas according to different target robot, it is determining nearest with each target robot distance
Obstacle-avoidance area is the corresponding target obstacle-avoidance area of target robot.
Below by taking the machine travelled on same destination channel artificial 2 and structure shown in Fig. 10 as an example, in conjunction with figure
11a to Figure 11 c is illustrated the barrier-avoiding method of multiple robots provided in an embodiment of the present invention.But reader should be advised that specific
Process is not limited to this.
(1) real-time position, driving direction and the speed for obtaining robot A, and the real-time position for obtaining robot B,
Driving direction and speed.Wherein, as shown in connection with fig. 10.
Specifically, the destination channel L that optimal route can be determined according to starting point and terminal, controls robot A and machine
Device people B is sailed in the enterprising every trade of destination channel L of the optimal route.Wherein it is possible to obtain the sensor list of each robot in real time
First collected sensing data in real time；Wherein, sensing data includes status information.So as to be distinguished by communication unit
Real-time, interactive is carried out with robot A and robot B, to get position and the driving direction of robot A and robot B in real time.
Alternatively, can also directly control robot A and robot B on destination channel L using any driving direction and
Speed is travelled, so as to directly obtain driving direction, position and the speed of robot A and robot B in real time.
(2) whether the driving direction of the driving direction and robot B that judge robot A is all the same.It, can be with if not identical
Referring to the course of work of above-mentioned steps S703~S709.If they are the same, then the course of work of following steps can be carried out.
(3) when the driving direction for judging multiple robots is all the same, according to the driving direction of robot A and robot B
With speed, determine whether robot A and robot B meet in same predetermined position YP1.
(4) if so, illustrating that the speed of robot B is greater than the speed of robot A, then robot B can catch up with robot A,
Even robot B may overtake other vehicles robot A.Then using robot A as target robot, using robot B as common machines
People, and will be in front of the driving direction of target robot A and make with target robot A apart from nearest obstacle-avoidance area BQ-M
For the target obstacle-avoidance area BQ-M of robot A.Wherein, as shown in connection with fig. 10.
(5) control robot B stops traveling, and controls target robot A and enter corresponding target obstacle-avoidance area BQ-M, with
It rests on target robot A in target obstacle-avoidance area BQ-M, concedes destination channel L for robot B.Wherein, in conjunction with Figure 11 a institute
Show.
(6) control robot B is travelled again, so that the task that robot B is executed required for continuing to execute.Also, in machine
After device people B drives through the target meeting area YQ-M that destination channel L corresponds to target obstacle-avoidance area BQ-M, target avoidance area is controlled
In the BQ-M of domain target robot A traveling enter destination channel L and according to enter target obstacle-avoidance area BQ-M before planned
The driving direction (i.e. along the first extending direction F1) of route travelled so that robot A was executed required for continuing to execute
Task.Wherein, in conjunction with shown in Figure 11 b and Figure 11 c.
It should be noted that in the absence of conflict, each feature in above-described embodiment can be combined with each other.
Based on the same inventive concept, the embodiment of the present invention also provides a kind of obstacle avoidance system of multiple robots, the avoidance system
The principle solved the problems, such as of uniting is similar to aforementioned barrier-avoiding method, therefore the implementation of the obstacle avoidance system may refer to aforementioned barrier-avoiding method
Implement, repeating place, details are not described herein.
In the specific implementation, robot, each of multiple robots is according to corresponding route running pre-planned
In in same destination channel；At least side of destination channel is provided at least one obstacle-avoidance area.
As shown in figure 12, the obstacle avoidance system of multiple robots provided in an embodiment of the present invention may include:
Acquiring unit 1201, for obtaining state of the robot, each of multiple robots in destination channel in real time
Information；Wherein, status information includes: position and driving direction of the robot in destination channel；
Determination unit 1202 determines the mesh needed into obstacle-avoidance area for the status information according to each robot
Scalar robot and target obstacle-avoidance area corresponding with target robot；
First control unit 1203 stops traveling for controlling all ordinary robots in addition to target robot, and
It controls target robot and enters corresponding target obstacle-avoidance area；
Second control unit 1204, for determining that all target robots fully enter corresponding target obstacle-avoidance area
Afterwards, it controls all ordinary robots to continue to travel according to corresponding route pre-planned, and complete in all ordinary robots
After portion corresponds to the target meeting area of target obstacle-avoidance area by destination channel, controls all target robot travelings and enter target
Simultaneously continue to travel according to corresponding route pre-planned in channel.
In the specific implementation, in embodiments of the present invention, obstacle avoidance system can also include: path planning unit.The path
Planning unit can be used for determining the optimal route of starting point to terminal according to starting point and terminal.It can make robot in this way
Traveling is efficient, and avoiding obstacles.
In the specific implementation, in embodiments of the present invention, as shown in figure 12, obstacle avoidance system can also include: judging unit
1205, whether the driving direction for judging to travel on multiple robots in same destination channel is all the same.Also, it determines single
Member is specifically used for when the driving direction for judging multiple robots is not all the same, according to the driving direction of each robot,
Whether the determining robot travelled along the first extending direction is to travel in opposite directions with the robot travelled along the second extending direction；Its
In, multiple robots include: to prolong along the M robot that the first extending direction of destination channel travels with along the second of destination channel
Stretch N number of robot of direction running；Wherein, the first extending direction is opposite with the second extending direction；M is positive integer, and N is positive whole
Number；If so, determining the target robot and and mesh needed into obstacle-avoidance area respectively according to the position of each robot
The corresponding target obstacle-avoidance area of scalar robot.
In the specific implementation, in embodiments of the present invention, determination unit is specifically used for the position according to each robot,
The nearest robot of the determining obstacle-avoidance area in front of the robot driving direction；According to the machine nearest apart from obstacle-avoidance area
People, by the robot nearest apart from obstacle-avoidance area determined and with the robot driving direction phase nearest apart from obstacle-avoidance area
Same robot is determined as target robot；Correspond to different obstacle-avoidance areas according to different target robot, determine and each
Target robot is the corresponding target obstacle-avoidance area of target robot apart from nearest obstacle-avoidance area.
In the specific implementation, status information further include: the speed of robot.In embodiments of the present invention, determination unit has
Body is used for when the driving direction for judging multiple robots is all the same, according to the driving direction and speed of each robot, really
Determine whether arbitrary neighborhood Liang Ge robot meets in same predetermined position；If so, two will met in predetermined position
Previous robot in robot is as target robot, and according to the position of target robot, determining and target robot
Corresponding target obstacle-avoidance area.
In the specific implementation, in embodiments of the present invention, determination unit is specifically used for corresponding according to different target robot
Different obstacle-avoidance areas, determining with each target robot is the corresponding target of target robot apart from nearest obstacle-avoidance area
Obstacle-avoidance area.
In the specific implementation, in embodiments of the present invention, the second control unit is specifically used in remaining ordinary robot's row
After sailing the target meeting area for corresponding to all target obstacle-avoidance areas by destination channel, control in each target obstacle-avoidance area
Target robot traveling enters destination channel and is travelled according into the driving direction before target obstacle-avoidance area.
In the specific implementation, in embodiments of the present invention, first control unit is used for general apart from nearest one determining
When logical the distance between robot and a target robot meet pre-determined distance range, controls all ordinary robots and stop row
It sails.
In the specific implementation, in embodiments of the present invention, acquiring unit is used to obtain the sensor of each robot in real time
Unit collected sensing data in real time；Wherein, sensing data includes status information.
In the specific implementation, in embodiments of the present invention, complete hardware embodiment can be used in the present invention, complete software is implemented
The form of example or embodiment combining software and hardware aspects.Moreover, the present invention can be used wherein includes in one or more
The computer-usable storage medium (including but not limited to magnetic disk storage and optical memory etc.) of computer usable program code
The form of the computer program product of upper implementation.
Wherein, the principle of the embodiment of the driving principle and specific embodiment and above-mentioned barrier-avoiding method of the obstacle avoidance system and
Embodiment is identical, and therefore, the driving method of the obstacle avoidance system can be found in the specific embodiment party of barrier-avoiding method in above-described embodiment
Formula is implemented, and details are not described herein.
The barrier-avoiding method and system of multiple robots provided in an embodiment of the present invention can obtain in real time in multiple robots
Each robot status information, needed with determining according to the status information of each robot into obstacle-avoidance area
Target robot and target obstacle-avoidance area corresponding with target robot.Later, remaining of control in addition to target robot
Ordinary robot stops traveling, and controls target robot into corresponding target obstacle-avoidance area, can make target robot into
Enter target obstacle-avoidance area to be hidden, destination channel is conceded.In this way determine target robot enter corresponding target keep away
After hindering region, it can control all ordinary robots and travel again, and all drive through target in all ordinary robots and lead to
After road corresponds to the target meeting area of target obstacle-avoidance area, all target robots controlled in target obstacle-avoidance area travel entrance
Destination channel is simultaneously travelled according into the route pre-planned before target obstacle-avoidance area.In this way by destination channel
At least side be arranged obstacle-avoidance area, partial robotic can be made to enter in obstacle-avoidance area, will destination channel to be conceded, thus
Realize that multiple robot securities effectively pass through on the destination channel that a robot can only can be allowed to pass through at the same time.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (14)
1. a kind of barrier-avoiding method of multiple robots, which is characterized in that robot, each of the multiple robot according to
Corresponding route running pre-planned is in same destination channel；At least side of the destination channel is provided at least one
A obstacle-avoidance area；
The barrier-avoiding method includes:
Status information of the robot described in each of multiple robots in the destination channel is obtained in real time；Wherein, institute
Stating status information includes: position and driving direction of the robot in the destination channel；
According to the status information of robot described in each, determine need into obstacle-avoidance area target robot and with it is described
The corresponding target obstacle-avoidance area of target robot；
It controls all ordinary robots in addition to the target robot and stops traveling, and control the target robot and enter
The corresponding target obstacle-avoidance area；
After determining that all target robots fully enter the corresponding target obstacle-avoidance area, control all described common
Robot continues to travel according to the corresponding route pre-planned, and all passes through institute in all ordinary robots
After stating the target meeting area that destination channel corresponds to the target obstacle-avoidance area, controls all target robot travelings and enter
The destination channel simultaneously continues to travel according to the corresponding route pre-planned.
2. the barrier-avoiding method of multiple robots as described in claim 1, which is characterized in that obtain multiple machines in real time described
Robot described in each of people is after the status information in the destination channel, and according to robot described in each
Status information, determine the target robot and target avoidance corresponding with the target robot needed into obstacle-avoidance area
Before region, further includes:
Whether the driving direction that judgement travels on multiple robots in the same destination channel is all the same；
The status information according to robot described in each, determine need into obstacle-avoidance area target robot and with
The corresponding target obstacle-avoidance area of the target robot, comprising:
When the driving direction for judging the multiple robot is not all the same, according to the traveling side of robot described in each
To whether the determining robot travelled along first extending direction is phase with the robot travelled along second extending direction
To traveling；Wherein, the multiple robot include: along the destination channel the first extending direction travel M robot and
The N number of robot travelled along the second extending direction of the destination channel；Wherein, first extending direction prolongs with described second
It stretches contrary；M is positive integer, and N is positive integer；
If so, determining the target machine needed into the obstacle-avoidance area respectively according to the position of robot described in each
People and target obstacle-avoidance area corresponding with the target robot.
3. the barrier-avoiding method of multiple robots as claimed in claim 2, which is characterized in that described according to machine described in each
The position of people determines the target robot and institute corresponding with the target robot needed into the obstacle-avoidance area respectively
State obstacle-avoidance area, comprising:
According to the position of robot described in each, determine that obstacle-avoidance area in front of the robot driving direction is nearest
Robot；
According to the robot nearest apart from the obstacle-avoidance area, by the nearest robot of obstacle-avoidance area described in the distance determined with
And robot identical with the robot driving direction nearest apart from the obstacle-avoidance area is determined as the target robot；
Correspond to different obstacle-avoidance areas according to the different target robots, it is determining with each target robot distance recently
Obstacle-avoidance area is the corresponding target obstacle-avoidance area of the target robot.
4. the barrier-avoiding method of multiple robots as claimed in claim 2, which is characterized in that the status information further include: institute
State the speed of robot；
The status information according to robot described in each, determine need into obstacle-avoidance area target robot and with
The corresponding target obstacle-avoidance area of the target robot, comprising:
When the driving direction for judging the multiple robot is all the same, according to the driving direction of robot described in each and speed
Degree, determines whether arbitrary neighborhood Liang Ge robot meets in same predetermined position；
If so, using the previous robot in the Liang Ge robot that the predetermined position is met as target robot,
And according to the position of the target robot, target obstacle-avoidance area corresponding with the target robot is determined.
5. the barrier-avoiding method of multiple robots as claimed in claim 4, which is characterized in that described according to the target robot
Position, determine corresponding with target robot target obstacle-avoidance area, comprising:
Correspond to different obstacle-avoidance areas according to the different target robots, it is determining with each target robot distance recently
Obstacle-avoidance area is the corresponding target obstacle-avoidance area of the target robot.
6. the barrier-avoiding method of multiple robots as described in any one in claim 1-5, which is characterized in that the control is except described
All ordinary robots except target robot stop traveling, comprising:
Determining that it is default that the distance between a nearest ordinary robot of distance and a target robot meets
When distance range, controls all ordinary robots and stop traveling.
7. the barrier-avoiding method of multiple robots as described in any one in claim 1-5, which is characterized in that the real-time acquisition is more
Status information of the robot described in each of a robot in the destination channel, comprising:
The sensor unit of each robot collected sensing data in real time is obtained in real time；Wherein, the sensor
Data include the status information.
8. a kind of obstacle avoidance system of multiple robots, which is characterized in that robot, each of the multiple robot according to
Corresponding route running pre-planned is in same destination channel；At least side of the destination channel is provided at least one
A obstacle-avoidance area；
The obstacle avoidance system includes:
Acquiring unit, for obtaining state of the robot described in each of multiple robots in the destination channel in real time
Information；Wherein, the status information includes: position and driving direction of the robot in the destination channel；
Determination unit determines the target machine needed into obstacle-avoidance area for the status information according to robot described in each
Device people and target obstacle-avoidance area corresponding with the target robot；
First control unit stops traveling for controlling all ordinary robots in addition to the target robot, and controls
The target robot enters the corresponding target obstacle-avoidance area；
Second control unit, for determining that all target robots fully enter the corresponding target obstacle-avoidance area
Afterwards, it controls all ordinary robots to continue to travel according to the corresponding route pre-planned, and all described
After ordinary robot all corresponds to the target meeting area of the target obstacle-avoidance area by the destination channel, all institutes are controlled
Target robot traveling is stated to enter the destination channel and continue to travel according to the corresponding route pre-planned.
9. the obstacle avoidance system of multiple robots as claimed in claim 8, which is characterized in that further include: judging unit, for sentencing
Whether the disconnected driving direction for travelling on multiple robots in the same destination channel is all the same；
The determination unit is specifically used for when the driving direction for judging the multiple robot is not all the same, according to each
The driving direction of the robot determines the robot travelled along first extending direction and along the second extending direction row
Whether the robot sailed is to travel in opposite directions；Wherein, the multiple robot includes: the first extending direction along the destination channel
N number of robot that M robot of traveling is travelled with the second extending direction along the destination channel；Wherein, described first prolongs
It is opposite with second extending direction to stretch direction；M is positive integer, and N is positive integer；If so, according to robot described in each
Position, determine the target robot and target corresponding with the target robot needed into the obstacle-avoidance area respectively
Obstacle-avoidance area.
10. the obstacle avoidance system of multiple robots as claimed in claim 9, which is characterized in that the determination unit is specifically used for
According to the position of robot described in each, determine that the obstacle-avoidance area in front of the robot driving direction is nearest
Robot；According to the robot nearest apart from the obstacle-avoidance area, by the nearest machine of obstacle-avoidance area described in the distance determined
People and robot identical with the robot driving direction nearest apart from the obstacle-avoidance area are determined as the target robot；
Different obstacle-avoidance areas is corresponded to according to the different target robots, determining and each target robot is apart from nearest avoidance
Region is the corresponding target obstacle-avoidance area of the target robot.
11. the obstacle avoidance system of multiple robots as claimed in claim 9, which is characterized in that the status information further include: institute
State the speed of robot；
The determination unit is specifically used for when the driving direction for judging the multiple robot is all the same, according to each
The driving direction and speed of robot, determine whether arbitrary neighborhood Liang Ge robot meets in same predetermined position；If so,
Using the previous robot in the Liang Ge robot that the predetermined position is met as target robot, and according to the mesh
The position of scalar robot determines target obstacle-avoidance area corresponding with the target robot.
12. the obstacle avoidance system of multiple robots as claimed in claim 11, which is characterized in that the determination unit is specifically used for
Different obstacle-avoidance areas is corresponded to according to the different target robots, determining and each target robot is apart from nearest avoidance
Region is the corresponding target obstacle-avoidance area of the target robot.
13. such as the obstacle avoidance system of the described in any item multiple robots of claim 8-12, which is characterized in that first control
Unit is used to determine the distance satisfaction between a nearest ordinary robot of distance and a target robot
When pre-determined distance range, controls all ordinary robots and stop traveling.
14. such as the obstacle avoidance system of the described in any item multiple robots of claim 8-12, which is characterized in that the acquiring unit
For obtaining the sensor unit of each robot collected sensing data in real time in real time；Wherein, the sensor
Data include the status information.
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| CN113741424A (en) * | 2021-08-04 | 2021-12-03 | 深圳市普渡科技有限公司 | Robot cooperative obstacle avoidance system, method, robot and storage medium |
| CN113733103A (en) * | 2021-10-09 | 2021-12-03 | 深圳优艾智合机器人科技有限公司 | Control method, control device and system of industrial robot and storage medium |
| CN113799143A (en) * | 2021-11-18 | 2021-12-17 | 广东隆崎机器人有限公司 | Safe cooperation method and device of multiple robots in working area |
| CN113799143B (en) * | 2021-11-18 | 2022-04-19 | 广东隆崎机器人有限公司 | Safe cooperation method and device of multiple robots in working area |
| CN114153212A (en) * | 2021-12-02 | 2022-03-08 | 深圳诺博医疗科技有限公司 | Method, device and equipment for scheduling target point robbed by multiple robots and storage medium |
| CN114153212B (en) * | 2021-12-02 | 2023-06-09 | 深圳诺博医疗科技有限公司 | Scheduling method, device, equipment and storage medium for multi-robot robotics target points |
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