CN110394800B - Obstacle avoidance method and system for multiple robots - Google Patents
Obstacle avoidance method and system for multiple robots Download PDFInfo
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- CN110394800B CN110394800B CN201910620093.0A CN201910620093A CN110394800B CN 110394800 B CN110394800 B CN 110394800B CN 201910620093 A CN201910620093 A CN 201910620093A CN 110394800 B CN110394800 B CN 110394800B
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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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Abstract
The invention discloses an obstacle avoidance method and system for multiple robots, which are used for acquiring state information of each robot in the multiple robots in real time, and determining a target robot needing to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot. And controlling other common robots except the target robot to stop running, and controlling the target robot to enter a corresponding target obstacle avoidance area, so that the target robot enters the target obstacle avoidance area to avoid, and the target channel is yielded. After the target robots are determined to enter the corresponding target obstacle avoidance areas, all the common robots are controlled to travel again, and after all the common robots travel through the target meeting areas corresponding to the target obstacle avoidance areas through the target channels, all the target robots in the target obstacle avoidance areas are controlled to travel into the target channels and travel according to the pre-planned routes before entering the target obstacle avoidance areas, so that safe and effective passing of the multiple robots is achieved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an obstacle avoidance method and system for multiple robots.
Background
With the continuous progress of science and technology, the field of intelligent robots is rapidly developed. Because intelligent robot can replace the workman and carry the material, be favorable to using manpower sparingly, reduce cost improves handling efficiency to make intelligent robot wide application in logistics storage and intelligent factory production line. Generally, due to the limited space of the warehouse or factory workshop, only one target passage allowing the robot to run is usually set, so that the robot can run on the target passage. However, it may also happen that two or more robots are handling material simultaneously on the target passage. How to realize safe and efficient running of a plurality of robots is a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The embodiment of the invention provides an obstacle avoidance method and system for multiple robots, which are used for realizing safe and efficient driving of the multiple robots.
The embodiment of the invention provides an obstacle avoidance method for a plurality of robots, wherein each robot in the plurality of robots runs in the same target channel according to a corresponding pre-planned route; at least one obstacle avoidance area is arranged on at least one side of the target channel;
the obstacle avoidance method comprises the following steps:
acquiring state information of each robot in a plurality of robots in the target channel in real time; wherein the state information includes: a position and a travel direction of the robot in the target pathway;
determining a target robot needing to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot;
controlling all common robots except the target robot to stop running, and controlling the target robot to enter the corresponding target obstacle avoidance area;
after all the target robots are determined to completely enter the corresponding target obstacle avoidance areas, all the common robots are controlled to continue to run according to the corresponding pre-planned routes, and after all the common robots pass through the target meeting areas of the target obstacle avoidance areas corresponding to the target channels, all the target robots are controlled to run into the target channels and continue to run according to the corresponding pre-planned routes.
Optionally, in the embodiment of the present invention, after the obtaining, in real time, state information of each of the multiple robots in the target channel, and before determining, according to the state information of each of the robots, a target robot that needs to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot, the method further includes:
judging whether the driving directions of a plurality of robots driving in the same target channel are the same or not;
the method for determining a target robot needing to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot comprises the following steps:
determining whether the robot traveling in the first extending direction and the robot traveling in the second extending direction travel in opposite directions according to the traveling direction of each of the robots when it is determined that the traveling directions of the plurality of robots are not all the same; wherein the plurality of robots comprise: m robots traveling in a first extending direction of the target corridor and N robots traveling in a second extending direction of the target corridor; wherein the first direction of extension is opposite to the second direction of extension; m is a positive integer, and N is a positive integer;
and if so, respectively determining a target robot needing to enter the obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the position of each robot.
Optionally, in an embodiment of the present invention, the determining, according to the position of each robot, a target robot that needs to enter the obstacle avoidance area and the obstacle avoidance area corresponding to the target robot respectively includes:
according to the position of each robot, determining the robot closest to an obstacle avoidance area in front of the driving direction of the robot;
determining the determined robot closest to the obstacle avoidance area and the robot in the same driving direction as the robot closest to the obstacle avoidance area as the target robot according to the robot closest to the obstacle avoidance area;
and determining an obstacle avoidance area closest to each target robot as a target obstacle avoidance area corresponding to the target robot according to different obstacle avoidance areas corresponding to different target robots.
Optionally, in this embodiment of the present invention, the state information further includes: a speed of the robot;
the method for determining a target robot needing to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot comprises the following steps:
when the running directions of the robots are judged to be the same, determining whether any two adjacent robots meet at the same preset position or not according to the running direction and the speed of each robot;
and if so, taking the previous robot in the two robots meeting at the preset position as a target robot, and determining a target obstacle avoidance area corresponding to the target robot according to the position of the target robot.
Optionally, in an embodiment of the present invention, the determining, according to the position of the target robot, a target obstacle avoidance area corresponding to the target robot includes:
and determining an obstacle avoidance area closest to each target robot as a target obstacle avoidance area corresponding to the target robot according to different obstacle avoidance areas corresponding to different target robots.
Alternatively, in an embodiment of the present invention, the controlling of all general robots other than the target robot to stop traveling includes:
and controlling all the general robots to stop running when the distance between the nearest one of the general robots and one of the target robots satisfies a preset distance range.
Optionally, in an embodiment of the present invention, the obtaining, in real time, state information of each of the plurality of robots in the target channel includes:
acquiring sensor data acquired by a sensor unit of each robot in real time; wherein the sensor data includes the status information.
The embodiment of the invention also provides an obstacle avoidance system of a plurality of robots, wherein each robot in the plurality of robots runs in the same target channel according to a corresponding pre-planned route; at least one obstacle avoidance area is arranged on at least one side of the target channel;
the obstacle avoidance system comprises:
the acquisition unit is used for acquiring the state information of each robot in a plurality of robots in the target channel in real time; wherein the state information includes: a position and a travel direction of the robot in the target pathway;
the determining unit is used for determining a target robot needing to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot;
the first control unit is used for controlling all common robots except the target robot to stop running and controlling the target robot to enter the corresponding target obstacle avoidance area;
and the second control unit is used for controlling all the common robots to continuously run according to the corresponding pre-planned routes after all the common robots are determined to completely enter the corresponding target obstacle avoidance areas, and controlling all the target robots to continuously run into the target channels and to continuously run according to the corresponding pre-planned routes after all the common robots pass through the target meeting areas of the target obstacle avoidance areas corresponding to the target channels.
Optionally, in an embodiment of the present invention, the method further includes: a judging unit configured to judge whether traveling directions of a plurality of robots traveling in the same target lane are all the same;
the determining unit is specifically configured to determine, according to the traveling direction of each of the robots when it is determined that the traveling directions of the plurality of robots are not all the same, whether the robot traveling in the first extending direction and the robot traveling in the second extending direction travel in opposite directions; wherein the plurality of robots comprise: m robots traveling in a first extending direction of the target corridor and N robots traveling in a second extending direction of the target corridor; wherein the first direction of extension is opposite to the second direction of extension; m is a positive integer, and N is a positive integer; and if so, respectively determining a target robot needing to enter the obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the position of each robot.
Optionally, in an embodiment of the present invention, the determining unit is specifically configured to determine, according to a position of each robot, a robot closest to the obstacle avoidance area in front of the traveling direction of the robot; determining the determined robot closest to the obstacle avoidance area and the robot in the same driving direction as the robot closest to the obstacle avoidance area as the target robot according to the robot closest to the obstacle avoidance area; and determining an obstacle avoidance area closest to each target robot as a target obstacle avoidance area corresponding to the target robot according to different obstacle avoidance areas corresponding to different target robots.
Optionally, in this embodiment of the present invention, the state information further includes: a speed of the robot;
the determining unit is specifically configured to determine whether any two adjacent robots meet at the same preset position according to the driving direction and the speed of each robot when the driving directions of the multiple robots are judged to be the same; and if so, taking the previous robot in the two robots meeting at the preset position as a target robot, and determining a target obstacle avoidance area corresponding to the target robot according to the position of the target robot.
Optionally, in an embodiment of the present invention, the determining unit is specifically configured to determine, according to that different target robots correspond to different obstacle avoidance areas, an obstacle avoidance area closest to each target robot as a target obstacle avoidance area corresponding to the target robot.
Alternatively, in an embodiment of the present invention, the first control unit is configured to control all the general robots to stop traveling when it is determined that a distance between one of the general robots that is the closest to the target robot satisfies a preset distance range.
Optionally, in an embodiment of the present invention, the obtaining unit is configured to obtain, in real time, sensor data collected by a sensor unit of each robot in real time; wherein the sensor data includes the status information.
The invention has the following beneficial effects:
the obstacle avoidance method and the obstacle avoidance system for the multiple robots, provided by the embodiment of the invention, can acquire the state information of each robot in the multiple robots in real time, so as to determine the target robot needing to enter the obstacle avoidance area and the target obstacle avoidance area corresponding to the target robot according to the state information of each robot. And then, controlling other common robots except the target robot to stop driving, and controlling the target robot to enter a corresponding target obstacle avoidance area, so that the target robot can enter the target obstacle avoidance area to avoid, and a target channel is avoided. Therefore, after the target robot enters the corresponding target obstacle avoidance area, all the common robots can be controlled to travel again, and after all the common robots travel through the target meeting area corresponding to the target obstacle avoidance area through the target passage, all the target robots in the target obstacle avoidance area are controlled to travel into the target passage and travel according to the pre-planned route before entering the target obstacle avoidance area. Therefore, by arranging the obstacle avoidance area on at least one side of the target passage, part of the robots can enter the obstacle avoidance area to give way to the target passage, and therefore safe and effective passing of a plurality of robots can be realized on the target passage which can only allow one robot to pass through.
Drawings
Fig. 1 is a flowchart of an obstacle avoidance method according to an embodiment of the present invention;
fig. 2 is a schematic top view of a target passage and an obstacle avoidance area according to an embodiment of the present invention;
fig. 3 is a schematic top view of another target passage and obstacle avoidance area according to an embodiment of the present invention;
fig. 4 is a schematic top view of another target passage and obstacle avoidance area according to an embodiment of the present invention;
fig. 5 is a schematic top view of another target passage and obstacle avoidance area according to an embodiment of the present invention;
fig. 6a to fig. 6c are schematic structural diagrams of a plurality of robots passing through according to an embodiment of the present invention;
fig. 7 is a specific flowchart of an obstacle avoidance method according to an embodiment of the present invention;
fig. 8a to 8c are schematic structural diagrams of another multiple robots passing through according to an embodiment of the present invention;
fig. 9 is a schematic top view of a plurality of robots moving in the same direction according to an embodiment of the present invention;
FIG. 10 is a schematic top view of another embodiment of a plurality of robots moving in the same direction;
fig. 11a to fig. 11c are schematic structural diagrams of a plurality of robots passing through according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of an obstacle avoidance system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. And the embodiments and features of the embodiments may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
It should be noted that the sizes and shapes of the figures in the drawings are not to be considered true scale, but are merely intended to schematically illustrate the present invention. And the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.
The embodiment of the invention provides an obstacle avoidance method for a plurality of robots, wherein each robot in the plurality of robots drives in the same target channel according to a corresponding pre-planned route, and at least one obstacle avoidance area is arranged on at least one side of the target channel.
As shown in fig. 1, an obstacle avoidance method for multiple robots provided in an embodiment of the present invention may include the following steps:
s100, acquiring state information of each robot in a plurality of robots in a target channel in real time; wherein the state information includes: the position and direction of travel of the robot in the target pathway;
s200, determining a target robot needing to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot;
s300, controlling all common robots except the target robot to stop running, and controlling the target robot to enter a corresponding target obstacle avoidance area;
s400, after all the target robots are determined to completely enter the corresponding target obstacle avoidance areas, all the common robots are controlled to continuously run according to the corresponding pre-planned routes, and after all the common robots pass through the target meeting areas of the target obstacle avoidance areas corresponding to the target channels, all the target robots are controlled to run into the target channels and continuously run according to the corresponding pre-planned routes.
The obstacle avoidance method for the multiple robots, provided by the embodiment of the invention, can acquire the state information of each robot in the multiple robots in real time, so as to determine the target robot needing to enter the obstacle avoidance area and the target obstacle avoidance area corresponding to the target robot according to the state information of each robot. And then, controlling other common robots except the target robot to stop driving, and controlling the target robot to enter a corresponding target obstacle avoidance area, so that the target robot can enter the target obstacle avoidance area to avoid, and a target channel is avoided. Therefore, after the target robot enters the corresponding target obstacle avoidance area, all the common robots can be controlled to travel again, and after all the common robots travel through the target meeting area corresponding to the target obstacle avoidance area through the target passage, all the target robots in the target obstacle avoidance area are controlled to travel into the target passage and travel according to the pre-planned route before entering the target obstacle avoidance area. Therefore, the obstacle avoidance area is arranged on at least one side of the target passage, so that part of the robots can enter the obstacle avoidance area to give way out the target passage, and a plurality of robots can safely and effectively pass through the target passage which can only allow one robot to pass through.
Illustratively, in implementation, in the embodiment of the present invention, each robot has a pre-planned route to travel according to the pre-planned route to perform a task. During driving, the pre-planned routes corresponding to the robots may have an overlapping area, and the overlapping area may be used as the target passage. For example, the target channel may be the whole pre-planned route or a partial area of the pre-planned route, which is not limited herein.
For example, in implementation, in the embodiment of the present invention, the number of robots traveling on the same target lane may be 2, 3, 4, 5, and the like, which need to be designed and determined according to an actual application environment, and is not limited herein.
Illustratively, in particular implementation, in the embodiment of the present invention, as shown in fig. 2, the target passage L may have a first extending direction F1 (indicated by an arrow F1) and a second extending direction F2 (indicated by an arrow F2), and the first extending direction F1 is opposite to and parallel to the second extending direction F2. If the number of robots traveling on the same target lane is 2, there may be a first robot traveling in the first extending direction F1 and a second robot traveling in the second extending direction F2. Therefore, the two robots can push the cattle to be out of the way, so that the two robots cannot pass through each other, and the problem of locking is caused. Therefore, an obstacle avoidance area can be set, so that the first robot enters the obstacle avoidance area to make a target passage for the second robot. After the second robot runs through the obstacle avoidance area provided with the robots, the first robot is driven into the target channel again to run, and therefore the two robots can pass through the target channel safely and efficiently.
If the number of robots traveling in the same target lane is 3, there may be two robots traveling in the first extending direction and a third robot traveling in the second extending direction. Therefore, an obstacle avoidance area can be set, so that the third robot enters the obstacle avoidance area to make way for the other two robots. Or two obstacle avoidance areas can be arranged, so that the two robots running along the first extending direction respectively enter the obstacle avoidance areas to make way for a target passage for the third robot. Or three obstacle avoidance areas can be arranged to select two obstacle avoidance areas for two robots traveling along the first extending direction to enter, so as to give a target channel for a third robot.
If the number of robots traveling in the same target lane is 4, there may be two robots traveling in the first extending direction and two other robots traveling in the second extending direction. Therefore, two obstacle avoidance areas can be arranged, so that two robots driving along the first extending direction respectively enter the obstacle avoidance areas to give way to target channels for the other two robots. Or three obstacle avoidance areas can be arranged to select two obstacle avoidance areas for two robots traveling along the first extending direction to enter, so that a target channel is made for the other two robots. Of course, in practical applications, the number of the obstacle avoidance areas may be determined by design according to practical application environments, and is not limited herein.
In a specific implementation, in the embodiment of the present invention, at least one obstacle avoidance area may be disposed on the same side of the target passage. Illustratively, as shown in fig. 2 and 3, the target passage L has opposing first and second sides C1 and C2. Illustratively, as shown in fig. 2, an obstacle avoidance area BQ may be provided on the first side C1 of the target passage L. As shown in fig. 3, two obstacle avoidance areas BQ may be provided on the first side C1 of the target passage L. Of course, one, two or three obstacle avoidance areas BQ may also be provided on the second side C2 of the target passage L. In practical applications, the number of the obstacle avoidance areas may be determined by design according to practical application environments, and is not limited herein.
In specific implementation, in the embodiment of the present invention, at least one obstacle avoidance area may be respectively disposed on two sides of the target passage. For example, as shown in fig. 4, an obstacle avoidance area BQ may be disposed on a first side C1 of the target passage L, and an obstacle avoidance area BQ may be disposed on a second side C2 of the target passage L. For example, as shown in fig. 5, two obstacle avoidance areas BQ may be disposed on the first side C1 of the target passage L, and one obstacle avoidance area BQ may be disposed on the second side C2 of the target passage L. In practical applications, the number of the obstacle avoidance areas may be determined by design according to practical application environments, and is not limited herein. In addition, the specific position of the obstacle avoidance area on one side of the target passage may also be designed and determined according to the actual application environment, and is not limited herein.
As shown in fig. 2, in general, the traveling directions of a plurality of robots traveling on the same target lane may be the same, or the traveling directions of some of the robots may be different from the traveling directions of the remaining robots. In specific implementation, in the embodiment of the present invention, after acquiring state information of each robot in the plurality of robots in the target channel in real time, and before determining a target robot that needs to enter the obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot, the method may further include: and judging whether the driving directions of the plurality of robots driving in the same target passage are the same or not.
In addition, in a specific implementation, in the embodiment of the present invention, determining, according to the state information of each robot, a target robot that needs to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot may include:
determining whether the robot running along the first extending direction and the robot running along the second extending direction run in opposite directions according to the running direction of each robot when the running directions of the plurality of robots are judged not to be the same; wherein, a plurality of robots include: the robot system comprises M robots traveling along a first extending direction of a target passageway and N robots traveling along a second extending direction of the target passageway; wherein the first extending direction is opposite to the second extending direction; m is a positive integer, and N is a positive integer;
if so, respectively determining a target robot needing to enter the obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the position of each robot.
In specific implementation, in the embodiment of the present invention, according to the position of each robot, a target robot that needs to enter an obstacle avoidance area and an obstacle avoidance area corresponding to the target robot are respectively determined, including:
determining the robot closest to an obstacle avoidance area in front of the driving direction of the robot according to the position of each robot;
determining the determined robot closest to the obstacle avoidance area and the robot in the same driving direction as the robot closest to the obstacle avoidance area as target robots according to the robot closest to the obstacle avoidance area;
and determining the obstacle avoidance area closest to each target robot as the target obstacle avoidance area corresponding to the target robot according to different obstacle avoidance areas corresponding to different target robots.
In particular, in embodiments of the present invention, the speeds of robots traveling in the same target lane may be made substantially the same. Of course, in practical applications, it is impossible to be exactly the same, and therefore the same in the present invention means the same within an error allowance.
Illustratively, in the implementation, in the embodiment of the present invention, controlling all general robots except the target robot to stop traveling may include: and when the distance between one common robot and one target robot which are closest to each other is determined to meet the preset distance range, controlling all the common robots to stop running.
For example, in implementation, in an embodiment of the present invention, acquiring, in real time, state information of each of a plurality of robots in a target channel may include: acquiring sensor data acquired by a sensor unit of each robot in real time; wherein the sensor data includes status information.
Illustratively, the sensor unit may include a laser radar, a camera, an ultrasonic wave, an infrared sensor, and the like. The sensor data may include: the position of the robot, the direction of travel, the distance between the two robots, etc.; for example, the distance between a general robot and a target robot that are closest. For example, in a specific implementation, in an embodiment of the present invention, the state information may further include: the information such as acceleration and electric quantity is not limited herein.
The following describes an obstacle avoidance method for multiple robots according to an embodiment of the present invention with reference to fig. 6a to 6c, taking 2 robots traveling on the same target lane and the structure shown in fig. 2 as examples. The reader should appreciate that the specific process is not so limited.
As shown in fig. 7, the obstacle avoidance method for multiple robots provided in the embodiment of the present invention may include the following steps:
and S701, acquiring the position and the driving direction of the robot A in real time, and acquiring the position and the driving direction of the robot B in real time. As shown in connection with fig. 6 a.
Specifically, a target passage L of the optimal route may be determined according to the starting point and the ending point, and the robot a and the robot B are controlled to travel on the target passage L of the optimal route. The method comprises the following steps of acquiring sensor data acquired by a sensor unit of each robot in real time; wherein the sensor data includes status information. Therefore, real-time interaction can be respectively carried out with the robot A and the robot B through the communication unit, and the positions and the driving directions of the robot A and the robot B can be obtained in real time.
Or, which traveling direction the robot a and the robot B travel on the target passage L may be directly controlled, so that the traveling directions and positions of the robot a and the robot B may be directly obtained in real time.
And S702, judging whether the traveling direction of the robot A is the same as the traveling direction of the robot B.
S703, when the driving direction of the robot A is judged to be different from the driving direction of the robot B, determining whether the robot A driving along the first extension direction F1 and the robot B driving along the second extension direction F2 are driven oppositely or not according to the driving direction of the robot A and the driving direction of the robot B;
and S704, if so, determining the robot closest to the obstacle avoidance area BQ in front of the driving direction of the robot according to the position of the robot A and the position of the robot B. Specifically, it is possible to determine which robot is closest to the obstacle avoidance area BQ in front of the robot a by comparing the distance between the position of the robot a and the obstacle avoidance area BQ in front of the traveling direction of the robot a, and the distance between the position of the robot B and the obstacle avoidance area BQ in front of the traveling direction of the robot B. For example as shown in connection with fig. 6 a. And determining that the robot B is closest to the obstacle avoidance area BQ in front of the robot B. Therefore, the robot can be prevented from backing.
And S705, taking the robot B which is closest to the obstacle avoidance area BQ and is determined as a target robot.
And S706, taking the obstacle avoidance area BQ closest to the target robot B as a target obstacle avoidance area BQ-M corresponding to the target robot B. As shown in connection with fig. 6 a.
And S708, taking the robot A as a common robot, controlling the robot A to stop running, and controlling the target robot B to enter the corresponding target obstacle avoidance area BQ-M, so that the target robot B stays in the target obstacle avoidance area BQ-M, and giving a target channel L for the robot A. As shown in connection with fig. 6 b.
S709, the robot further includes a driving unit, which controls the robot a to travel again by sending a command to the driving unit of the robot a, so that the robot a continues to execute the task to be executed. After the robot a travels through the target meeting area YQ-M corresponding to the target obstacle avoidance area BQ-M of the target passage L, the driving unit sends an instruction to the driving unit of the robot B, so that the driving unit controls the target robot B in the target obstacle avoidance area BQ-M to travel into the target passage L and to travel according to the traveling direction of the planned route (i.e., along the second extending direction F2) before entering the target obstacle avoidance area BQ-M, so that the robot B continues to execute the tasks to be executed. As shown in connection with fig. 6 c.
In practical application, there may be a plurality of robots, for example, 2 robots, which run in the same direction, so that after all the robots in the same direction pass through all the target meeting areas, the robots in the target obstacle avoidance areas move out to continue to perform tasks.
The following describes an obstacle avoidance method for multiple robots according to an embodiment of the present invention with reference to fig. 8a to 8c, taking 4 robots traveling on the same target lane and the structure shown in fig. 3 as examples. The reader should appreciate that the specific process is not so limited.
The obstacle avoidance method for multiple robots provided by the embodiment of the invention can comprise the following steps:
(1) the position and the traveling direction of the robot a, the position and the traveling direction of the robot B, the position and the traveling direction of the robot C, and the position and the traveling direction of the robot D are acquired in real time. As shown in fig. 8 a.
Specifically, a target passage L of the optimal route may be determined according to the starting point and the end point, and the robots a to D are controlled to travel on the target passage L of the optimal route. The method comprises the following steps of acquiring sensor data acquired by a sensor unit of each robot in real time; wherein the sensor data includes status information. Therefore, real-time interaction can be respectively carried out on the robot A to the robot D through the communication unit, and the positions and the driving directions of the robot A to the robot D can be obtained in real time.
Or, which traveling direction the robots a to D adopt on the target passage L to travel may be directly controlled, so that the traveling directions and positions of the robots a to D may be directly obtained in real time.
(2) It is determined whether the traveling directions of the robot a, the robot B, the robot C, and the robot D are the same.
(3) When it is determined that the traveling directions of the robots a and D and the robots B and C are not the same, for example, the robots a and D travel in the first extending direction F1, and the robots B and C travel in the second extending direction F2. It is determined whether the robots a and D traveling in the first extending direction F1 and the robots B and C traveling in the second extending direction F2 travel in opposite directions or not, according to the traveling directions of the robots a to D.
(4) And if so, determining the robot closest to the obstacle avoidance area BQ in front of the driving direction of the robot according to the positions of the robot A to the robot D. Specifically, it can be determined which robot is closest to the obstacle avoidance area BQ in front of the driving direction thereof by comparing the distance between the position of the robot a and the obstacle avoidance area BQ in front of the driving direction thereof, the distance between the position of the robot B and the obstacle avoidance area BQ in front of the driving direction thereof, the distance between the position of the robot C and the obstacle avoidance area BQ in front of the driving direction thereof, and the distance between the position of the robot D and the obstacle avoidance area BQ in front of the driving direction thereof. For example, as shown in connection with fig. 8 a. It can be determined that the robot B is closest to the obstacle avoidance area BQ1 in front of its traveling direction.
(5) The robot B and the robot C closest to the obstacle avoidance area BQ1 thus determined are respectively used as target robots.
(6) Because a target robot is required to correspond to an obstacle avoidance area BQ, different target robots correspond to different obstacle avoidance areas BQ, the obstacle avoidance area BQ1 closest to the target robot B can be used as a target obstacle avoidance area BQ1-M corresponding to the target robot B, and the obstacle avoidance area BQ2 closest to the target robot C can be used as a target obstacle avoidance area BQ2-M corresponding to the target robot C. As shown in fig. 8 a.
(7) The robots A and D are used as common robots, the robots A and D are controlled to stop driving, and the target robot B is controlled to enter a corresponding target obstacle avoidance area BQ1-M, so that the target robot B stays in the target obstacle avoidance area BQ1-M, and a target channel L is made for the robots A and D. And controlling the target robot C to enter the corresponding target obstacle avoidance area BQ2-M, so that the target robot C stays in the target obstacle avoidance area BQ2-M, and a target channel L is made for the robots A and D. The target robot B can be controlled to drive into the target obstacle avoidance area BQ1-M in advance, and then the target robot C can be controlled to drive into the target obstacle avoidance area BQ 2-M. As shown in connection with fig. 8 b.
(8) And controlling the robots A and D to run again so that the robots A and D continue to execute the tasks required to be executed. And after the robots A and D travel through the target meeting area YQ1-M corresponding to the target obstacle avoidance area BQ1-M and the target meeting area YQ2-M corresponding to the target obstacle avoidance area BQ2-M of the target passage L, the target robot B in the target obstacle avoidance area BQ1-M and the target robot C in the target obstacle avoidance area BQ2-M are controlled to travel into the target passage L again. And controlling the target robots B and C to respectively drive according to the driving direction (namely along the second extending direction F2) of the planned route before entering the target obstacle avoidance area, so that the robots B and C continuously execute the tasks to be executed. This is shown in connection with fig. 8 c.
In practical applications, it may happen that a plurality of robots traveling in the same target lane may travel in the same direction but at different speeds, causing a following robot to overtake a preceding robot. Thus, in particular implementations, the state information may further include: the speed of the robot. In the embodiment of the present invention, determining a target robot that needs to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot may include:
when the running directions of the multiple robots are judged to be the same, determining whether any two adjacent robots meet at the same preset position or not according to the running direction and the speed of each robot;
if so, taking the previous robot in the two robots meeting at the preset position as a target robot, and determining a target obstacle avoidance area corresponding to the target robot according to the position of the target robot.
In specific implementation, the preset positions corresponding to any two adjacent robots may be different. For example, as shown in fig. 9, two adjacent robots a and B correspond to the preset position YP1, and two adjacent robots B and C correspond to the preset position YP 2. Or, the preset positions corresponding to any two adjacent robots may also be the same. For example, as shown in fig. 9, two adjacent robots a and B correspond to the preset position YP1, and two adjacent robots B and C also correspond to the preset position YP 1. For example, as shown in fig. 10, two adjacent robots a and B correspond to the preset position YP 1. Of course, the preset position may be designed according to the actual application environment, and is not limited herein.
In specific implementation, in the embodiment of the present invention, determining the target obstacle avoidance area corresponding to the target robot according to the position of the target robot may include:
and determining the obstacle avoidance area closest to each target robot as the target obstacle avoidance area corresponding to the target robot according to different obstacle avoidance areas corresponding to different target robots.
The following describes an obstacle avoidance method for multiple robots according to an embodiment of the present invention with reference to fig. 11a to 11c, taking 2 robots traveling on the same target lane and the structure shown in fig. 10 as examples. The reader should appreciate that the specific process is not so limited.
(1) The position, the traveling direction, and the speed of the robot a are acquired in real time, and the position, the traveling direction, and the speed of the robot B are acquired in real time. As shown in fig. 10.
Specifically, a target passage L of the optimal route may be determined according to the starting point and the ending point, and the robot a and the robot B are controlled to travel on the target passage L of the optimal route. The method comprises the following steps of acquiring sensor data acquired by a sensor unit of each robot in real time; wherein the sensor data includes status information. Therefore, real-time interaction can be respectively carried out with the robot A and the robot B through the communication unit, and the positions and the driving directions of the robot A and the robot B can be obtained in real time.
Alternatively, which traveling direction and speed the robot a and the robot B travel on the target lane L may be directly controlled, so that the traveling directions, positions, and speeds of the robot a and the robot B may be directly obtained in real time.
(2) It is determined whether the traveling direction of the robot a and the traveling direction of the robot B are both the same. If not, the working procedures of the steps S703 to S709 may be referred to. If the two are the same, the following steps can be performed.
(3) When the traveling directions of the plurality of robots are judged to be the same, whether the robots a and B meet each other at the same preset position YP1 is determined according to the traveling directions and speeds of the robots a and B.
(4) If so, it indicates that the speed of the robot B is greater than that of the robot a, and the robot B may catch up with the robot a, and even the robot B may overtake the robot a. The robot a is used as a target robot, the robot B is used as a common robot, and an obstacle avoidance area BQ-M which is located in front of the traveling direction of the target robot a and is closest to the target robot a is used as a target obstacle avoidance area BQ-M of the robot a. As shown in fig. 10.
(5) And controlling the robot B to stop driving, and controlling the target robot A to enter the corresponding target obstacle avoidance area BQ-M so as to enable the target robot A to stay in the target obstacle avoidance area BQ-M and make a target channel L for the robot B. As shown in fig. 11 a.
(6) And controlling the robot B to travel again so that the robot B continues to execute the tasks required to be executed. And after the robot B runs through the target meeting area YQ-M of the target obstacle avoidance area BQ-M corresponding to the target passage L, controlling the target robot a in the target obstacle avoidance area BQ-M to run into the target passage L and run according to the running direction (i.e. along the first extending direction F1) of the planned route before entering the target obstacle avoidance area BQ-M, so that the robot a continues to execute the tasks to be executed. As shown in fig. 11b and 11 c.
It should be noted that, in the case of no conflict, the features in the above embodiments may be combined with each other.
Based on the same inventive concept, the embodiment of the present invention further provides an obstacle avoidance system for multiple robots, and the principle of the obstacle avoidance system for solving the problem is similar to that of the obstacle avoidance method, so that the implementation of the obstacle avoidance system can refer to the implementation of the obstacle avoidance method, and repeated parts are not described herein again.
In specific implementation, each robot in the plurality of robots drives in the same target channel according to a corresponding pre-planned route; at least one obstacle avoidance area is arranged on at least one side of the target passage.
As shown in fig. 12, an obstacle avoidance system for multiple robots according to an embodiment of the present invention may include:
an obtaining unit 1201, configured to obtain, in real time, state information of each of the plurality of robots in the target channel; wherein the state information includes: the position and direction of travel of the robot in the target pathway;
a determining unit 1202, configured to determine, according to state information of each robot, a target robot that needs to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot;
a first control unit 1203, configured to control all the ordinary robots except the target robot to stop traveling, and control the target robot to enter a corresponding target obstacle avoidance area;
and a second control unit 1204, configured to control all the common robots to continue to travel according to the corresponding pre-planned routes after it is determined that all the target robots all enter the corresponding target obstacle avoidance areas, and control all the target robots to travel into the target channels and continue to travel according to the corresponding pre-planned routes after all the common robots all pass through the target meeting areas of the target obstacle avoidance areas corresponding to the target channels.
In a specific implementation, in an embodiment of the present invention, the obstacle avoidance system may further include: and a path planning unit. The path planning unit may be configured to determine an optimal route from the start point to the end point according to the start point and the end point. Thus, the robot can efficiently run and avoid obstacles.
In specific implementation, in the embodiment of the present invention, as shown in fig. 12, the obstacle avoidance system may further include: a determination unit 1205 for determining whether the traveling directions of the plurality of robots traveling in the same target lane are all the same. The determining unit is specifically configured to determine whether the robot traveling in the first extending direction and the robot traveling in the second extending direction travel in opposite directions according to the traveling direction of each robot when the traveling directions of the plurality of robots are judged not to be the same; wherein, a plurality of robots include: the robot system comprises M robots traveling along a first extending direction of a target passageway and N robots traveling along a second extending direction of the target passageway; wherein the first extending direction is opposite to the second extending direction; m is a positive integer, and N is a positive integer; if so, respectively determining a target robot needing to enter the obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the position of each robot.
In specific implementation, in the embodiment of the present invention, the determining unit is specifically configured to determine, according to the position of each robot, a robot closest to an obstacle avoidance area in front of a driving direction of the robot; determining the determined robot closest to the obstacle avoidance area and the robot in the same driving direction as the robot closest to the obstacle avoidance area as target robots according to the robot closest to the obstacle avoidance area; and determining the obstacle avoidance area closest to each target robot as the target obstacle avoidance area corresponding to the target robot according to different obstacle avoidance areas corresponding to different target robots.
In specific implementation, the state information further includes: the speed of the robot. In the embodiment of the present invention, the determining unit is specifically configured to determine whether any two adjacent robots meet at the same preset position according to the driving direction and the speed of each robot when the driving directions of the multiple robots are determined to be the same; if so, taking the previous robot in the two robots meeting at the preset position as a target robot, and determining a target obstacle avoidance area corresponding to the target robot according to the position of the target robot.
In specific implementation, in the embodiment of the present invention, the determining unit is specifically configured to determine, according to different obstacle avoidance areas corresponding to different target robots, an obstacle avoidance area closest to each target robot as a target obstacle avoidance area corresponding to the target robot.
In specific implementation, in the embodiment of the present invention, the second control unit is specifically configured to control the target robot in each target obstacle avoidance area to travel into the target passage and travel according to the traveling direction before entering the target obstacle avoidance area after the other common robots travel through the target meeting areas corresponding to all the target obstacle avoidance areas through the target passage.
In practical implementation, in the embodiment of the present invention, the first control unit is configured to control all the general robots to stop traveling when it is determined that the distance between one of the general robots that is closest to the target robot satisfies the preset distance range.
In specific implementation, in the embodiment of the present invention, the obtaining unit is configured to obtain, in real time, sensor data collected by the sensor unit of each robot in real time; wherein the sensor data includes status information.
In particular implementations, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects within an embodiment of the invention. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The driving principle and the specific implementation of the obstacle avoidance system are the same as those of the embodiment of the obstacle avoidance method, and therefore, the driving method of the obstacle avoidance system can be implemented by referring to the specific implementation of the obstacle avoidance method in the embodiment, and details are not described here.
The obstacle avoidance method and the obstacle avoidance system for the multiple robots, provided by the embodiment of the invention, can acquire the state information of each robot in the multiple robots in real time, so as to determine the target robot needing to enter the obstacle avoidance area and the target obstacle avoidance area corresponding to the target robot according to the state information of each robot. And then, controlling other common robots except the target robot to stop driving, and controlling the target robot to enter a corresponding target obstacle avoidance area, so that the target robot can enter the target obstacle avoidance area to avoid, and a target channel is avoided. Therefore, after the target robot enters the corresponding target obstacle avoidance area, all the common robots can be controlled to travel again, and after all the common robots travel through the target meeting area corresponding to the target obstacle avoidance area through the target passage, all the target robots in the target obstacle avoidance area are controlled to travel into the target passage and travel according to the pre-planned route before entering the target obstacle avoidance area. Therefore, by arranging the obstacle avoidance area on at least one side of the target passage, part of the robots can enter the obstacle avoidance area to give way to the target passage, and therefore safe and effective passing of a plurality of robots can be realized on the target passage which can only allow one robot to pass through.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (12)
1. The obstacle avoidance method of the multiple robots is characterized in that each robot in the multiple robots runs in the same target channel according to a corresponding pre-planned route; at least one obstacle avoidance area is arranged on at least one side of the target channel;
the obstacle avoidance method comprises the following steps:
acquiring state information of each robot in a plurality of robots in the target channel in real time; wherein the state information includes: a position and a travel direction of the robot in the target pathway;
determining a target robot needing to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot;
controlling all common robots except the target robot to stop running, and controlling the target robot to enter the corresponding target obstacle avoidance area;
after all the target robots are determined to completely enter the corresponding target obstacle avoidance areas, all the common robots are controlled to continuously run according to the corresponding pre-planned routes, and after all the common robots pass through the target meeting areas of the target obstacle avoidance areas corresponding to the target channels, all the target robots are controlled to continuously run according to the corresponding pre-planned routes;
after the obtaining of the state information of each robot in the target channel in real time and before determining a target robot that needs to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot, the method further includes:
judging whether the driving directions of a plurality of robots driving in the same target channel are the same or not;
the method for determining a target robot needing to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot comprises the following steps:
determining whether the robot driving along the first extending direction and the robot driving along the second extending direction are driven in opposite directions according to the driving direction of each robot when the driving directions of the plurality of robots are judged not to be the same; wherein the plurality of robots comprise: m robots traveling in a first extending direction of the target corridor and N robots traveling in a second extending direction of the target corridor; wherein the first direction of extension is opposite to the second direction of extension; m is a positive integer, and N is a positive integer;
and if so, respectively determining a target robot needing to enter the obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the position of each robot.
2. An obstacle avoidance method for a plurality of robots according to claim 1, wherein said determining a target robot to enter the obstacle avoidance area and the obstacle avoidance area corresponding to the target robot according to the position of each of the robots respectively comprises:
according to the position of each robot, determining the robot closest to an obstacle avoidance area in front of the driving direction of the robot;
determining the determined robot closest to the obstacle avoidance area and the robot in the same driving direction as the robot closest to the obstacle avoidance area as the target robot according to the robot closest to the obstacle avoidance area;
and determining an obstacle avoidance area closest to each target robot as a target obstacle avoidance area corresponding to the target robot according to different obstacle avoidance areas corresponding to different target robots.
3. An obstacle avoidance method for a plurality of robots according to claim 1, wherein said state information further includes: a speed of the robot;
the method for determining a target robot needing to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot comprises the following steps:
when the running directions of the robots are judged to be the same, determining whether any two adjacent robots meet at the same preset position or not according to the running direction and the speed of each robot;
and if so, taking the previous robot in the two robots meeting at the preset position as a target robot, and determining a target obstacle avoidance area corresponding to the target robot according to the position of the target robot.
4. The obstacle avoidance method of multiple robots according to claim 3, wherein the determining a target obstacle avoidance area corresponding to the target robot according to the position of the target robot comprises:
and determining an obstacle avoidance area closest to each target robot as a target obstacle avoidance area corresponding to the target robot according to different obstacle avoidance areas corresponding to different target robots.
5. An obstacle avoidance method for a plurality of robots according to any one of claims 1 to 4, wherein said controlling all general robots except for said target robot to stop traveling comprises:
and controlling all the general robots to stop running when the distance between the nearest one of the general robots and one of the target robots satisfies a preset distance range.
6. An obstacle avoidance method for a plurality of robots according to any one of claims 1 to 4, wherein the obtaining of the state information of each of the plurality of robots in the target passage in real time comprises:
acquiring sensor data acquired by a sensor unit of each robot in real time; wherein the sensor data includes the status information.
7. The obstacle avoidance system of the multiple robots is characterized in that each robot in the multiple robots runs in the same target channel according to a corresponding pre-planned route; at least one obstacle avoidance area is arranged on at least one side of the target channel;
the obstacle avoidance system comprises:
the acquisition unit is used for acquiring the state information of each robot in a plurality of robots in the target channel in real time; wherein the state information includes: a position and a travel direction of the robot in the target pathway;
the determining unit is used for determining a target robot needing to enter an obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the state information of each robot;
the first control unit is used for controlling all common robots except the target robot to stop running and controlling the target robot to enter the corresponding target obstacle avoidance area;
the second control unit is used for controlling all the common robots to continuously run according to the corresponding pre-planned routes after all the target robots are determined to completely enter the corresponding target obstacle avoidance areas, and controlling all the target robots to continuously run into the target channels and to continuously run according to the corresponding pre-planned routes after all the common robots pass through the target channels and correspond to the target meeting areas of the target obstacle avoidance areas;
a judging unit configured to judge whether traveling directions of a plurality of robots traveling in the same target lane are all the same;
the determining unit is specifically configured to determine whether the robot traveling in the first extending direction and the robot traveling in the second extending direction travel in opposite directions according to the traveling direction of each of the robots when it is determined that the traveling directions of the plurality of robots are not all the same; wherein the plurality of robots comprise: m robots traveling in a first extending direction of the target corridor and N robots traveling in a second extending direction of the target corridor; wherein the first direction of extension is opposite to the second direction of extension; m is a positive integer, and N is a positive integer; and if so, respectively determining a target robot needing to enter the obstacle avoidance area and a target obstacle avoidance area corresponding to the target robot according to the position of each robot.
8. The obstacle avoidance system of multiple robots according to claim 7, wherein the determining unit is specifically configured to determine, according to a position of each of the robots, a robot closest to the obstacle avoidance area in front of a traveling direction of the robot; determining the determined robot closest to the obstacle avoidance area and the robot in the same driving direction as the robot closest to the obstacle avoidance area as the target robot according to the robot closest to the obstacle avoidance area; and determining an obstacle avoidance area closest to each target robot as a target obstacle avoidance area corresponding to the target robot according to different obstacle avoidance areas corresponding to different target robots.
9. An obstacle avoidance system for a plurality of robots according to claim 7, wherein said state information further includes: a speed of the robot;
the determining unit is specifically configured to determine whether any two adjacent robots meet at the same preset position according to the driving direction and the speed of each robot when the driving directions of the multiple robots are judged to be the same; and if so, taking the previous robot in the two robots meeting at the preset position as a target robot, and determining a target obstacle avoidance area corresponding to the target robot according to the position of the target robot.
10. The obstacle avoidance system of multiple robots according to claim 9, wherein the determining unit is specifically configured to determine, according to that different target robots correspond to different obstacle avoidance areas, an obstacle avoidance area closest to each target robot as the target obstacle avoidance area corresponding to the target robot.
11. An obstacle avoidance system according to any one of claims 7 to 10, wherein said first control unit is configured to control all said general robots to stop traveling when it is determined that a distance between one of said general robots that is the closest to the target robot satisfies a preset distance range.
12. An obstacle avoidance system according to any one of claims 7 to 10, wherein said acquisition unit is configured to acquire sensor data acquired by a sensor unit of each of said robots in real time; wherein the sensor data includes 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 |
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