CN110531747A - Mobile robot avoids the method, apparatus and storage equipment of path conflict - Google Patents
Mobile robot avoids the method, apparatus and storage equipment of path conflict Download PDFInfo
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- CN110531747A CN110531747A CN201810506512.3A CN201810506512A CN110531747A CN 110531747 A CN110531747 A CN 110531747A CN 201810506512 A CN201810506512 A CN 201810506512A CN 110531747 A CN110531747 A CN 110531747A
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- mobile robot
- buffer point
- point
- buffer
- occupied
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
Abstract
The present invention provides the device that a kind of mobile robot avoids path conflict, is suitable for a logistics system, and operation has multiple mobile robots in the logistics system, and it includes processor that mobile robot, which avoids the device of path conflict, is adapted for carrying out each instruction；And storage equipment, it is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by processor: obtaining the real-time position information of mobile robot, judges mobile robot whether in easy collision area；When mobile robot is in easy collision area, judge whether buffer point is occupied；When buffer point is unoccupied, definition buffer point is occupied state, issues the command information by the buffer point to mobile robot；Definition buffer point is unappropriated state；Waiting list is detected, determines next mobile robot by the buffer point in the waiting list.The present invention proposes that a kind of mobile robot avoids the method and storage equipment of path conflict simultaneously.
Description
Technical field
The present invention relates to mobile robot field, especially a kind of mobile robot avoids the method, apparatus of path conflict
And storage equipment.
Background technique
Currently, with the continuous social and economic development, the large size logistics such as factory, station, harbour and logistics warehouse place
Scale and quantity constantly expand, and in order to reduce logistics manpower consumption, mobile robot gradually replaces manual handling on a large scale.
However, when transporting cargo simultaneously using multiple mobile robots, the problem of inevitably will appear path conflict.It is so-called
Path conflict just refers to more than two mobile robots while seizing the same position.To guarantee the orderly of mobile robot
How operation avoids the path conflict between robot from becoming urgent problem to be solved.
Summary of the invention
In view of the above situation, it is necessary to a kind of mobile robot be provided, the method, apparatus of path conflict and storage is avoided to set
It is standby, to solve the problems, such as path conflict, improve the operational efficiency of mobile robot.
A kind of mobile robot avoids the device of path conflict, is suitable for a logistics system, runs in the logistics system
There are multiple mobile robots, it includes: processor that the mobile robot, which avoids the device of path conflict, is adapted for carrying out each instruction；
And storage equipment, it is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by the processor: obtaining the moving machine
Whether the real-time position information of device people judges the mobile robot in easy collision area；When the mobile robot is easily being touched
When hitting region, judge whether buffer point is occupied；When the buffer point is unoccupied, it is occupied for defining the buffer point
State, Xiang Suoshu mobile robot issues through the command information of the buffer point；It is unoccupied for defining the buffer point
State；Waiting list is detected, determines next mobile robot by the buffer point in the waiting list.
A kind of method that mobile robot avoids path conflict, comprising the following steps: obtain the real-time position of mobile robot
Whether confidence breath, judge the mobile robot in easy collision area；Judge whether buffer point is occupied；When the buffer point
When unoccupied, defining the buffer point is occupied state, and the sending of Xiang Suoshu mobile robot passes through the buffer point
Command information；Defining the buffer point is occupied state；Waiting list is detected, is determined next logical in the waiting list
Cross the mobile robot of the buffer point.
A kind of storage equipment is suitable for storing a plurality of instruction, and described instruction is suitable for being loaded and being executed by processor: obtaining movement
Whether the real-time position information of robot judges the mobile robot in easy collision area；When the mobile robot is easy
When collision area, judge whether buffer point is occupied；When the buffer point is unoccupied, it is occupied for defining the buffer point
State, Xiang Suoshu mobile robot issue the command information by buffer point；It is unappropriated for defining the buffer point
State；Waiting list is detected, determines next mobile robot by the buffer point in the waiting list.
Above-mentioned mobile robot avoids the method, apparatus of path conflict and storage equipment that from capable of judging whether buffer point has accounted for
With, and pass through buffer area or addition waiting list according to the state of buffer point to control mobile robot.Therefore, above-mentioned side
The problem of method, device and storage equipment are able to solve path conflict between mobile robot, avoids mobile robot from colliding,
To ensure that the orderly function of mobile robot.
Detailed description of the invention
Fig. 1 is the module diagram that the mobile robot of embodiment of the present invention avoids the device of path conflict.
Fig. 2 is the module diagram that the mobile robot of embodiment of the present invention avoids the system of path conflict.
Fig. 3 avoids the flow diagram of path conflict method for the mobile robot that the present invention provides embodiment.
Fig. 4 is schematic diagram of the buffer point under occupied state.
Fig. 5 is schematic diagram of the buffer point under unoccupied state.
Fig. 6 is schematic diagram of the buffer point under occupied state again.
Main element symbol description
| Mobile robot avoids the device of path conflict | 100 |
| Store equipment | 10 |
| Processor | 20 |
| The system that mobile robot avoids path conflict | 30 |
| Task dispatch module | 31 |
| Path planning module | 32 |
| Communication module | 33 |
| Judgment module | 34 |
| Buffer point definition module | 35 |
| Queue detection module | 36 |
| Mobile robot | 41,42,43 |
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention will be described in detail.It should be noted that in the absence of conflict, presently filed embodiment and reality
The feature applied in mode can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, described embodiment
It is only some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this field is general
Logical technical staff all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that the limitation present invention.
Term " and or " used herein includes any and all groups of one or more relevant listed items
It closes.
The present invention provides the device that a kind of mobile robot avoids path conflict, is applied in a logistics system, described
Operation has multiple mobile robots in logistics system.Referring to FIG. 1, Fig. 1 is mobile machine in a better embodiment of the invention
People avoids the hardware structure schematic diagram of the device 100 of path conflict.The mobile robot avoids the device 100 of path conflict from wrapping
Include storage equipment 10 and processor 20.
The storage equipment 10 is used to store the various data for the device 100 that the mobile robot avoids path conflict,
Such as program code etc..
The storage equipment 10 is also used to store the cartographic information of logistics system, including each easy collision area in logistics system
And the location information of buffer point.The buffer point is the position for only a mobile robot being allowed to pass through every time in easy collision area
Point.
It is understood that the storage equipment 10 can be hard disk, floppy disk, USB flash disk, direct access storage device etc..
In an at least embodiment, the storage equipment 10 can be storage inside system, such as flash memory, random to read
Store equipment RAM, the storage equipment ROM that can be read.
In an at least embodiment, the storage equipment 10 can also be a storage system, such as video disc, storage
Card or data storage medium.The storage equipment 10 further includes unstable or stable storage equipment.
In an at least embodiment, the storage equipment 10 includes two or more storage equipment, for example, wherein one
A storage equipment is memory body, and it is hard disk drive that another one, which store equipment,.In addition, the storage equipment 10 can also be complete
Portion or part avoid the device 100 of path conflict independently of the mobile robot.
The processor 20 can be central processing unit (Central Processing Unit, CPU), at digital signal
Device or single-chip microcontroller etc. are managed, each instruction is adapted for carrying out.
The mobile robot, which avoids the device 100 of path conflict from also running, has a mobile robot to avoid path conflict
System 30, referring to FIG. 2, avoiding the function mould of the system 30 of path conflict for the mobile robot in an embodiment of the present invention
Block schematic diagram.It includes that the computers of one or more program forms refers to that the mobile robot, which avoids the system 30 of path conflict,
It enables, the computer instruction of one or more of program forms is stored in the storage equipment 10, and by the processor 20
It executes, to realize that the mobile robot in the present invention avoids function provided by the device 100 of path conflict.In present embodiment
In, it includes task dispatch module 31, path planning module 32, communication mould that the mobile robot, which avoids the system 30 of path conflict,
Block 33, judgment module 34, buffer point definition module 35 and queue detection module 36.
The task dispatch module 31 is for generating the carrying duty for being dispatched to each mobile robot.The task dispatch module
31 execute task assignment activity periodically, every time by the carrying duty being lined up and idle mobile robot progress
Match, to obtain allocation plan；Alternatively, the task dispatch module 31 triggers task assignment activity by mobile robot free time,
Once there is mobile robot idle, the first carrying duty of queuing is distributed into the mobile robot.The task dispatch module
31 are also used to for the carrying duty for distributing to each mobile robot being divided into multiple subtasks, and determine that the execution of multiple subtasks is suitable
Sequence.
The path planning module 32 is used for current according to starting point and the target point planning of assigned mobile robot
The execution route of task.In the present embodiment, Di Jiesitela (Dijkstra) can be used to calculate for the path planning module 32
Method plans execution route.
The communication module 33 is used to receive and dispatch the information with extraneous communication, including sending execution task to mobile robot
Command information, the command information by buffer point, the command information into buffer area, and receive the reality that mobile robot issues
When location information etc..It is appreciated that the information of communication can be related to various information；Information communication mode can be it is wireless,
It is also possible to wired.
Whether the judgment module 34 is used for the real-time position information according to mobile robot, judge mobile robot easy
Collision area.The judgment module 34 is also used to judge whether buffer point has been occupied by mobile robot.
The buffer point definition module 35 is in occupied state or unappropriated state for defining buffer point.
The queue detection module 36 is used to detect the waiting list in buffer area, can pass through buffering so that determination is next
The mobile robot of point.
Fig. 3 is the flow chart for the method that mobile robot avoids conflict in an embodiment of the present invention.The mobile machine
The method that people avoids conflict is applied to the mobile robot and avoids in the system 30 of path conflict.According to different requirements, should
Step sequence in flow chart can change, and certain steps can be omitted or merge.
Step 301, task dispatch module 31 assigns carrying duty to mobile robot.
Task dispatch module 31 can execute task assignment activity periodically, or be appointed by the triggering of mobile robot free time event
Business assignment activity.
Step 302, path planning module 32 is mobile robot rule according to the starting point of task, target point and input parameter
Draw the execution route of current task.
In the present embodiment, dijkstra's algorithm can be used to plan execution route in the path planning module 32.
Step 303, communication module 33 sends the command information of execution task to mobile robot.The instruction of the execution task
Information includes the information of the execution route.
Start to advance according to execution route to target point after the command information of mobile robot reception execution task.
Step 304, communication module 33 obtains the real-time position information of mobile robot, and judgment module 34 is according to mobile machine
Whether the real-time position information of people judges the mobile robot in easy collision area.
Specifically, the location information of the easy collision area is stored in advance in storage equipment 10.Communication module 33 obtains
The real-time position information of mobile robot, judgment module 34 is by the real-time position information of mobile robot and preset easy impact zone
Whether the location information in domain is compared to pair, to judge mobile robot in easy collision area.If it has, then 305 are entered step, if
It is no, then enter step 310.
Step 305, judgment module 34 judges whether buffer point is occupied.
The buffer point is the location point for only a mobile robot being allowed to pass through every time in easy collision area.Buffer point is fixed
The state of the defined buffer point of adopted module 35, judgment module 34 judge whether buffer point is occupied according to the state of buffer point.
If it has, then entering step 306；If it has not, then entering step 307.
Step 306, communication module 33 issues the command information for entering buffer area to mobile robot, enters robot slow
It rushes area and waiting list is added.
Step 307, defining buffer point is occupied state, issues to mobile robot and is believed by the instruction of buffer point
Breath.
Specifically, buffer point is defined as occupied state by buffer point definition module 35, and communication module 33 is to moving machine
Device human hair goes out the command information by buffer point, so that mobile robot passes through buffer point.
Step 308, after mobile robot is driven out to buffer point, buffer point is defined as not occupied by buffer point definition module 35
State.
Step 309, queue detection module 36 detects waiting list, determines next mobile robot by buffer point.
Then, it is again introduced into step 307, buffer point definition module 35 is defined by buffer point and is defined as occupied state,
Communication module 33 issues the command information by buffer point to next mobile robot, so that the mobile robot passes through buffering
Point.
Step 310, mobile robot continues to execute task.
It is appreciated that in other embodiments, step S301 to S303 can cancel, at this time can be by other control systems
Come to mobile robot assigned tasks.
Fig. 4 to fig. 6 simply illustrates the occupied state and unoccupied state of buffer point.Fig. 4 is buffer point occupied
In the state of schematic diagram, buffer point occupied by mobile robot 41, there is 42 He of mobile robot in the waiting list of buffer area
Mobile robot 43.Fig. 5 is the schematic diagram in the state that buffer point is unoccupied, and mobile robot 41 has sailed out of buffer point, is delayed
Rushing in the waiting list in area has mobile robot 42 and mobile robot 43.Fig. 6 is in the state that buffer point is occupied again
Schematic diagram, buffer point are occupied by mobile robot 42, there is mobile robot 43 in the waiting list of buffer area.
Above-mentioned mobile robot avoids the method, apparatus of path conflict and storage equipment that from capable of judging whether buffer point has accounted for
With, and pass through buffer area or addition waiting list according to the state of buffer point to control mobile robot.Therefore, above-mentioned side
The problem of method, device and storage equipment are able to solve path conflict between mobile robot, avoids mobile robot from colliding,
To ensure that the orderly function of mobile robot.
Those of ordinary skill in the art will appreciate that realizing all or part of process in above embodiment, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, described program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in same processor
It is that each unit physically exists alone, can also be integrated in same unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds software function module.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are with so that an electronics is set
It is standby (to can be hand-held electronic equipment, such as smart phone, laptop, personal digital assistant (Personal Digital
Assistant, PDA), intellectual wearable device etc., be also possible to Table top type electronic equipment, such as desktop computer, smart television)
Or processor (processor) executes the part steps of each embodiment the method for the present invention.And storage medium above-mentioned
It include: USB flash disk, mobile hard disk, read only memory devices (Read-Only Memory, ROM), direct access storage device (Random
Access Memory, RAM), the various media that can store program code such as magnetic or disk.
It is obvious to a person skilled in the art that the present invention is not limited to the details of above-mentioned exemplary embodiment, and
Without departing from the spirit or essential characteristics of the present invention, the present invention can be realized in other specific forms.Therefore, nothing
By from the point of view of which point, it should all regard embodiment as exemplary, and be non-limiting, the scope of the present invention is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent elements of the claims
All changes are included in the present invention.Right involved in should not treating any reference in the claims as limiting is wanted
It asks.Furthermore, it is to be understood that one word of " comprising " is not excluded for other units or step, odd number is not excluded for plural number.It is stated in system claims
Multiple units or system can also be implemented through software or hardware by the same unit or system.The first, the second equal words
Language is used to indicate names, and is not indicated any particular order.
Finally it should be noted that embodiment of above is only used to illustrate the technical scheme of the present invention and not to limit it, although ginseng
It is described the invention in detail according to better embodiment, those skilled in the art should understand that, it can be to this hair
Bright technical solution is modified or equivalent replacement, without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. a kind of mobile robot avoids the device of path conflict, it is suitable for a logistics system, running in the logistics system has
Multiple mobile robots, it is characterised in that: the mobile robot avoids the device of path conflict from including:
Processor is adapted for carrying out each instruction；And
Equipment is stored, is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by the processor:
Whether the real-time position information for obtaining the mobile robot judges the mobile robot in easy collision area；
When the mobile robot is in easy collision area, judge whether buffer point is occupied；
When the buffer point is unoccupied, defining the buffer point is occupied state, and Xiang Suoshu mobile robot issues
Pass through the command information of the buffer point；
Defining the buffer point is unappropriated state；
Waiting list is detected, determines next mobile robot by the buffer point in the waiting list.
2. the device that mobile robot as described in claim 1 avoids path conflict, which is characterized in that described instruction be suitable for by
The processor is loaded and is executed:
When the buffer point has occupied, Xiang Suoshu mobile robot issues the command information for entering buffer area, makes the movement
The waiting list is added in robot.
3. the device that mobile robot as claimed in claim 2 avoids path conflict, which is characterized in that described instruction be suitable for by
The processor is loaded and is executed:
Assign carrying duty to the mobile robot；
It is the execution route that the mobile robot plans current task according to the starting point of task, target point and input parameter；
The command information of execution task is sent to the mobile robot.
4. the device that mobile robot as claimed in claim 3 avoids path conflict, which is characterized in that described instruction be suitable for by
The processor is loaded and is executed:
After determining next mobile robot by the buffer point, defining the buffer point is occupied shape
State issues the command information by the buffer point to next mobile robot by buffer point.
5. the device that mobile robot as described in claim 1 avoids path conflict, which is characterized in that in the storage equipment
Be stored with the cartographic information of the logistics system, the cartographic information include in the logistics system each easy collision area and
The location information of the buffer point.
6. a kind of method that mobile robot avoids path conflict, comprising the following steps:
Whether the real-time position information for obtaining mobile robot, judge the mobile robot in easy collision area；
Judge whether buffer point is occupied；
When the buffer point is unoccupied, defining the buffer point is occupied state, and Xiang Suoshu mobile robot issues
Pass through the command information of the buffer point；
Defining the buffer point is occupied state；
Waiting list is detected, determines next mobile robot by the buffer point in the waiting list.
7. the method that mobile robot as claimed in claim 6 avoids path conflict, which is characterized in that the method also includes
Step:
When the buffer point has occupied, Xiang Suoshu mobile robot issues the command information for entering the buffer area, makes described
The waiting list is added in mobile robot.
8. the method that mobile robot as claimed in claim 6 avoids path conflict, which is characterized in that the method also includes
Step:
Assign carrying duty to the mobile robot；
It is the execution route that the mobile robot plans current task according to the starting point of task, target point and input parameter；
The command information of execution task is sent to the mobile robot.
9. the method that mobile robot as claimed in claim 6 avoids path conflict, which is characterized in that the method also includes
Step:
After determining next mobile robot by the buffer point, defining the buffer point is occupied shape
State issues the command information by the buffer point to next mobile robot by the buffer point.
10. a kind of storage equipment is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by processor:
Whether the real-time position information for obtaining mobile robot, judge the mobile robot in easy collision area；
When the mobile robot is in easy collision area, judge whether buffer point is occupied；
When the buffer point is unoccupied, defining the buffer point is occupied state, and Xiang Suoshu mobile robot issues
Pass through the command information of buffer point；
Defining the buffer point is unappropriated state；
Waiting list is detected, determines next mobile robot by the buffer point in the waiting list.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810506512.3A CN110531747A (en) | 2018-05-24 | 2018-05-24 | Mobile robot avoids the method, apparatus and storage equipment of path conflict |
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| CN201810506512.3A CN110531747A (en) | 2018-05-24 | 2018-05-24 | Mobile robot avoids the method, apparatus and storage equipment of path conflict |
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| CN113093763A (en) * | 2021-04-13 | 2021-07-09 | 塔米智能科技（北京）有限公司 | Mobile robot scheduling system and method |
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