CN111207765A - Robot parking lot path mutual exclusion solution method - Google Patents
Robot parking lot path mutual exclusion solution method Download PDFInfo
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- CN111207765A CN111207765A CN202010012732.8A CN202010012732A CN111207765A CN 111207765 A CN111207765 A CN 111207765A CN 202010012732 A CN202010012732 A CN 202010012732A CN 111207765 A CN111207765 A CN 111207765A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The invention discloses a robot parking lot path mutual exclusion solving method which comprises a parking lot path diagram library, a path calculation module, a scheduling system shared storage module, a path locking module and a path unlocking module, wherein the parking lot path diagram library is used for storing parking lot path diagrams, the path calculation module is used for calculating real-time paths of parking robots, the scheduling system shared storage module is used for storing the real-time paths of each parking robot, the path locking module is used for locking the real-time paths of each parking robot, and the path unlocking module is used for unlocking the locked paths. The invention relates to parking robot parking path selection, in particular to a method for solving the mutual exclusion of paths of a robot parking lot, which ensures that the paths selected by each parking robot in the parking lot when parking do not conflict and each path is the optimal selection in the current parking path, thereby greatly improving the parking speed.
Description
Technical Field
The invention relates to the field of robot parking lots, in particular to a robot parking lot path mutual exclusion solving method.
Background
With the improvement of living standard, the automobile industry develops rapidly, parking difficulty becomes common diseases of most of cities at present, a garage is one of main parking places, but the existing garage parking vehicles park by drivers, the randomness is strong, and the situations of traffic jam outside and insufficient parking inside often occur;
in the existing parking lots for parking through robots, the path selection of the parking robots is easy to conflict in the scheduling process, so that the parking efficiency is low.
Disclosure of Invention
The invention mainly aims to provide a robot parking lot path mutual exclusion solution, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
the robot parking lot path mutual exclusion solving method comprises a parking lot path map library, a path calculation module, a scheduling system shared storage module, a path locking module and a path unlocking module, wherein the parking lot path map library is used for storing parking lot path maps, the path calculation module is used for calculating real-time paths of parking robots, the scheduling system shared storage module is used for storing the real-time paths of the parking robots, the path locking module is used for locking the real-time paths of the parking robots, and the path unlocking module is used for unlocking the locked paths.
Preferably, the path calculation module calculates the real-time walking path of each parking robot by using a Di jkstra and Astar based algorithm.
Preferably, the executed travel time paths of each parking robot calculated by the path calculation module are R1, R2 and R3 … … RN respectively.
Preferably, the dispatching system shares a built-in mapping module in the storage module, and the mapping module is configured to map the real-time walking path of the parking robot to the parking lot path map stored in the parking lot path map library.
Preferably, the method for solving the path mutual exclusion of the robot parking lot comprises the following specific processes:
(S1) the first parking robot execution travel time path calculated by the path calculation module is R1, and R1 is transmitted to the dispatch system shared storage module for storage;
(S2) the path locking module maps the path R1 when the first parking robot walks in real time to the parking lot path map stored in the parking lot path map library and locks the path R1;
(S3) the second parking robot driving path calculated by the path calculation module is R2, the R2 is a driving path calculated by removing the locked path R1, and the R2 is transmitted to the dispatch system shared storage module for storage;
(S4) the path locking module maps the path R1 of the second parking robot when the second parking robot travels in real time to the parking lot path map stored in the parking lot path map library and locks the path R2;
(S5) the Nth parking robot execution travel time path calculated by the path calculation module is RN, the RN is a travel path calculated after removing locked paths R1-R (N-1), and the RN is transmitted to the dispatching system shared storage module for storage;
(S6) the path locking module maps the path RN when the second parking robot walks in real time to the parking lot path map stored in the parking lot path map library, and locks the path RN;
(S7) when the Nth parking robot finishes walking the real-time path RN, the path unlocking module unlocks the path RN.
Preferably, after the path RN is unlocked, the path RN unlocked by the path unlocking module is automatically added to the N +1 th parking robot when the walking path is calculated.
Compared with the prior art, the invention has the following beneficial effects:
in the invention, when N parking robots are arranged in the parking lot, the parking robots are arranged according to the priority order of 1, 2 and 3 … … N, the parking paths of the N parking robots are sequentially R1, R2 and R3 … … RN, wherein R1 is the optimal parking walking path of the first parking robot, R2 is the optimal parking walking path of the second parking robot after removing the R1 path in the parking lot path diagram, R3 is the optimal parking walking path of the third parking robot after removing the R1 path and the R2 path in the parking lot path diagram, RN is the optimal parking walking path of the Nth parking robot after removing the R1 path, the R2 path and the R3 path … … R (N-1) path in the parking lot path diagram, and the paths selected by each parking robot when parking are in a parking lot are not in conflict, each path is the optimal choice in the current parking path, so that the parking speed is greatly improved;
according to the invention, by arranging the path locking module and the path unlocking module, when the optimal path in the parking lot is occupied, the path locking module can lock the path, when the next parking robot performs path calculation, the locked path can be excluded from selection, and after the locked path is completely traveled, the path unlocking module can unlock the path, so that when the next parking robot performs path calculation, the unlocked path can be brought back into selection, and efficient parking is realized.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
The embodiment 1 provides a robot parking lot path mutual exclusion solution, which comprises a parking lot path map library, a path calculation module, a scheduling system shared storage module, a path locking module and a path unlocking module, wherein the parking lot path map library is used for storing parking lot path maps, the path calculation module is used for calculating real-time paths of parking robots, the scheduling system shared storage module is used for storing the real-time paths of the parking robots, the path locking module is used for locking the real-time paths of the parking robots, and the path unlocking module is used for unlocking the locked paths.
The path calculation module calculates the real-time walking path of each parking robot by adopting a Di jkstra and Astar algorithm.
The travel time paths of each parking robot calculated by the path calculation module are respectively R1, R2 and R3 … … RN.
The dispatching system shares a built-in mapping module in a storage module, and the mapping module is used for mapping the real-time walking path of the parking robot to a parking lot path map stored in the parking lot path map library.
Embodiment 2, a method for solving a path mutual exclusion of a robot parking lot includes the following specific steps:
(S1) the first parking robot execution travel time path calculated by the path calculation module is R1, and R1 is transmitted to the dispatch system shared storage module for storage;
(S2) the path locking module maps the path R1 when the first parking robot walks in real time to the parking lot path map stored in the parking lot path map library and locks the path R1;
(S3) the second parking robot driving path calculated by the path calculation module is R2, the R2 is a driving path calculated by removing the locked path R1, and the R2 is transmitted to the dispatch system shared storage module for storage;
(S4) the path locking module maps the path R1 of the second parking robot when the second parking robot travels in real time to the parking lot path map stored in the parking lot path map library and locks the path R2;
(S5) the Nth parking robot execution travel time path calculated by the path calculation module is RN, the RN is a travel path calculated after removing locked paths R1-R (N-1), and the RN is transmitted to the dispatching system shared storage module for storage;
(S6) the path locking module maps the path RN when the second parking robot walks in real time to the parking lot path map stored in the parking lot path map library, and locks the path RN;
(S7) when the Nth parking robot finishes walking the real-time path RN, the path unlocking module unlocks the path RN.
And after the path RN is unlocked, the (N + 1) th parking robot automatically adds the path RN unlocked by the path unlocking module when calculating the walking path.
With reference to embodiment 1-embodiment 2, the method for solving the mutual exclusion of the parking lot paths by robots according to the present invention includes arranging the parking robots in order of priority 1, 2, and 3 … … N when N parking robots are provided, where the parking paths of the N parking robots are sequentially R1, R2, and R3 … … RN, where R1 is the optimal parking travel path of the first parking robot, R2 is the optimal parking travel path of the second parking robot after removing the R1 path in the parking lot path diagram, R3 is the optimal parking travel path of the third parking robot after removing the R1 path and the R2 path in the parking lot path diagram, and RN is the optimal travel path of the nth parking robot after removing the R1 path, the R2 path, and the R3 path … … R (N-1) path in the parking lot path diagram, and by such a parking path selection manner, the paths selected by each parking robot when parking do not conflict, and each path is the optimal selection in the current parking path, so that the parking speed is greatly improved.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The robot parking lot path mutual exclusion solving method is characterized in that the parking lot path map library is used for storing parking lot path maps, the path calculation module is used for calculating real-time paths of parking robots, the scheduling system shared storage module is used for storing the real-time paths of the parking robots, the path locking module is used for locking the real-time paths of the parking robots, and the path unlocking module is used for unlocking the locked paths.
2. The method for solving the path mutual exclusion of the robot parking lot according to claim 1, wherein: the path calculation module calculates the real-time walking path of each parking robot by adopting a Di jkstra and Astar algorithm.
3. The method for solving the path mutual exclusion of the robot parking lot according to claim 1, wherein: the travel time paths of each parking robot calculated by the path calculation module are respectively R1, R2 and R3 … … RN.
4. The method for solving the path mutual exclusion of the robot parking lot according to claim 3, wherein: the dispatching system shares a built-in mapping module in a storage module, and the mapping module is used for mapping the real-time walking path of the parking robot to a parking lot path map stored in the parking lot path map library.
5. The method for solving the path mutual exclusion of the robot parking lot according to claim 1, wherein: the specific process is as follows:
(S1) the first parking robot execution travel time path calculated by the path calculation module is R1, and R1 is transmitted to the dispatch system shared storage module for storage;
(S2) the path locking module maps the path R1 when the first parking robot walks in real time to the parking lot path map stored in the parking lot path map library and locks the path R1;
(S3) the second parking robot driving path calculated by the path calculation module is R2, the R2 is a driving path calculated by removing the locked path R1, and the R2 is transmitted to the dispatch system shared storage module for storage;
(S4) the path locking module maps the path R1 of the second parking robot when the second parking robot travels in real time to the parking lot path map stored in the parking lot path map library and locks the path R2;
(S5) the Nth parking robot execution travel time path calculated by the path calculation module is RN, the RN is a travel path calculated after removing locked paths R1-R (N-1), and the RN is transmitted to the dispatching system shared storage module for storage;
(S6) the path locking module maps the path RN when the second parking robot walks in real time to the parking lot path map stored in the parking lot path map library, and locks the path RN;
(S7) when the Nth parking robot finishes walking the real-time path RN, the path unlocking module unlocks the path RN.
6. The method for solving the path mutual exclusion of the robot parking lot according to claim 5, wherein: after the path RN is unlocked, the N +1 th parking robot automatically adds the path RN unlocked by the path unlocking module when calculating the walking path.
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| CN106569490A (en) * | 2016-10-19 | 2017-04-19 | 哈工大机器人集团上海有限公司 | Robot scheduling system and method based on magnetic stripe navigation |
| CN106681324A (en) * | 2016-12-29 | 2017-05-17 | 郑州大河智信科技股份公司 | Intelligent AGV carrying line scheduling strategy |
| CN108170146A (en) * | 2017-12-31 | 2018-06-15 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of paths planning method based on known environment |
| CN110244711A (en) * | 2019-05-16 | 2019-09-17 | 芜湖智久机器人有限公司 | Robot path planning's system and method, computer readable storage medium, device |
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- 2020-01-07 CN CN202010012732.8A patent/CN111207765A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094834A (en) * | 2016-07-19 | 2016-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | Based on the method for planning path for mobile robot under known environment |
| CN106569490A (en) * | 2016-10-19 | 2017-04-19 | 哈工大机器人集团上海有限公司 | Robot scheduling system and method based on magnetic stripe navigation |
| CN106681324A (en) * | 2016-12-29 | 2017-05-17 | 郑州大河智信科技股份公司 | Intelligent AGV carrying line scheduling strategy |
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