CN113156950A - Multi-robot intelligent traffic control method and device - Google Patents
Multi-robot intelligent traffic control method and device Download PDFInfo
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Abstract
The invention discloses a multi-robot intelligent traffic control method and a device, wherein the method comprises the following steps: when the robot applies for the next element, performing collision detection and deadlock detection, wherein the deadlock detection is used for judging whether the next element applied by the robot forms a deadlock with other robots or not; and prohibiting the application of the robot when the collision detection and/or the deadlock detection are judged to be failed. The invention can automatically judge whether the multiple robots are deadlocked when acting simultaneously, completely avoid the occurrence of the deadlock phenomenon, increase the traffic efficiency and reduce the human intervention.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a multi-robot intelligent traffic control method and device.
Background
At present, the robot technology based on autonomous navigation is applied to the scenes of warehouses, airports, docks and the like in a large scale. The traffic control, i.e. joint path planning and joint navigation, is a difficult point in multi-robot scheduling, and the biggest problem is how to avoid collision or deadlock of multiple robots. The technology for avoiding the mutual collision of the robots is mature, but the mutual deadlock among the robots is difficult to avoid. In the deadlock state, any robot involved in the deadlock cannot execute the next action in the planning process, so all the involved robots cannot continue to act, one part of the robot can be used for planning a path by the system to find a route which can bypass other robots, and the other part of the robot can be only processed by manual intervention. Whatever the treatment method, the traffic efficiency is negatively affected. The present invention thus focuses on improving traffic efficiency by avoiding multiple robots from entering a deadlock state.
The flow of controlling a robot to perform a task and avoiding collision in motion is generally as follows (deadlock cannot be avoided), as shown in fig. 1: the robot receives a task in an idle state, a task planning module plans a task path, then determines one or more actions (advancing, turning and the like) required to be done next according to the current position of the robot, tries to apply, and then a traffic control module judges whether the action can be executed (namely the application is successful). After one action is successfully applied, the action is added into an action queue to be executed, and the next action can be continuously applied until the application fails or all actions to be executed next are successfully applied. After the application is finished, the robot executes the commands which are successfully applied in sequence, and repeatedly determines the next action to be applied according to the latest position after a period of time.
In the above process, the criterion for the traffic control module to determine whether the action can be executed is generally to assume that the robot executes the action without conflict with actions in the action queue to be executed by other robots. In an actual scenario, some traffic rules, such as a one-way line, may exist, so that after the robot performs some actions, although the robot does not collide with other robots, the robot enters a deadlock state with other robots, which means that all the robots cannot perform the next planned action and can only be stationary in place.
Fig. 2 illustrates another possible deadlock, as shown in fig. 2, from point a and point B, which can only move in one direction, to point C,. Two robots, where the AGV1 is stationary at point a and the AGV2 is stationary at point B, they can only move in the long direction, they are in the current position without collision, but the next move of the AGV1 can only go from point a to point C. As shown, when going from point A to point C, the passing area of the AGV1 (indicated by the two dashed lines AC1 and AC 2) intersects the location where the AGV2 is located, i.e., the only possible activity of the AGV1 is blocked by the AGV 2; on the other hand, when the AGV2 goes from B to C, the area (indicated by the dashed lines BC1 and BC 2) through which the AGV2 passes also intersects the position of the AGV1, i.e., the only possible motion of the AGV2 is blocked by the AGV 1; neither the AGV1 nor the AGV2 can act at their current location.
The existing scheme for avoiding the deadlock of the robot is to manually divide some points on a map into a control area, and only one robot is allowed to operate in the control area, so that a plurality of vehicles are prevented from entering a small area, and the deadlock is avoided.
However, the prior art has the following technical problems:
firstly, the existing scheme for avoiding deadlock by dividing a control area mainly depends on manual experience, is easy to make mistakes, needs to be continuously debugged, and is easy to omit when the operation area of a robot is large; in addition, the existence of the control area can influence the robot walking normally, and the control area can block the robot walking normally and cannot generate the action of the robot locked. Finally, when the regulated areas are dense and adjacent to each other, a new deadlock may be formed between the regulated areas, for example, the robots try to enter the regulated areas of each other. Therefore, the prior art cannot solve the problem of mutual deadlock of robots well, and therefore, a problem that deadlock may occur in an operation area of a plurality of robots needs to be solved urgently.
Disclosure of Invention
The invention aims to provide a multi-robot intelligent traffic control method and a multi-robot intelligent traffic control device, and aims to solve the problems in the prior art.
The invention provides a multi-robot intelligent traffic control method, which comprises the following steps:
when the robot applies for the next element, performing collision detection and deadlock detection, wherein the deadlock detection is used for judging whether the next element applied by the robot forms a deadlock with other robots or not;
and prohibiting the application of the robot when the collision detection and/or the deadlock detection are judged to be failed.
The invention provides a multi-robot intelligent traffic control device, comprising:
the detection module is used for performing collision detection and deadlock detection when the robot applies for a next element, wherein the deadlock detection is used for judging whether the next element applied by the robot forms a deadlock with other robots or not;
and the application module is used for forbidding the robot to pass the application when judging that the collision detection and/or the deadlock detection cannot pass the application.
The embodiment of the invention also provides a multi-robot intelligent traffic control device, which comprises: the multi-robot intelligent traffic control system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the multi-robot intelligent traffic control method when being executed by the processor.
The embodiment of the invention also provides a computer readable storage medium, wherein an implementation program for information transmission is stored on the computer readable storage medium, and the program is executed by a processor to implement the steps of the multi-robot intelligent traffic control method.
By adopting the embodiment of the invention, the operation area can be composed of any straight line, curve and rotation point; the multiple robots can have different sizes and can run on part or all line segments and points in the area, and the problem that the multiple robots are possibly deadlocked in the running area is solved. Whether deadlock can be formed when a plurality of robots act simultaneously can be automatically judged, the deadlock phenomenon is completely avoided, the traffic efficiency is increased, and the human intervention is reduced.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a basic flow diagram of a prior art robot performing tasks;
FIG. 2 is a schematic diagram of a prior art robot deadlock example;
FIG. 3 is a flow chart of a multi-robot intelligent traffic control method of an embodiment of the present invention;
FIG. 4 is a first flowchart illustrating a multi-robot intelligent traffic control method according to an embodiment of the present invention;
FIG. 5 is a detailed flowchart II of a multi-robot intelligent traffic control method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a system architecture of a multi-robot intelligent traffic control method according to an embodiment of the present invention;
FIG. 7 is a first schematic diagram of a multi-robot intelligent traffic control device according to an embodiment of the present invention;
fig. 8 is a second schematic diagram of the multi-robot intelligent traffic control device according to the embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Method embodiment
According to an embodiment of the present invention, a multi-robot intelligent traffic control method is provided, fig. 3 is a flowchart of the multi-robot intelligent traffic control method according to the embodiment of the present invention, as shown in fig. 3, the multi-robot intelligent traffic control method according to the embodiment of the present invention specifically includes:
step 301, when the robot applies for the next element, performing collision detection and deadlock detection, wherein the deadlock detection is used for judging whether the next element applied by the robot forms a deadlock with other robots; wherein, the element specifically comprises: the robot applies for the next action or next position. The deadlock detection when the robot applies for the next element specifically comprises: :
acquiring all actions to be executed in the action queue or all positions in the position queue of other robots;
and judging whether one action or position exists and the next action or position applied by the robot has a deadlock phenomenon. . Specifically, the judgment is made according to judgment condition 1 and judgment condition 2:
judgment condition 1: judging that the next action in the action plan to be executed by one of other robots is blocked by the action which the current robot tries to apply for;
judgment condition 2: if the current robot performs the next action of the application, the next action in its plan will also be blocked by the actions to be performed by other robots.
In addition, in the embodiment of the invention, after the system is initialized, action combinations of all the two robots which are possibly deadlocked can be calculated in advance, and the action combinations are cached and indexed;
and when the robot applies for the next action to carry out a deadlock detection tool, inquiring whether an action combination which forms a deadlock with the actions applied by other robots exists in the cached action combination according to the index.
And 302, prohibiting the application passing through the robot when judging that the collision detection and/or the deadlock detection are not passed.
Specifically, when both the determination condition 1 and the determination condition 2 are satisfied at the same time, it is determined that the deadlock detection does not pass.
The above technical solutions of the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 4, when the robot applies for the next action, in addition to the original flows of collision detection and the like, it is necessary to determine whether a deadlock will be formed after the robot applies for the next action. Firstly, all actions in the action queue to be executed by other robots need to be acquired, and then whether one action exists and the action which the robot tries to apply for has a deadlock phenomenon needs to be judged. The condition of the deadlock is that on the one hand the next action in the plan of actions to be performed by one of the other robots is blocked by the action that the current robot attempts to apply for, and on the other hand the next action in the plan of the current robot is also blocked by the action to be performed by the other robot if the current robot performs the action that the current robot applies for. When the current robot applies for the next action, if the two conditions are satisfied at the same time, that is, if the current robot applies for the next action, a deadlock phenomenon occurs, and therefore the robot needs to be prevented from performing the next action, so that the deadlock is avoided.
To further speed up the computation, the combination of actions that may result in deadlock for both robots may be cached and indexed after system initialization, either manually configured or automatically computed by the system, as shown in fig. 5. After that, when the robot applies for a certain action, only the action combination which is cached and has the deadlock needs to be inquired whether the action combination which can form the deadlock with the action applied by other robots.
Fig. 6 is a schematic system structure diagram of a task operating system provided in an embodiment of the present invention. As shown in fig. 6, the operation system includes: a workstation 101, a control system 102, and a robot 103. The control system comprises at least two basic units, i.e., a processor 1021 and a memory 1022, wherein the task pool 1023 is stored in the memory. The robot 103 may be a self-propelled robot.
During system operation, a task can be initiated at the workstation 101 manually, or the control system 102 generates a task by itself, the control system 102 distributes the task to the robot 103 and controls the robot 103 to complete a corresponding task, and in the control process, the control system 102 receives a state reported by the robot in real time and issues an instruction to the robot 103 at a proper time.
As shown in the flowchart of fig. 4, a path is first planned according to a task destination issued by the control system 102, where the path may include a straight line, a curve, and a rotation in place, then a next action to be executed is determined according to a current position of the robot, and then it is determined whether the action will collide with actions to be executed by other robots according to states (including size, direction) of the robots, where the collisions include both conventional collision collisions and deadlock collisions, and only when neither collision nor deadlock exists, the robot can add the next action to be executed to a task queue to be executed and sequentially execute the tasks. By the steps, deadlock conflicts shown in fig. 2 can be avoided, so that the passing efficiency of the robot group is improved, and the time required for executing tasks is reduced.
Apparatus embodiment one
According to an embodiment of the present invention, there is provided a multi-robot intelligent traffic control device, fig. 7 is a schematic view of the multi-robot intelligent traffic control device according to the embodiment of the present invention, as shown in fig. 7, the multi-robot intelligent traffic control device according to the embodiment of the present invention specifically includes:
the detection module 70 is configured to perform collision detection and deadlock detection when the robot applies for a next element, where the deadlock detection is used to determine whether a deadlock will be formed with other robots after the next element applied by the robot; wherein, the element specifically comprises: the robot applies for the next action or next position. The detection module 70 is specifically configured to:
acquiring all actions to be executed in the action queue or all positions in the position queue of other robots;
judging whether a deadlock phenomenon exists between one action or position and the next action or position applied by the robot: specifically, under the condition that both the judgment condition 1 and the judgment condition 2 are simultaneously satisfied, it is judged that a deadlock phenomenon exists: judgment condition 1: judging that the next action in the action plan to be executed by one of other robots is blocked by the action which the current robot tries to apply for; judgment condition 2: if the current robot executes the next action of the application, the next action in the plan can be blocked by the actions to be executed by other robots;
in an embodiment of the present invention, the apparatus may further include: the indexing module calculates action combinations of all the two robots which are possibly deadlocked in advance after the system is initialized, caches the action combinations and establishes indexes;
the detection module 70 is specifically configured to: and when the robot applies for the next action to carry out a deadlock detection tool, inquiring whether an action combination which forms a deadlock with the actions applied by other robots exists in the cached action combination according to the index.
An application module 72 prohibits the application by the robot when it is determined that the collision detection and/or the deadlock detection are not passed.
The application module 72 is specifically configured to:
and under the condition that the judgment condition 1 and the judgment condition 2 are both simultaneously met, judging that the deadlock detection does not pass.
Fig. 6 is a schematic system structure diagram of a task operating system provided in an embodiment of the present invention. As shown in fig. 6, the operation system includes: a workstation 101, a control system 102, and a robot 103. The control system comprises at least two basic units, i.e., a processor 1021 and a memory 1022, wherein the task pool 1023 is stored in the memory. The robot 103 may be a self-propelled robot.
During system operation, a task can be initiated at the workstation 101 manually, or the control system 102 generates a task by itself, the control system 102 distributes the task to the robot 103 and controls the robot 103 to complete a corresponding task, and in the control process, the control system 102 receives a state reported by the robot in real time and issues an instruction to the robot 103 at a proper time.
As shown in the flowchart of fig. 4, a path is first planned according to a task destination issued by the control system 102, where the path may include a straight line, a curve, and a rotation in place, then a next action to be executed is determined according to a current position of the robot, and then it is determined whether the action will collide with actions to be executed by other robots according to states (including size, direction) of the robots, where the collisions include both conventional collision collisions and deadlock collisions, and only when neither collision nor deadlock exists, the robot can add the next action to be executed to a task queue to be executed and sequentially execute the tasks. By the steps, deadlock conflicts shown in fig. 2 can be avoided, so that the passing efficiency of the robot group is improved, and the time required for executing tasks is reduced.
The embodiment of the present invention is an apparatus embodiment corresponding to the above method embodiment, and specific operations of each module may be understood with reference to the description of the method embodiment, which is not described herein again.
Device embodiment II
An embodiment of the present invention provides a multi-robot intelligent traffic control device, as shown in fig. 8, including: a memory 80, a processor 82 and a computer program stored on the memory 80 and executable on the processor 82, which computer program when executed by the processor 82 performs the steps as described in the method embodiments.
Device embodiment III
An embodiment of the present invention provides a computer-readable storage medium, on which an implementation program for information transmission is stored, and when being executed by a processor 82, the program implements the steps described in the method embodiment.
The computer-readable storage medium of this embodiment includes, but is not limited to: ROM, RAM, magnetic or optical disks, and the like.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
In the 30 s of the 20 th century, improvements in a technology could clearly be distinguished between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in multiple software and/or hardware when implementing the embodiments of the present description.
One skilled in the art will recognize that one or more embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description 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, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
One or more embodiments of the present description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of this document and is not intended to limit this document. Various modifications and changes may occur to those skilled in the art from this document. Any modifications, equivalents, improvements, etc. which come within the spirit and principle of the disclosure are intended to be included within the scope of the claims of this document.
Claims (10)
1. A multi-robot intelligent traffic control method is characterized by comprising the following steps:
when the robot applies for the next element, performing collision detection and deadlock detection, wherein the deadlock detection is used for judging whether the next element applied by the robot forms a deadlock with other robots or not;
and prohibiting the application of the robot when the collision detection and/or the deadlock detection are judged to be failed.
2. The method according to claim 1, characterized in that said elements comprise in particular: the robot applies for the next action or next position.
3. The method of claim 2, wherein performing deadlock detection when the robot applies for the next element specifically comprises:
acquiring all actions to be executed in the action queue or all positions in the position queue of other robots;
and judging whether one action or position exists and the next action or position applied by the robot has a deadlock phenomenon.
4. The method of claim 3, wherein determining whether there is a deadlock with the next action requested by the robot comprises:
under the condition that the judgment condition 1 and the judgment condition 2 are both simultaneously met, judging that a deadlock phenomenon exists:
judgment condition 1: judging that the next action in the action plan to be executed by one of other robots is blocked by the action which the current robot tries to apply for;
judgment condition 2: if the current robot performs the next action of the application, the next action in its plan will also be blocked by the actions to be performed by other robots.
5. The method of claim 1, further comprising:
calculating action combinations of all two robots which are possibly deadlocked after system initialization in advance, caching the action combinations and establishing indexes;
the deadlock detection when the robot applies for the next action specifically comprises:
when the robot applies for a certain action, whether an action combination which forms a deadlock with the action applied by other robots exists in the cached action combination is inquired according to the index.
6. A multi-robot intelligent traffic control device is characterized by comprising:
the detection module is used for performing collision detection and deadlock detection when the robot applies for a next element, wherein the deadlock detection is used for judging whether the next element applied by the robot forms a deadlock with other robots or not;
and the application module is used for forbidding the robot to pass the application when judging that the collision detection and/or the deadlock detection cannot pass the application.
7. The apparatus of claim 6, wherein the elements specifically comprise: the robot applies for the next action or next position.
8. The apparatus of claim 7,
the detection module is specifically configured to:
acquiring all actions to be executed in the action queue or all positions in the position queue of other robots;
judging whether a deadlock phenomenon exists between one action or position and the next action or position applied by the robot: specifically, under the condition that both the judgment condition 1 and the judgment condition 2 are simultaneously satisfied, it is judged that a deadlock phenomenon exists: judgment condition 1: judging that the next action in the action plan to be executed by one of other robots is blocked by the action which the current robot tries to apply for; judgment condition 2: if the current robot executes the next action of the application, the next action in the plan can be blocked by the actions to be executed by other robots;
the apparatus further comprises: the indexing module is used for calculating action combinations of all the two robots which are possibly deadlocked after the system is initialized in advance, caching the action combinations and establishing indexes;
the detection module is specifically configured to: when the robot applies for a certain action, whether an action combination which forms a deadlock with the action applied by other robots exists in the cached action combination is inquired according to the index.
9. A multi-robot intelligent traffic control device is characterized by comprising: memory, processor and computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the multi-robot intelligent traffic control method according to any one of claims 1 to 5.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an implementation program of information transfer, which when executed by a processor implements the steps of the multi-robot intelligent traffic control method according to any one of claims 1 to 5.
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