CN113189949B - Navigation scheduling control method and system - Google Patents
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application discloses a navigation scheduling control method and a system, wherein the method comprises the following steps: the central scheduling part receives discrete information and/or continuous information sent by at least one distributed controller, wherein the distributed controller is located in the mobile device, the discrete information is feedback information which shows discrete change of the mobile device where the distributed controller is located, and the continuous information is feedback information which shows continuous change of the mobile device where the distributed controller is located; the central scheduling part plans navigation information for part or all of at least one distributed controller according to the received discrete information and/or continuous information; the central scheduling part respectively sends the planned navigation information to the corresponding distributed controllers, wherein the navigation information is used as a basis for the distributed controllers receiving the navigation information to plan the motion mode of the mobile devices in which the distributed controllers are located, and the motion mode is used for meeting the requirements of the navigation information for controlling the mobile devices.
Description
Technical Field
The application relates to the fields of navigation, scheduling and control, in particular to a navigation scheduling control method and system.
Background
Navigation is widely applied to systems including moving objects, such as a scheduling planning system, a motion control system and the like, for example, in water, underwater, land, underground, sky and space environments, such as a ship, a submarine, an underwater robot, a vehicle, a piercing machine, an aircraft and the like, and each moving object needs to be scheduled, planned and controlled according to navigation.
The inventor finds that in the prior art, in the process of planning the path of a moving body, the navigation of a single moving body (such as a robot, a vehicle and the like) is mostly considered, the navigation process is static planning and cannot meet the requirement of dynamic scheduling, or the navigation scheduling process has the effect of insufficient real-time performance after simultaneously facing a plurality of scheduling targets, so that the control effect is adversely affected. In some large-scale integration application site environments, a plurality of moving bodies often exist, and the navigation environment has interconnection and dynamic change due to coexistence of a plurality of moving bodies, which presents complexity and diversity. In the prior art, when a plurality of moving bodies face, dynamic path planning is difficult to carry out, and the requirements of real-time control of the plurality of moving bodies are further difficult to meet simultaneously in the process of carrying out the dynamic path planning; the problems of small scheduling range, poor dynamic adaptability, poor control real-time performance, low operation efficiency, frequent occurrence of individual faults and the like in the navigation of a plurality of mobile bodies in the conventional navigation method are caused.
Disclosure of Invention
The embodiment of the application provides a navigation scheduling control method and a navigation scheduling control system, which are used for solving the practical application problems of small scheduling range, poor dynamic adaptability, poor control real-time performance, low operation efficiency, frequent occurrence of individual faults and the like when a plurality of mobile bodies are navigated by the conventional navigation method.
According to an aspect of the present application, there is provided a navigation scheduling control method, including: the central scheduling part receives discrete information and/or continuous information sent by at least one distributed controller, wherein the distributed controller is located in a mobile device, the discrete information is feedback information which shows discrete change of the mobile device where the distributed controller is located, and the continuous information is feedback information which shows continuous change of the mobile device where the distributed controller is located; the central scheduling part plans navigation information for part or all of at least one distributed controller according to the received discrete information and/or continuous information; the central scheduling part respectively sends planned navigation information to corresponding distributed controllers, wherein the navigation information is used as a basis for the distributed controllers receiving the navigation information to plan the motion mode of the mobile devices where the distributed controllers are located, and the motion mode is used for meeting the requirements of the navigation information.
Further, the feedback information exhibiting discrete variations includes at least one of: node information that the mobile device is located in a map, link information that the mobile device is located between nodes in a map; and/or, the feedback information presenting continuous change comprises at least one of the following: a direction or vector of motion of the mobile device, a speed or rate of change of position of the mobile device, a speed or rate of change of posture of the mobile device, a position or coordinate of the mobile device, a posture or posture of the mobile device.
Further, the central scheduling part planning the navigation information includes: and the central scheduling part plans the navigation information according to node information and road section information in the map and feedback information of the distributed controller, wherein a road section is arranged between two nodes in the navigation information.
Further, the navigation information includes representation information and/or feature information, wherein the representation information in the navigation information includes at least one of the following: marking information of nodes in the map, marking information of road segments between the nodes in the map; and/or the characteristic information in the navigation information comprises at least one of the following: description information of nodes in the map, description information of links between nodes in the map.
Further, the marking information and/or the description information provides a planning basis for at least one of the following: a position movement speed or a position change rate of the mobile device, an attitude movement speed or an attitude change rate of the mobile device, a position or coordinates of the mobile device, an attitude or an attitude of the mobile device.
Further, the central scheduling part planning the navigation information includes: the central scheduling part plans the navigation information within the length of a scheduling space beat, wherein when the length of the scheduling space beat is n, the scheduling space beat corresponds to n road sections between n +1 continuous nodes; the length of the scheduling space beat is determined according to the entropy of the object to be scheduled, and the larger the entropy of the object to be scheduled is, the shorter the length of the object to be scheduled is; the larger the entropy of the object to be scheduled is, the larger the complexity of the environment to be scheduled and the mobile object to be scheduled is, the larger the chaos degree is.
Further, the method further comprises: the distributed controller which receives the navigation information carries out path planning and track planning according to the characterization information and/or the characteristic information in the navigation information, wherein a path planning motion curve and/or a track planning motion speed are/is obtained, and the motion mode of the mobile device comprises the following steps: a path planned by the distributed controller, a movement speed planned by the distributed controller; the path plan is used for planning a motion curve meeting the navigation nodes and/or for selecting one of a plurality of path curves passing through the target node; the trajectory plan is used for planning the movement speed of the navigation road section and/or selecting one of a plurality of speed curves passing through the target road section; and/or the basis of the motion profile plan further comprises at least one of: a collision avoidance interval, a maximum instantaneous attitude change rate or a maximum instantaneous curvature of the moving body; the movement speed plan further includes at least one of: the moving attitude, the road section and the distance, the road progress, the maximum speed limit, the maximum acceleration limit, the maximum jerk limit, the actuator power of the moving body, the mass of the moving body, the free-fall acceleration factor, the moving resistance factor and the moving power factor.
Further, before the central scheduling portion receives discrete information and/or continuous information sent by at least one of the distributed controllers, the method further includes: at least one distributed controller sends discrete information and/or continuous information according to a trigger condition, wherein the trigger condition comprises at least one of the following conditions: a period or frequency of sending discrete and/or continuous information, a change in state or environment of a mobile device in which the distributed controller is located.
According to another aspect of the present application, there is also provided a navigation scheduling control system, including: the system comprises a central scheduling part and at least one distributed controller, wherein the central scheduling part is used for receiving discrete information and/or continuous information sent by the at least one distributed controller, the distributed controller is located in a mobile device, the discrete information is feedback information which presents discrete change of the mobile device where the distributed controller is located, and the continuous information is feedback information which presents continuous change of the mobile device where the distributed controller is located; the central scheduling part is used for planning navigation information for part or all of at least one distributed controller according to the received discrete information and/or continuous information; the central scheduling part is used for respectively sending the planned navigation information to the corresponding distributed controllers, wherein the navigation information is used as a basis for the distributed controllers receiving the navigation information to plan the motion mode of the mobile device where the distributed controllers are located, and the motion mode is used for meeting the requirements of the navigation information.
Further, the feedback information exhibiting discrete variations includes at least one of: node information that the mobile device is located in a map, link information that the mobile device is located between nodes in a map; and/or, the feedback information presenting continuous change comprises at least one of the following: a direction or vector of motion of the mobile device, a speed or rate of change of position of the mobile device, a speed or rate of change of attitude of the mobile device, a position or coordinate of the mobile device, a pose or attitude of the mobile device; and/or the central scheduling part is used for planning the navigation information according to node information and/or road section information in the map and feedback information of the distributed controller, wherein a road section is arranged between two nodes in the navigation information; and/or the navigation information comprises representation information and/or characteristic information, wherein the representation information in the navigation information comprises at least one of the following: node marking information in the map, and section marking information between nodes in the map; and/or the characteristic information in the navigation information comprises at least one of the following: node description information in the map, and section description information between nodes in the map; wherein the marking information and/or the description information provides a planning basis for at least one of: a position movement speed or a position change rate of the mobile device, an attitude movement speed or an attitude change rate of the mobile device, a position or coordinates of the mobile device, an attitude or an attitude of the mobile device; and/or when the length of the scheduling space beat is n, corresponding to n road sections between continuous n +1 nodes; the central scheduling part plans the navigation information within the length of a scheduling space beat, wherein when the length of the scheduling space beat is n, the scheduling space beat corresponds to n road sections between n +1 continuous nodes; the length of the scheduling space beat is determined according to the entropy of the object to be scheduled, and the larger the entropy of the object to be scheduled is, the shorter the length of the object to be scheduled is; the larger the entropy of the object to be scheduled is, the larger the complexity of the environment to be scheduled and the moving object to be scheduled is, the larger the chaos degree is; and/or the distributed controller receiving the navigation information is used for planning a path and planning a track according to the characterization information and/or the characteristic information in the navigation information, wherein a path planning motion curve and/or a track planning motion speed are/is provided, and the motion mode of the mobile device comprises: a path planned by the distributed controller, a movement speed planned by the distributed controller; and/or the path plan is used for planning a motion curve meeting the navigation nodes and/or for selecting one of a plurality of path curves passing through the target node, wherein the motion curve plan further comprises at least one of the following: a collision avoidance interval, a maximum instantaneous attitude change rate or a maximum instantaneous curvature of the moving body; and/or the trajectory plan is used for planning a movement speed satisfying the navigation road section and/or for selecting one of a plurality of speed curves passing through the target road section, wherein the movement speed plan is based on at least one of the following: the moving attitude, the road section and the distance, the road progress, the maximum speed limit, the maximum acceleration limit, the limit of the maximum acceleration, the actuator power of the moving body, the mass of the moving body, a free-fall acceleration factor, a moving resistance factor and a moving power factor; and/or at least one distributed controller is used for sending discrete information and/or continuous information according to a trigger condition, wherein the trigger condition comprises at least one of the following conditions: a period or frequency of sending discrete and/or continuous information, a change in state or environment of a mobile device in which the distributed controller is located.
In the embodiment of the application, a central scheduling part is adopted to receive discrete information and/or continuous information sent by at least one distributed controller, wherein the distributed controller is located in a mobile device, the discrete information is feedback information of the mobile device where the distributed controller is located, the feedback information presents discrete change, and the continuous information is feedback information of the mobile device where the distributed controller is located, the feedback information presents continuous change; the central scheduling part plans navigation information for part or all of at least one distributed controller according to the received discrete information and/or continuous information; the central scheduling part respectively sends planned navigation information to corresponding distributed controllers, wherein the navigation information is used as a basis for the distributed controllers receiving the navigation information to plan the motion mode of the mobile devices in which the distributed controllers are located, and the motion mode is used for meeting the requirements of the navigation information for controlling the mobile devices. The method and the device solve the practical application problems of small scheduling range, poor dynamic adaptability, poor control real-time performance, low operation efficiency, frequent occurrence of individual faults and the like when the conventional navigation method is used for navigating a plurality of moving bodies.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a flowchart of a navigation scheduling method according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In this embodiment, a navigation scheduling method is provided, and fig. 1 is a flowchart of a navigation scheduling method according to an embodiment of the present application, and as shown in fig. 1, the flowchart includes the following steps:
step S102, a central scheduling part receives discrete information and/or continuous information sent by at least one distributed controller, wherein the distributed controller is located in a mobile device, the discrete information is feedback information which presents discrete change of the mobile device where the distributed controller is located, and the continuous information is feedback information which presents continuous change of the mobile device where the distributed controller is located;
as an optional embodiment, at least one distributed controller sends discrete information and/or continuous information according to a trigger condition, where the trigger condition includes at least one of: the period or frequency at which discrete and/or continuous information is transmitted, a change in state or environment of the mobile device in which the distributed controller is located. The period determination may be short enough, for example, minutes or seconds, to allow real-time reporting of information, and also to allow the central scheduling unit to perform real-time scheduling. Or reporting when the moving condition of the mobile device is abnormal, for example, the moving of the mobile device is blocked. This way a re-planning of the route can be achieved.
Step S104, the central scheduling part plans navigation information for part or all of at least one distributed controller according to the received discrete information and/or continuous information;
in an alternative embodiment, when the navigation information is planned, the navigation information may be planned according to a route on a map, and in order to better compare the quality of a path, an intersection of a street of the map or an identifiable position of a landmark building may be labeled as a node, and a road segment is located between the two nodes. And the central scheduling part plans navigation information according to the node information and the road section information in the map and the feedback information of the distributed controller, wherein a road section is arranged between two nodes in the navigation information. This way of planning with nodes and segments can make the planning algorithm as brief as possible.
When planning using nodes and road segments, as an optional embodiment, the feedback information presenting discrete changes includes at least one of the following: node information where the mobile device is located in the map, link information where the mobile device is located between nodes in the map. Optionally, presenting the continuously changing feedback information includes at least one of: a direction or vector of motion of the mobile device, a speed or rate of change of position of the mobile device, a speed or rate of change of posture of the mobile device, a position or coordinate of the mobile device, a posture or posture of the mobile device.
As a further alternative, different scheduling tasks are possible, for example scheduling all robots distributed in the predetermined area back to the target area as quickly as possible, or scheduling different robots to different locations, for which the degree of confusion of the robots is greater in the first case and smaller in the second case. As an optional embodiment, the central scheduling unit plans navigation information within the length of the scheduling space beat, where when the length of the scheduling space beat is n, the scheduling space beat corresponds to n road segments between consecutive n +1 nodes; the length of the beat of the scheduling space is determined according to the entropy of the object to be scheduled, and the larger the entropy of the object to be scheduled is, the shorter the length is; the larger the entropy of the object to be scheduled is, the larger the complexity of the environment to be scheduled and the mobile object to be scheduled is, the larger the chaos degree is. This alternative embodiment takes into account different situations, i.e. different scheduling space beat lengths are used according to different scheduling situations, thus making the scheduling more reasonable.
And step S106, the central scheduling part respectively sends the planned navigation information to the corresponding distributed controllers, wherein the navigation information is used as a basis for the distributed controllers receiving the navigation information to plan the motion mode of the mobile device in which the distributed controllers are positioned, and the motion mode is used for meeting the requirements of the navigation information.
In the above steps, two different schedules are combined, and the central scheduling portion makes navigation information according to the received distributed controller information, wherein the navigation information indicates a next destination position (for example, a destination node), and the navigation information may include a plurality of continuous destination nodes. And the path to the next destination node is determined by each distributed controller, so that the problem of unreasonable navigation route of the existing navigation method when a plurality of mobile devices are navigated is solved through the steps, and the rationality of planning the navigation route by the plurality of mobile devices is improved.
In the navigation information described above, the object of the present embodiment can be achieved as long as the position of the next target can be specified. Therefore, different contents of the navigation information can be selected according to actual situations, for example, the navigation information may include characterization information and/or feature information, where the characterization information in the navigation information includes at least one of the following: marking information of nodes in a map, marking information of links between nodes in the map; and/or the characteristic information in the navigation information comprises at least one of the following: description information of nodes in a map, description information of links between nodes in a map. There are many implementations of the tagging information, for example, the tagging information and/or the description information provides a basis for planning for at least one of: a position movement speed or a position change rate of the mobile device, an attitude movement speed or an attitude change rate of the mobile device, a position or coordinates of the mobile device, and an attitude or an attitude of the mobile device.
Considering that the path of the next destination node is determined by the distributed controller, in an optional embodiment, the distributed controller receiving the navigation information performs path planning and trajectory planning according to the characterization information and/or the characteristic information in the navigation information, wherein the path planning motion curve and/or the trajectory planning motion speed, and the motion mode of the mobile device includes: a path planned by the distributed controller, a movement speed planned by the distributed controller; the path planning is used for planning a motion curve meeting the navigation nodes and/or selecting one of a plurality of path curves passing through the target node; the trajectory plan is used to plan the speed of movement for the navigation segment and/or to select one of a plurality of speed profiles for traversing the target segment. Optionally, the basis of the motion curve planning further comprises at least one of: a collision avoidance interval, a maximum instantaneous attitude change rate or a maximum instantaneous curvature of the moving body; the movement speed plan further includes at least one of: the moving attitude, the road section and the distance, the road progress, the maximum speed limit, the maximum acceleration limit, the maximum jerk limit, the actuator power of the moving body, the mass of the moving body, the free-fall acceleration factor, the moving resistance factor and the moving power factor. In this embodiment, various situations are considered so that the distributed controller can perform better control.
In this embodiment, there is also provided an electronic device comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the method in the above embodiments.
The electronic device may further comprise a device formed by software modules, and the modules in the device or the system correspond to the steps in the above embodiments. These computer programs 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, and corresponding steps may be implemented by different modules.
The programs described above may be run on a processor or may also be stored in memory (or referred to as computer-readable media), which includes both non-transitory and non-transitory, removable and non-removable media, that 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.
In this embodiment, a navigation scheduling control system is further provided, including: the system comprises a central scheduling part and at least one distributed controller, wherein the central scheduling part is used for receiving discrete information and/or continuous information sent by the at least one distributed controller, the distributed controller is located in a mobile device, the discrete information is feedback information which presents discrete change of the mobile device where the distributed controller is located, and the continuous information is feedback information which presents continuous change of the mobile device where the distributed controller is located; the central scheduling part is used for planning navigation information for part or all of at least one distributed controller according to the received discrete information and/or continuous information; the central scheduling part is used for respectively sending the planned navigation information to the corresponding distributed controllers, wherein the navigation information is used as a basis for the distributed controllers receiving the navigation information to plan the motion mode of the mobile device where the distributed controllers are located, and the motion mode is used for meeting the requirements of the navigation information.
Preferably, the feedback information exhibiting discrete variations comprises at least one of: node information that the mobile device is located in the map, and road segment information that the mobile device is located between nodes in the map; and/or presenting continuously varying feedback information comprises at least one of: a direction or vector of motion of the mobile device, a speed or rate of change of position of the mobile device, a speed or rate of change of attitude of the mobile device, a position or coordinate of the mobile device, a pose or attitude of the mobile device; and/or the central scheduling part is used for planning navigation information according to node information and/or road section information in a map and feedback information of the distributed controller, wherein a road section is arranged between two nodes in the navigation information; and/or the navigation information comprises representation information and/or characteristic information, wherein the representation information in the navigation information comprises at least one of the following: node marking information in a map, and section marking information between nodes in the map; and/or the characteristic information in the navigation information comprises at least one of the following: node description information in a map, and link description information between nodes in the map; wherein the marking information and/or the description information provides a planning basis for at least one of: a position movement speed or a position change rate of the mobile device, an attitude movement speed or an attitude change rate of the mobile device, a position or coordinates of the mobile device, an attitude or an attitude of the mobile device; and/or when the length of the scheduling space beat is n, corresponding to n road sections between continuous n +1 nodes; the central scheduling part plans navigation information in the length of a scheduling space beat, wherein when the length of the scheduling space beat is n, the scheduling space beat corresponds to n road sections between n +1 continuous nodes; the length of the beat of the scheduling space is determined according to the entropy of the object to be scheduled, and the larger the entropy of the object to be scheduled is, the shorter the length is; the larger the entropy of the object to be scheduled is, the larger the complexity of the environment to be scheduled and the moving object to be scheduled is, the larger the chaos degree is; and/or the distributed controller receiving the navigation information is used for planning a path and planning a track according to the characterization information and/or the characteristic information in the navigation information, wherein a path planning motion curve and/or a track planning motion speed are/is provided, and the motion mode of the mobile device comprises: a path planned by the distributed controller, a movement speed planned by the distributed controller; and/or the path plan is used for planning a motion curve satisfying the navigation nodes and/or for selecting one of a plurality of path curves passing through the target node, wherein the basis of the motion curve plan further comprises at least one of the following: a collision avoidance interval, a maximum instantaneous attitude change rate or a maximum instantaneous curvature of the moving body; and/or the trajectory plan is used for planning the movement speed meeting the navigation road section and/or for selecting one of a plurality of speed curves passing through the target road section, wherein the movement speed plan is further based on at least one of the following: the moving attitude, the road section and the distance, the road progress, the maximum speed limit, the maximum acceleration limit, the actuator power of the moving body, the mass of the moving body, the free-falling body acceleration factor, the moving resistance factor and the moving power factor; and/or, at least one distributed controller is used for sending discrete information and/or continuous information according to a trigger condition, wherein the trigger condition comprises at least one of the following: the period or frequency at which discrete and/or continuous information is transmitted, a change in state or environment of the mobile device in which the distributed controller is located.
The technology in the system has been described in detail in the description of the method embodiment, and is not described herein again. This is explained below with reference to a preferred embodiment.
The method content described in the preferred embodiment relates to a multi-mobile scheduling planning system, a single-mobile motion control system and a central internet of things communication system for communicating information interaction of the multi-mobile scheduling planning system and the single-mobile motion control system. The multiple mobile scheduling planning system includes a central scheduling control system (i.e., a central scheduling unit) and a central scheduling communication system. The central Internet of things communication system is used for communicating the dispatching center with the subordinate mobile bodies. The single-mobile motion control system includes a distributed controller communication system and a distributed controller control system. The distributed controller communication system includes, but is not limited to, a distributed bus communication system, a distributed cross-platform communication system, a distributed internet of things communication system, and the like. In the preferred embodiment, the central internet of things communication system and the distributed controller communication system are an organic whole. The distributed controller control system includes a distributed motion planner control system and a distributed motion controller control system.
The respective systems in the present preferred embodiment are explained below.
1. The central dispatching control system has the main responsibilities that: receiving and processing communication information of the distributed controllers, calculating scheduling result information, converting the scheduling result information into scheduling instruction information, and issuing the scheduling instruction information to the distributed controllers;
2. information exchange and transmission between the central dispatching control system and the distributed controllers are realized, and information flows through the central dispatching communication system, the central Internet of things communication system and the distributed controller communication system in the way;
3. the multi-mobile scheduling planning system carries out planning and scheduling work by taking variable beats or step length as margins, and takes nodes and sections in a space path map as measurement identifiers:
a. in a space map with waypoints and road sections as constituent elements, each scheduling space beat or step corresponds to two nodes and a road section between the two nodes;
b. according to different scheduling task environments, different scheduling space beats or step length are adopted, and the scheduling beat or step length is a natural number greater than 1:
(1) when the scheduling beat length is 2, two road sections between three continuous nodes are corresponded;
(2) when the scheduling beat length is n (n > -1), corresponding to n road sections between continuous n +1 nodes;
c. the road section can have the back-and-forth situation;
d. the nodes and the road sections take points and lines in the information map as expression forms;
4. the distributed controller sends the node information and the motion information to the central dispatching control system through the information exchange and transmission information flow:
a. the node information mainly comprises related information of the node in the corresponding map;
b. the motion information mainly comprises the motion direction and position coordinates of the moving body and motion state information;
c. each node can send different node information for many times;
5. the central scheduling control system receives the node information and the motion information sent by each distributed controller, executes a scheduling planning algorithm according to a set space beat length (the length is a changeable variable type), and then returns the calculation result information to each distributed controller, wherein the information flow is as described above;
6. the calculation result of the scheduling planning algorithm in the previous item is the navigation information sent by the distributed controller carried by the moving body:
a. the navigation information comprises target node information and motion state control information;
b. the navigation information is a result calculated on the basis of the node information and the motion information reported by the reference moving body;
c. the navigation information is next target node information and motion state control information of a corresponding road section in a map;
7. under the condition of time-varying scheduling space beat or step length, the central scheduling control system and the distributed controllers are dynamically and cooperatively autonomous through the communication system of the Internet of things to realize dynamic scheduling planning and dynamic motion control:
8. the distributed controller control system contains two important parts: a distributed motion planner control system, a distributed motion controller control system;
9. the distributed motion planner control system develops dynamic path planning and dynamic trajectory planning according to the received navigation nodes:
a. the dynamic path planning mainly comprises the steps of dynamically calculating a navigation path curve by using different types and different quantities of nodes and road section information;
b. the dynamic trajectory planning mainly comprises the steps of planning smooth motion processes (including but not limited to smooth path change, smooth speed change, smooth acceleration change, smooth jerk change and the like) by different starting points, different end points, different initial speeds, different total lengths of road sections, road section speed limit, back and forth road sections and the like;
10. and the distributed motion controller control system controls the single moving body to walk on the target track curve path at the target running speed according to the plan.
The preferred embodiment is based on the internet of things and is an information physical system. The preferred embodiment is based on the internet of things + distributed communication, i.e., the internet of things is added on the peripheral upper layer of the traditional distributed communication control.
The preferred embodiment can realize the superior dynamic multi-machine large-scale integrated scheduling, and the key points are dynamic, multi-machine, large-scale and integrated scheduling. The dynamic multi-machine large-scale integrated scheduling is embodied in real-time performance, and a communication control period needs to be fast enough, wherein a lower level dynamically receives a primary scheduling instruction sent from an upper level and then is not directly used; instead, it is necessary to process, calculate and analyze the most direct scheduling instruction that can be actually executed in the lower level again, which is similar to a mechanism of compressing, transmitting, receiving, and decompressing, and the implementation of this mechanism is based on the technical system architecture described in the preferred embodiment. The three modules, namely a path planner, a speed planner (also called a track planner) and a motion controller (the motion controller integrates various peripheral equipment and sensors) which are used as the working contents of lower-level distribution units of the distributed system of the Internet of things are independently settled and then integrated to play a role, so that decoupling cooperative autonomy is realized, and the distributed system is an architecture mode similar to an 'amoeba' operation thinking.
The dynamic task scheduling and analysis and the dynamic characteristics from the scheduling of instructions to the task planning are embodied on the variable nature of the beats or steps of the scheduling calculation process and the task planning process, and are adaptive, as needed, with the progress.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (7)
1. A navigation scheduling control method, comprising:
the central scheduling part receives discrete information and continuous information sent by at least one distributed controller, wherein the distributed controller is located in a mobile device, the discrete information is feedback information which shows discrete change of the mobile device where the distributed controller is located, and the continuous information is feedback information which shows continuous change of the mobile device where the distributed controller is located; the feedback information exhibiting discrete variations includes at least one of: node information that the mobile device is located in a map, link information that the mobile device is located between nodes in a map; the feedback information presenting continuous variation includes at least one of: a direction or vector of motion of the mobile device, a speed or rate of change of position of the mobile device, a speed or rate of change of attitude of the mobile device, a position or coordinate of the mobile device, a pose or attitude of the mobile device;
the central scheduling part plans navigation information for part or all of at least one distributed controller according to received discrete information and continuous information, wherein the central scheduling part plans the navigation information according to node information and road section information in the map and feedback information of the distributed controllers, and a road section is arranged between two nodes in the navigation information; the central scheduling part plans the navigation information within the length of a scheduling space beat, wherein when the length of the scheduling space beat is n, the scheduling space beat corresponds to n road sections between continuous n +1 nodes; the length of the scheduling space beat is determined according to the entropy of the object to be scheduled, and the larger the entropy of the object to be scheduled is, the shorter the length of the object to be scheduled is; the larger the entropy of the object to be scheduled is, the larger the complexity of the environment to be scheduled and the moving object to be scheduled is, the larger the chaos degree is;
the central scheduling part respectively sends planned navigation information to corresponding distributed controllers, wherein the navigation information is used as a basis for the distributed controllers receiving the navigation information to plan the motion mode of the mobile devices in which the distributed controllers are located, and the motion mode is used for meeting the requirements of the navigation information; wherein the path to the next destination node is determined by the distributed controller.
2. The method according to claim 1, wherein the navigation information includes characterization information and/or characteristic information, wherein the characterization information in the navigation information includes at least one of: marking information of nodes in the map, marking information of road segments between the nodes in the map; and/or the characteristic information in the navigation information comprises at least one of the following: description information of nodes in the map, description information of links between nodes in the map.
3. The method according to claim 2, wherein the label information and/or description information provides a basis for planning for at least one of: a position movement speed or a position change rate of the mobile device, an attitude movement speed or an attitude change rate of the mobile device, a position or coordinates of the mobile device, an attitude or an attitude of the mobile device.
4. The method of claim 2, further comprising:
the distributed controller which receives the navigation information carries out path planning and track planning according to the characterization information and/or the characteristic information in the navigation information, wherein a path planning motion curve and/or a track planning motion speed are/is obtained, and the motion mode of the mobile device comprises the following steps: a path planned by the distributed controller, a movement speed planned by the distributed controller; the path plan is used for planning a motion curve meeting the navigation nodes and/or for selecting one of a plurality of path curves passing through the target node; the trajectory plan is used for planning the movement speed of the navigation road section and/or selecting one of a plurality of speed curves passing through the target road section; and/or the presence of a gas in the gas,
the basis for the motion profile planning further comprises at least one of: a collision avoidance interval, a maximum instantaneous attitude change rate or a maximum instantaneous curvature of the moving body; the movement speed plan further includes at least one of: the moving attitude, the road section and the distance, the road progress, the maximum speed limit, the maximum acceleration limit, the maximum jerk limit, the actuator power of the moving body, the mass of the moving body, the free-fall acceleration factor, the moving resistance factor and the moving power factor.
5. The method of any of claims 1 to 4, wherein prior to the central scheduler receiving discrete and continuous information transmitted by at least one of the distributed controllers, the method further comprises:
at least one distributed controller sends discrete information and continuous information according to a trigger condition, wherein the trigger condition comprises at least one of the following conditions: a period or frequency of sending discrete and continuous information, a change in state or environment of a mobile device in which the distributed controller is located.
6. A navigation schedule control system, comprising: a central scheduling portion and at least one distributed controller, wherein,
the central scheduling part is used for receiving discrete information and/or continuous information sent by at least one distributed controller, wherein the distributed controller is located in a mobile device, the discrete information is feedback information which presents discrete change of the mobile device where the distributed controller is located, and the continuous information is feedback information which presents continuous change of the mobile device where the distributed controller is located; the feedback information exhibiting discrete variations includes at least one of: node information that the mobile device is located in a map, link information that the mobile device is located between nodes in a map; the feedback information presenting continuous variation includes at least one of: a direction or vector of motion of the mobile device, a speed or rate of change of position of the mobile device, a speed or rate of change of attitude of the mobile device, a position or coordinate of the mobile device, a pose or attitude of the mobile device;
the central scheduling part is used for planning navigation information for part or all of at least one distributed controller according to the received discrete information and/or continuous information; the central scheduling part is used for planning the navigation information according to node information and/or road section information in the map and feedback information of the distributed controller, wherein a road section is arranged between two nodes in the navigation information; the central scheduling part plans the navigation information within the length of a scheduling space beat, wherein when the length of the scheduling space beat is n, the scheduling space beat corresponds to n road sections between n +1 continuous nodes; the length of the scheduling space beat is determined according to the entropy of the object to be scheduled, and the larger the entropy of the object to be scheduled is, the shorter the length of the object to be scheduled is; the larger the entropy of the object to be scheduled is, the larger the complexity of the environment to be scheduled and the moving object to be scheduled is, the larger the chaos degree is;
the central scheduling part is used for respectively sending planned navigation information to corresponding distributed controllers, wherein the navigation information is used as a basis for the distributed controllers receiving the navigation information to plan the motion mode of the mobile devices where the distributed controllers are located, and the motion mode is used for meeting the requirements of the navigation information; wherein the path to the next destination node is determined by the distributed controller.
7. The system of claim 6,
the navigation information comprises representation information and/or characteristic information, wherein the representation information in the navigation information comprises at least one of the following: node marking information in the map, and section marking information between nodes in the map; and/or the characteristic information in the navigation information comprises at least one of the following: node description information in the map, and section description information between nodes in the map; wherein the marking information and/or the description information provides a planning basis for at least one of: a position movement speed or a position change rate of the mobile device, an attitude movement speed or an attitude change rate of the mobile device, a position or coordinates of the mobile device, an attitude or an attitude of the mobile device; and/or the presence of a gas in the gas,
the distributed controller receiving the navigation information is used for planning a path and a track according to the characterization information and/or the characteristic information in the navigation information, wherein a path planning motion curve and/or a track planning motion speed are provided, and the motion mode of the mobile device comprises: a path planned by the distributed controller, a movement speed planned by the distributed controller; and/or the presence of a gas in the gas,
the path plan is used for planning a motion curve satisfying the navigation nodes and/or for selecting one of a plurality of path curves passing through the target node, wherein the motion curve plan further comprises at least one of the following: a collision avoidance interval, a maximum instantaneous attitude change rate or a maximum instantaneous curvature of the moving body; and/or the presence of a gas in the gas,
the trajectory plan is used for planning a movement speed for satisfying the navigation road segment and/or for selecting one of a plurality of speed curves passing through the target road segment, wherein the movement speed plan further comprises at least one of the following: the moving attitude, the road section and the distance, the road progress, the maximum speed limit, the maximum acceleration limit, the actuator power of the moving body, the mass of the moving body, the free-falling body acceleration factor, the moving resistance factor and the moving power factor;
and/or the presence of a gas in the gas,
at least one distributed controller is used for sending discrete information and/or continuous information according to a trigger condition, wherein the trigger condition comprises at least one of the following conditions: a period or frequency of sending discrete and/or continuous information, a change in state or environment of a mobile device in which the distributed controller is located.
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