CN115167410A - Method and system for correcting conflict paths of multi-robot motion - Google Patents
Method and system for correcting conflict paths of multi-robot motion Download PDFInfo
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Abstract
The invention discloses a method and a system for correcting a collision path of multi-robot motion, wherein the method comprises a data storage library, a data processing module and a regulation and control module, wherein a mobile robot code, the size of a node area, an initial node area, a target node area and operation parameters of a corresponding mobile robot, and all possible paths between the initial node area and the target node area are stored in the data storage library; the data processing module processes data to obtain an initial planned path and corresponding operation occupation time of each node area corresponding to the mobile robot, and the regulation and control module controls the mobile robot to operate according to the initial planned path and the corresponding operation occupation time. The invention is provided with the data processing module, shortens the stay time of the waiting mobile robot in the previous node area of the conflict node area under the condition of consistent trend, shortens the waiting time of the mobile robot under certain conditions on the premise of no conflict, and improves the transportation efficiency of the mobile robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a system for correcting conflict paths of multi-robot motion.
Background
The technical scheme includes that a plurality of mobile robots are arranged in a dense area (such as a logistics warehouse area), and the mobile robots are used for completing tasks such as carrying goods to replace manual labor, so that the research focus in the field of the internet of things is focused at present, and in order to avoid collision among a plurality of mobile robots in the dense area during operation, collision is generally eliminated through robot motion path segmentation at present, and robot operation path collision is easily caused.
In order to solve the above problems, in the prior art, generally, a motion path of a mobile robot is monitored in real time, when a collision of the mobile robot is about to occur, a time for one of the mobile robots to enter the collision node area is delayed to solve a problem of path collision and collision of the mobile robots when a planned path is executed, in the prior art, a waiting mobile robot needs to wait for another mobile robot to enter the collision node area after completely leaving the collision node area, the waiting time is long, and the working efficiency of the mobile robot is affected to a certain extent.
Therefore, the prior art has the technical problem that the running time of the mobile robot is prolonged due to conflict, and the working efficiency of the mobile robot is influenced.
Disclosure of Invention
Therefore, the invention provides a method and a system for correcting a conflict path of multi-robot motion, which effectively solve the problem that the working efficiency of a mobile robot is influenced due to the fact that the running time of the mobile robot with conflicts is prolonged in the prior art.
In order to solve the technical problems, the invention specifically provides the following technical scheme: a collision path correction system for multi-robot motion includes:
the data storage library is in communication connection with the mobile robot, the mobile robot moves in a preset area, the preset area comprises a plurality of node areas, and mobile robot codes, the size of the node areas, initial node areas, target node areas and operation parameters corresponding to the mobile robot, and all possible paths between the initial node areas and the target node areas are stored in the data storage library;
the data processing module is in communication connection with the data repository and is used for acquiring possible paths and operation parameters of each mobile robot so as to analyze and obtain an initial planned path corresponding to each mobile robot and allocate corresponding operation occupation time to each node area corresponding to the mobile robot;
the regulation and control module is in communication connection with the data processing module and is in control connection with the mobile robot, acquires an initial planned path of the mobile robot and operation occupation time corresponding to each node area, and controls the mobile robot to operate according to the initial planned path and the corresponding operation occupation time;
the data processing module is provided with a conflict monitoring unit and a conflict coordination unit, the conflict monitoring unit is used for judging whether running occupation time corresponding to a node area of one mobile robot corresponding to an initial planned path is coincident with running occupation time corresponding to a node area of another mobile robot corresponding to an initial planned path when the node area of the one mobile robot corresponding to the initial planned path is the same as the node area of the other mobile robot corresponding to the initial planned path, the conflict coordination unit is used for marking the node area corresponding to the conflict monitoring result of the conflict monitoring unit as a conflict node area, redistributing running occupation time corresponding to the conflict node area for one mobile robot, judging whether the running direction of the mobile robot which passes through the conflict node area preferentially after passing through the conflict node area is consistent with the running direction of the other mobile robot in the process of entering the conflict node area, and regulating the running occupation time of the mobile robot which passes through the conflict node area after one mobile robot according to the judgment result.
As a preferred scheme of the present invention, the possible path is a node area set using the initial node area as a head-end node area and the target node area as a tail-end node area, and two adjacent node areas in the node area set are connected in the preset area;
the operation parameters of the mobile robot comprise the operation speed of the mobile robot and the node area where the mobile robot is located currently.
As a preferable aspect of the present invention, the possible path and the initially planned path can both bypass an obstacle in the preset area.
As a preferred aspect of the present invention, the data repository includes a first data processing unit and a data storage unit;
the data storage unit is in communication connection with the mobile robot and receives and stores the mobile robot code, the size of the node area, an initial node area, a target node area and operation parameters corresponding to the mobile robot, the first data processing unit is in communication connection with the data storage unit, the first data processing unit obtains the initial node area and the target node area data of the mobile robot stored in the data storage unit, and all possible paths between the initial node area and the target node area are calculated by adopting an A-algorithm.
As a preferred scheme of the present invention, the data processing module includes a parameter obtaining unit, a second data processing unit and a data analyzing unit;
the parameter obtaining unit is configured to receive a mobile robot code, a size of the node area, an initial node area corresponding to the mobile robot, a target node area, an operation parameter, and all possible paths between the initial node area and the target node area in the data storage library, the second data processing unit obtains the initial planned path according to analysis of all possible paths between the initial node area and the target node area, and the data analysis unit obtains an operation occupation time of the mobile robot corresponding to each node area by calculation according to the size of the node area, the initial planned path, and the operation parameter of the mobile robot.
As a preferable aspect of the present invention, the second data processing unit sequentially processes and analyzes the initial planned path corresponding to the mobile robot according to an initial node area position, and when the second data processing unit performs the processing and analysis for the first time, selects the possible path close to an edge position within the preset area among the possible paths of the mobile robot, and marks the possible path as the initial planned path of the mobile robot, and then sequentially selects a possible path having a smallest node area which is close to the initial planned path of the first mobile robot and coincides with the initial planned path of the first mobile robot among the possible paths of the corresponding mobile robot, and marks the possible path as the initial planned path of the mobile robot.
As a preferred embodiment of the present invention, the conflict monitoring unit monitors whether node areas to which the initial planned paths corresponding to every two mobile robots belong are the same, and when there is a condition that a node area to which one of the mobile robots belongs to the initial planned path is the same as a node area to which the other mobile robot belongs to the initial planned path, determines whether operating occupation times corresponding to the node areas to which the initial planned paths corresponding to the two mobile robots belong coincide, and sends a conflict signal to the conflict coordination unit when the operating occupation times coincide with each other.
As a preferred embodiment of the present invention, the conflict coordination unit obtains an initial planned path of the first mobile robot and an initial planned path of the second mobile robot that have a conflict according to the conflict signal, and extends an operation occupied time of a node area before a conflict node area corresponding to the initial planned path of the second mobile robot, where a staying time of the second mobile robot in the node area before the conflict node area is not less than a time for the first mobile robot to enter the conflict node area from the node area before the conflict node area.
As a preferred scheme of the present invention, the conflict coordination unit analyzes a direction of the first mobile robot leaving the conflict node area, and analyzes a direction of the second mobile robot entering the conflict node area, and compares the direction of the first mobile robot leaving the conflict node area with a direction of the second mobile robot entering the conflict node area, and if the comparison is consistent, adjusts a running occupation time of a previous node area of the second mobile robot corresponding to the conflict node area to a sum of an initial running occupation time and a residence time of the second mobile robot, where the residence time is a time length of the first mobile robot entering the conflict node area from the previous node area corresponding to the conflict node area;
and under the condition of inconsistency of comparison, adjusting the operation occupation time of the second mobile robot corresponding to the previous node area of the conflict node area to the sum of the initial operation occupation time and the residence time of the second mobile robot, wherein the residence time is the operation occupation time of the first mobile robot in the conflict node area, and transmitting the updated time data to the data analysis unit in real time.
As a preferred aspect of the present invention, a correction method of a collision path correction system for multi-robot motion, comprises the steps of,
step 100, acquiring mobile robot codes, sizes of node areas, initial node areas, target node areas and operating parameters of a plurality of mobile robots, and all possible paths between the initial node areas and the target node areas;
step 200, analyzing and obtaining an initial planned path corresponding to each mobile robot and corresponding operation occupation time corresponding to each node area according to the possible path and operation parameters of each mobile robot;
step 300, monitoring the conflict situation of the operation occupation time of the node area to which the initial planning path of each mobile robot belongs in real time, and feeding back the conflict situation;
step 400, judging the path trend of the mobile robot corresponding to the conflict according to the conflict signal, and adjusting one of the mobile robots passing through the conflict node area after the judgment result to allocate the operation occupation time of the corresponding conflict node area;
step 500, the regulation and control module obtains an initial planned path of the mobile robot and the operation occupation time corresponding to each node area, and controls the mobile robot to operate according to the initial planned path and the corresponding operation occupation time.
Compared with the prior art, the invention has the following beneficial effects:
the invention is provided with a data processing module, avoids path conflict when the mobile robot executes a planned path, analyzes and judges the direction of one mobile robot entering a conflict node area and the direction of the other robot passing the conflict node area, shortens the stay time of the waiting mobile robot in the previous node area of the conflict node area under the condition of consistent directions, shortens the waiting time of the mobile robot under certain conditions and improves the transportation efficiency of the mobile robot under the condition of no conflict.
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. It should be apparent that the drawings in the following description are merely exemplary and that other implementation drawings may be derived from the provided drawings by those of ordinary skill in the art without inventive effort.
Fig. 1 is a block diagram of a collision path correcting system for multi-robot movement according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an example of a possible path of the mobile robot a in a preset area according to the embodiment of the present invention;
fig. 3 is an exemplary schematic diagram of an initially planned path of a mobile robot b and a possible path of a mobile robot c within a preset area in the embodiment of the present invention;
fig. 4 is a schematic diagram of an example of an initial planned path of the mobile robot d and the mobile robot e within a preset area in the embodiment of the present invention;
fig. 5 is an exemplary schematic diagram of an initial planned path of the first mobile robot and the second mobile robot within the preset area in the embodiment of the present invention;
fig. 6 is a schematic diagram of an example of an initial planned path of a first mobile robot and a second mobile robot within a preset area in the embodiment of the present invention;
fig. 7 is a flowchart of a correction method of a collision path correction system for multi-robot movement according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1, the present invention provides a method and a system for correcting a collision path of a multi-robot motion, wherein a data processing module is provided to avoid path collision of a mobile robot when executing a planned path, and analyze and judge the direction of one mobile robot entering a collision node area and the direction of another robot passing through the collision node area, so as to shorten the stay time of a waiting mobile robot in the previous node area of the collision node area under the condition of consistent directions, and shorten the waiting time of the mobile robot under some conditions and improve the transportation efficiency of the mobile robot under the condition of no collision.
The mobile robot system comprises a data repository, a data processing module and a regulation and control module, wherein the data repository is in communication connection with a mobile robot, the mobile robot moves in a preset area, the preset area comprises a plurality of node areas, mobile robot codes, the size of the node areas, an initial node area, a target node area and operation parameters corresponding to the mobile robot, and all possible paths between the initial node area and the target node area are stored in the data repository, the data repository in the embodiment can directly analyze the initial node area and the target node area to obtain all possible paths between the initial node area and the target node area, and the data repository is mainly used for analyzing the data, updating the mobile robot in real time and uploading the data.
In addition, the data processing module is used for analyzing and processing the data to obtain a specific initial planned path and the corresponding operation occupation time of the mobile robot corresponding to each node area, and then transmitting the data to the regulation and control module, the regulation and control module is in communication connection with the data processing module and is in control connection with the mobile robot, and the regulation and control module obtains the initial planned path of the mobile robot and the operation occupation time corresponding to each node area and controls the mobile robot to operate according to the initial planned path and the corresponding operation occupation time.
In the above embodiment, the possible path is a node area set that uses the initial node area as a head-end node area and uses the target node area as a tail-end node area, two adjacent node areas in the node area set are connected in a preset area, and the operation parameters of the mobile robot include an operation speed of the mobile robot and a node area where the mobile robot is currently located.
As shown in fig. 2, assuming that an initial node area of the mobile robot a is a node area 1, a target node area is a node area 20, possible paths may be (1, 2, 3, 4, 5, 6, 7, 8, 9, 10), (1, 11, 12, 13, 14, 15, 16, 17, 18, 19), and both the possible paths and the initially planned path may be able to bypass obstacles in a preset area, and assuming that there is an obstacle in the node area 2 in an actual application process, the first possible path is (1, 11, 12, 13, 3, 4, 5, 6, 7, 8, 9, 10).
The data storage library of the data storage library comprises a first data processing unit and a data storage unit, wherein the data storage unit is in communication connection with the mobile robot and receives and stores codes of the mobile robot, the size of a node area, an initial node area, a target node area and operation parameters corresponding to the mobile robot, the first data processing unit is in communication connection with the data storage unit, the first data processing unit obtains data of the initial node area and the target node area of the mobile robot, which are stored in the data storage unit, and all possible paths between the initial node area and the target node area are calculated by adopting an A-x algorithm.
The A-algorithm is a most effective direct searching method for solving the shortest path in the static road network, and possible paths with large total length of partial paths are directly filtered through the A-algorithm, so that the data processing module can conveniently and directly screen out initial planned paths for the possible paths with the shortest path length.
The data processing module is in communication connection with the data repository and is used for acquiring possible paths and operation parameters of each mobile robot so as to analyze and obtain an initial planned path corresponding to each mobile robot and allocate corresponding operation occupation time to each node area corresponding to the corresponding mobile robot.
The data processing module is provided with a conflict monitoring unit and a conflict coordination unit, the conflict monitoring unit and the conflict coordination unit are main design units for eliminating conflicts and shortening time, the conflict monitoring unit is used for judging whether running occupation time corresponding to node areas corresponding to initial planned paths of two mobile robots is overlapped when a node area corresponding to the initial planned path of one mobile robot is the same as a node area corresponding to the initial planned path of the other mobile robot, the conflict coordination unit is used for marking the corresponding node areas as conflict node areas according to monitoring results of the conflict monitoring unit, redistributing the running occupation time corresponding to the conflict node areas for one mobile robot, judging whether the running occupation time of the mobile robot passing through the conflict node areas preferentially is the same as the running occupation time of the other mobile robot in the process of entering the conflict node areas or not according to monitoring results of the conflict monitoring unit, and regulating the running occupation time of the corresponding conflict node areas distributed by the mobile robot passing through the conflict node areas after one of the mobile robot passes through the conflict node areas according to the judging results.
In addition, the data processing module further comprises a parameter acquisition unit, a second data processing unit and a data analysis unit, wherein the parameter acquisition unit is in communication connection with the first data processing unit and the data storage unit, the parameter acquisition unit is used for receiving mobile robot codes, the size of a node area, an initial node area, a target node area and operation parameters corresponding to the mobile robot and all possible paths between the initial node area and the target node area in the data storage library, the second data processing unit analyzes and obtains an initial planned path according to all the possible paths between the initial node area and the target node area, and the data analysis unit calculates and obtains the operation occupation time of the mobile robot corresponding to each node area according to the size of the node area, the initial planned path and the operation parameters of the mobile robot.
When the second data processing unit carries out processing analysis for the first time, possible paths close to the edge position in the preset area in the possible paths of the mobile robot are selected and marked as the initial planned paths of the mobile robot, and then the possible path with the least node area, which is close to the initial planned path of the first mobile robot and is overlapped with the initial planned path of the first mobile robot, in the possible paths of the corresponding mobile robot is selected successively and marked as the initial planned path of the mobile robot.
In an actual application process, for a mobile robot whose initial node area is node area 1 and whose target node area is node area 20, possible paths are (1, 2, 3, 4, 5, 6, 7, 8, 9, 10), (1, 11, 12, 13, 14, 15, 16, 17, 18, 19), and according to the above method, (1, 2, 3, 4, 5, 6, 7, 8, 9, 10) closer to an edge portion of a preset area can be directly marked as an initial planned path; as shown in fig. 3, it is assumed that the initially planned path of one mobile robot b is (1, 11, 21, 31, 32, 33, 34, 35, 36, 37), and the possible planned paths of another mobile robot c are (10, 9, 8, 7, 6, 16, 26, 36, 46, 56) and (10, 20, 30, 40, 50, 60, 59, 58, 57, 56), wherein (10, 9, 8, 7, 6, 16, 26, 36, 46, 56) and the initially planned path of the mobile robot b have a coincident node region, and (10, 20, 30, 40, 50, 60, 59, 58, 57, 56) and the initially planned path of the mobile robot b have no coincident node region, so (10, 20, 30, 40, 50, 60, 59, 58, 57, 56) are labeled as the initially planned path of the mobile robot c.
After the initial planned path of the mobile robot and the operation occupation time of each node area corresponding to the mobile robot are obtained through analysis and processing, whether the initial planned path of the mobile robot conflicts or not needs to be judged through a conflict monitoring unit, whether the node areas of the initial planned paths corresponding to every two mobile robots are the same or not is monitored through the conflict monitoring unit, whether the operation occupation times corresponding to the node areas of the initial planned paths corresponding to the two mobile robots coincide or not is judged when the node area of one mobile robot corresponding to the initial planned path is the same as the node area of the initial planned path corresponding to the other mobile robot, and a conflict signal is sent to a conflict coordination unit under the condition that the coincidence occurs.
As shown in fig. 4, assuming that the initially planned path of mobile robot d is (1, 11, 21, 31, 32, 33, 34, 35, 36, 37), the initially planned path of mobile robot e is (10, 9, 8, 7, 6, 16, 26, 36, 46, 56), and the overlapped node area is 36, but the operating occupation times of mobile robot d and mobile robot e in node area 36 are not consistent, it is explained that there is no collision between mobile robot e and mobile robot d, and when the operating occupation times of mobile robot d and mobile robot e in node area 36 are consistent, it is explained that there is a collision between mobile robot d and mobile robot e, and a collision signal is sent to the collision coordinating unit.
The conflict coordination unit receives the conflict signal, acquires initial planned paths of the first mobile robot and the second mobile robot with conflicts according to the conflict signal, prolongs the operation occupied time of the previous node area of the conflict node area corresponding to the initial planned path of the second mobile robot, and ensures that the stay time of the second mobile robot in the previous node area of the conflict node area is not less than the time for the first mobile robot to enter the conflict node area from the previous node area corresponding to the conflict node area.
In order to shorten the stay time of the second mobile robot in the previous node area of the conflict node area, the conflict coordination unit analyzes the direction of the first mobile robot leaving the conflict node area and the direction of the second mobile robot entering the conflict node area, compares the direction of the first mobile robot leaving the conflict node area with the direction of the second mobile robot entering the conflict node area, and adjusts the operation occupation time of the previous node area corresponding to the conflict node area of the second mobile robot to the sum of the initial operation occupation time and the stay time of the second mobile robot under the condition that the comparison is consistent, wherein the stay time is the time length of the first mobile robot entering the conflict node area from the previous node area corresponding to the conflict node area;
and under the condition of inconsistency of comparison, adjusting the operation occupied time of the second mobile robot corresponding to the previous node area of the conflict node area to the sum of the initial operation occupied time and the residence time of the second mobile robot, wherein the residence time is the operation occupied time of the first mobile robot in the conflict node area, and the updated time data are transmitted to the data analysis unit in real time.
As shown in fig. 5, assuming that the initial planned path of the first mobile robot is (1, 11, 21, 31, 32, 33, 34, 35, 36, 37), the initial planned path of the second mobile robot is (10, 9, 8, 7, 6, 16, 26, 36, 46, 56), the overlapped node area is 36, and the operating occupation time of the first mobile robot and the second mobile robot in the node area 36 is both 1.
As shown in fig. 6, assuming that the initial planned path of the first mobile robot is (50, 49, 48, 58), the initial planned path of the second mobile robot is (30, 29, 39, 49, 48, 47, 57), the overlapped node areas are 49, 48, and the operating occupation time of the first mobile robot and the operating occupation time of the second mobile robot in the node area 49 are both 1.
As shown in fig. 7, in summary, a method for correcting a collision path correction system of multi-robot motion includes the following steps,
step 100, acquiring mobile robot codes, sizes of node areas, initial node areas, target node areas and operation parameters of a plurality of mobile robots, and all possible paths between the initial node areas and the target node areas;
step 200, analyzing and obtaining an initial planned path corresponding to each mobile robot and corresponding operation occupation time corresponding to each node area according to the possible path and operation parameters of each mobile robot;
step 300, monitoring the conflict situation of the operation occupation time of the node area to which the initial planning path of each mobile robot belongs in real time, and feeding back the conflict situation;
step 400, judging the path trend of the mobile robot corresponding to the conflict according to the conflict signal, and adjusting one of the mobile robots passing through the conflict node area after the judgment result to allocate the operation occupation time of the corresponding conflict node area;
step 500, the regulation and control module obtains an initial planned path of the mobile robot and the operation occupation time corresponding to each node area, and controls the mobile robot to operate according to the initial planned path and the corresponding operation occupation time.
The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made to the disclosure by those skilled in the art within the spirit and scope of the disclosure, and such modifications and equivalents should also be considered as falling within the scope of the disclosure.
Claims (10)
1. A collision path correction system for multi-robot movement is characterized by comprising:
the data storage library is in communication connection with the mobile robot, the mobile robot moves in a preset area, the preset area comprises a plurality of node areas, and mobile robot codes, the size of the node areas, initial node areas, target node areas and operation parameters corresponding to the mobile robot, and all possible paths between the initial node areas and the target node areas are stored in the data storage library;
the data processing module is in communication connection with the data repository and is used for acquiring possible paths and operation parameters of each mobile robot so as to analyze and obtain an initial planned path corresponding to each mobile robot and allocate corresponding operation occupation time to each node area corresponding to the mobile robot;
the regulation and control module is in communication connection with the data processing module and is in control connection with the mobile robot, acquires an initial planned path of the mobile robot and operation occupation time corresponding to each node area, and controls the mobile robot to operate according to the initial planned path and the corresponding operation occupation time;
the data processing module is provided with a conflict monitoring unit and a conflict coordination unit, the conflict monitoring unit is used for judging whether running occupation time corresponding to node areas of two mobile robots corresponding to initial planned paths is overlapped when a node area of one mobile robot corresponding to the initial planned path is the same as a node area of the other mobile robot corresponding to the initial planned path, the conflict coordination unit is used for marking the corresponding node area as a conflict node area according to a monitoring result of the conflict monitoring unit, reallocating the running occupation time corresponding to the conflict node area to one mobile robot, judging whether the trend of the mobile robot passing through the conflict node area preferentially is consistent with the trend of the other mobile robot in the process of entering the conflict node area, and adjusting the running occupation time of the mobile robot passing through the conflict node area after one mobile robot passes through the conflict node area according to a judgment result.
2. The system according to claim 1, wherein the possible paths are a node area set having the initial node area as a head-end node area and the target node area as a tail-end node area, and two adjacent node areas in the node area set are connected in the predetermined area;
the operation parameters of the mobile robot include an operation speed of the mobile robot and a node area where the mobile robot is currently located.
3. The system as claimed in claim 2, wherein the possible path and the initially planned path are able to bypass obstacles in the predetermined area.
4. The system for correcting collision paths of multi-robot movement according to claim 3, wherein the data storage comprises a first data processing unit and a data storage unit;
the data storage unit is in communication connection with the mobile robot and receives and stores the mobile robot code, the size of the node area, an initial node area, a target node area and operation parameters corresponding to the mobile robot, the first data processing unit is in communication connection with the data storage unit, the first data processing unit obtains the initial node area and the target node area data of the mobile robot stored in the data storage unit, and all possible paths between the initial node area and the target node area are calculated by adopting an algorithm A.
5. The system for correcting the collision path of multi-robot movement according to claim 4, wherein the data processing module comprises a parameter acquisition unit, a second data processing unit and a data analysis unit;
the parameter obtaining unit is configured to receive a mobile robot code, a size of the node area, an initial node area corresponding to the mobile robot, a target node area, an operation parameter, and all possible paths between the initial node area and the target node area in the data storage library, the second data processing unit obtains the initial planned path according to analysis of all possible paths between the initial node area and the target node area, and the data analysis unit obtains an operation occupation time of the mobile robot corresponding to each node area by calculation according to the size of the node area, the initial planned path, and the operation parameter of the mobile robot.
6. The system according to claim 5, wherein the second data processing unit successively processes and analyzes the initially planned paths corresponding to the mobile robots according to initial node area positions, and when the second data processing unit initially performs the processing and analysis, selects and marks as the initially planned paths of the mobile robots the possible paths close to edge positions within the preset area among the possible paths of the mobile robots, and then successively selects and marks as the initially planned paths of the mobile robots the possible paths with the smallest node area that is close to and coincides with the initially planned path of the first mobile robot among the possible paths of the corresponding mobile robots, and marks as the initially planned paths of the mobile robots.
7. The system according to claim 6, wherein said collision monitoring unit monitors whether node areas of each two of said mobile robots corresponding to the initially planned paths are the same, and when there is a node area of one of said mobile robots corresponding to the initially planned path that is the same as a node area of the other of said mobile robots corresponding to the initially planned path, determines whether there is a coincidence between the operating occupation times of the two mobile robots corresponding to the node areas of the initially planned paths, and sends a collision signal to said collision coordinating unit if there is a coincidence.
8. The system of claim 7, wherein the collision coordination unit obtains an initial planned path of the first mobile robot and the second mobile robot that have collided according to the collision signal, and extends an operation occupation time of a node area immediately preceding a collision node area corresponding to the initial planned path of the second mobile robot, and a staying time of the second mobile robot in the node area immediately preceding the collision node area is not less than a time for the first mobile robot to enter the collision node area from the node area immediately preceding the collision node area.
9. The system of claim 8, wherein the collision coordination unit analyzes the direction of the first mobile robot leaving the collision node area and the direction of the second mobile robot entering the collision node area, and compares the direction of the first mobile robot leaving the collision node area with the direction of the second mobile robot entering the collision node area, and if the comparison is consistent, adjusts the operation occupancy time of the second mobile robot corresponding to the previous node area of the collision node area to the sum of the initial operation occupancy time and the residence time of the second mobile robot, wherein the residence time is the length of time for the first mobile robot entering the collision node area from the previous node area corresponding to the collision node area;
and under the condition of inconsistency of comparison, adjusting the operation occupation time of the second mobile robot corresponding to the previous node area of the conflict node area to the sum of the initial operation occupation time and the residence time of the second mobile robot, wherein the residence time is the operation occupation time of the first mobile robot in the conflict node area, and transmitting the updated time data to the data analysis unit in real time.
10. A method for correcting a collision path correction system for multi-robot movement according to any one of claims 1 to 9, comprising the steps of,
step 100, acquiring mobile robot codes, sizes of node areas, initial node areas, target node areas and operation parameters of a plurality of mobile robots, and all possible paths between the initial node areas and the target node areas;
step 200, analyzing and obtaining an initial planned path corresponding to each mobile robot and corresponding operation occupation time corresponding to each node area according to the possible path and operation parameters of each mobile robot;
step 300, monitoring the conflict situation of the operation occupation time of the node area to which the initial planning path of each mobile robot belongs in real time, and feeding back the conflict situation;
step 400, judging the path trend of the mobile robot corresponding to the conflict according to the conflict signal, and adjusting one of the mobile robots passing through the conflict node area after the judgment result to allocate the operation occupation time of the corresponding conflict node area;
step 500, the regulation and control module obtains an initial planned path of the mobile robot and the operation occupation time corresponding to each node area, and controls the mobile robot to operate according to the initial planned path and the corresponding operation occupation time.
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