CN115683120A - Robot multi-vehicle interlocking detection and unlocking method and device - Google Patents
Robot multi-vehicle interlocking detection and unlocking method and device Download PDFInfo
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- CN115683120A CN115683120A CN202211712436.4A CN202211712436A CN115683120A CN 115683120 A CN115683120 A CN 115683120A CN 202211712436 A CN202211712436 A CN 202211712436A CN 115683120 A CN115683120 A CN 115683120A
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Abstract
The application relates to a method and a device for detecting and unlocking multi-vehicle interlocking of a robot. The method comprises the following steps: searching point locations with zero in-degree and point locations with zero out-degree from all the point locations; deleting the point locations with the in-degree of zero and the point locations with the out-degree of zero to obtain a first point location set; and determining whether the multiple vehicles are locked with each other or not according to the number of the point positions in the first point position set. Determining waiting point positions or obstacle point positions according to the number of the vehicles of the robot and the number of the point positions in the first point position set; and controlling the robot passing through the waiting point position to wait at the waiting point position, or controlling at least one robot to change a path to avoid an obstacle point until a condition that a plurality of vehicles are locked mutually does not exist. So as to realize accurate unlocking according to the ring forming condition.
Description
Technical Field
The application relates to the technical field of robot path planning, in particular to a method and a device for detecting and unlocking multi-vehicle interlocking of a robot.
Background
With the development of society, intelligent mobile equipment such as robots and electric unmanned vehicles has spread all over the aspects of life, and particularly in the technical field of logistics, the application of intelligent mobile equipment in carrying, conveying and the like greatly reduces the personnel cost. However, many vehicles often work simultaneously in the same map area, and each vehicle needs to go from one point location to another point location during the work process, and even multiple point locations may be possibly walked, for example, an empty vehicle is scheduled to transport goods from the point location B to the point location C, and the current position of the vehicle starts from the point location a, then the vehicle needs to travel from the point location a to the point location B and then to the point location C, and then, for example, during the travel of the vehicle from the point location a to the point location B, the planned path for the vehicle is that the vehicle starts from the point location a, travels 5 meters straight to the middle point location E, turns to the left by 90 degrees from the point location E, travels by 10 meters to the point location B, and then the vehicle needs to travel from the point location a to the point location E, turns, travels from the point location E to the point location B, and then travels to the point location C. In order to avoid collision between two vehicles, the dispatching system keeps a safe distance between every two vehicles, the safe distance is incompressible, when multiple vehicles enter a loop, the multiple vehicles are avoided from each other and locked, but the multiple vehicles are not necessarily locked as long as the multiple vehicles form the loop, and a feasible path is still available although the multiple vehicles form the loop under special conditions.
Disclosure of Invention
In view of the above, it is necessary to provide a detecting and unlocking method, apparatus, computer device, computer readable storage medium and computer program product capable of accurately detecting multiple-test interlock deadlocking.
In a first aspect, the present application provides a robotic multi-car interlock detection method, the method comprising,
searching point locations with zero in-degree and point locations with zero out-degree from all the point locations;
deleting the point locations with the in-degree of zero and the out-degree of zero to obtain a first point location set;
and determining whether the multiple vehicles are locked with each other or not according to the number of the point positions in the first point position set.
In one embodiment, the determining whether there is a multi-vehicle interlock according to the number of point locations in the first point location set includes determining whether there is a point location with an entry degree of zero in the first point location set and whether there is a point location with an exit degree of zero, and if so, continuing to delete the point location with an entry degree of zero and the point location with an exit degree of zero until the first point location set neither includes the point location with an entry degree of zero nor includes the point location with an exit degree of zero.
In one embodiment, determining whether multi-vehicle interlocking exists according to the number of point locations in the first point location set, including that if a point location exists in the first point location set, a multi-vehicle interlocking situation exists; and if no point location exists in the first point location set, no multi-vehicle locking condition exists.
In a second aspect, the present application provides a robotic multi-car unlocking method, the method comprising,
acquiring the number of vehicles of the robot;
acquiring point locations with zero in degree, acquiring point locations with zero initial degree, and deleting the point locations with zero in degree and the point locations with zero out degree to obtain a first point location set;
determining waiting point positions or obstacle point positions according to the number of the vehicles of the robot and the number of the point positions in the first point position set; and controlling the robot passing through the waiting point position to wait at the waiting point position, or controlling at least one robot to change a path to avoid an obstacle point until a condition that a plurality of vehicles are locked mutually does not exist.
In one embodiment, the method further comprises determining a first arc set, a second arc set, and a third arc set;
deleting the side taking the point position with the in-degree as a starting point and deleting the side taking the point position with the out-degree as a finishing point to obtain a first arc set; determining all pairs of forward edges and reverse edges from the first arc set as a second arc set; and deleting the second arc set from the first arc set to obtain a third arc set.
In one embodiment, the determining of the waiting point position or the obstacle position according to the number of the robot vehicles and the number of the point bits in the first point bit set comprises,
if the number of the vehicles of the robot is larger than that of the point locations in the first point location set, determining at least one point location with the degree of departure and the degree of entry both being 1 from the point locations forming the third arc set as a waiting point location, and controlling the robot passing through the waiting point location to wait at the waiting point location until a situation that multiple vehicles are locked mutually does not exist.
In one embodiment, if the number of the robot vehicles is greater than the number of the point locations in the first point location set and the point locations forming the third arc set do not have point locations with both out-degree and in-degree of 1, or if the number of the robot vehicles is less than or equal to the number of the point locations in the first point location set;
and determining at least one point position with the degree of entry being 0 and the degree of exit being 1 from all the point positions as a waiting point position, and controlling the robot passing through the waiting point position to wait at the waiting point position until the condition that the vehicles are locked with each other does not exist.
In one embodiment, the determining at least one point location with an in-degree of 0 and an out-degree of 1 from all the point locations as a waiting point location includes, if no point location with an in-degree of 0 and an out-degree of 1 exists in all the point locations, determining a point location with a minimum in-degree from the first point location set as a replacement path point location, and controlling a robot replacement path passing through the replacement path point location until no mutual locking of multiple vehicles occurs.
In one embodiment, the controlling the robot replacement path passing through the point location of the replacement path includes determining the point location forming the second arc set as an obstacle point location, and controlling the robot replacement path passing through the point location of the replacement path to be configured so that a new path after replacement does not pass through the obstacle point location.
In a third aspect, the present application further provides a robot multi-vehicle interlock detecting and unlocking device, comprising,
the multi-vehicle interlocking detection module is used for searching point locations with zero in-degree and point locations with zero out-degree from all the point locations; deleting the point locations with the in-degree of zero and the point locations with the out-degree of zero to obtain a first point location set; detecting the number of points in the first set of points;
the multi-vehicle interlocking determining module is used for determining whether multi-vehicle interlocking exists according to the number of point locations in the first point location set, and if the point locations exist in the first point location set, a multi-vehicle interlocking situation exists; if no point location exists in the first point location set, no multi-vehicle locking condition exists;
the data acquisition module is used for acquiring the number of the vehicles of the robot; acquiring dot digits in a first dot digit set;
the unlocking module is used for determining waiting point positions or obstacle point positions according to the number of the vehicles of the robot and the number of the point positions in the first point position set; and controlling the robot passing through the waiting point position to wait at the waiting point position, or controlling at least one robot to change a path to avoid an obstacle point until a condition that a plurality of vehicles are locked mutually does not exist.
According to the method and the device for detecting and unlocking the multi-vehicle interlocking of the robot, in the interlocking detection method, point locations with zero in-degree and point locations with zero out-degree are searched from all point locations; deleting the point locations with the in-degree of zero and the out-degree of zero to obtain a first point location set; and determining whether the multiple vehicles are locked with each other according to the number of the point positions in the first point position set. In the existing method, a graph topology sorting method and a depth-first searching method are mostly adopted, and both the rings formed by the paths can be searched, but the formed rings are not necessarily deadlocked, and the feasible paths can still exist under special conditions. The detection method is optimized, point locations with zero in degree and point locations with zero out degree are deleted, iteration is carried out continuously, if the loop is not formed, all the point locations can finally become the points with zero in degree, all the point locations can be deleted through deletion and shearing, the first point set is finally an empty set, otherwise, a plurality of points with non-zero in degree and non-zero out degree form one or more loops, and therefore multiple vehicles are locked mutually.
According to the robot multi-vehicle unlocking method, the number of the vehicles of the robot is obtained firstly; acquiring a point location with zero in degree, acquiring a point location with zero initial degree, and deleting the point location with zero in degree and the point location with zero out degree to obtain a first point location set; determining a waiting point position or an obstacle position according to the number of the vehicles of the robot and the number of the point positions in the first point position set; and controlling the robot passing through the waiting point to wait at the waiting point, or controlling at least one robot to change a path to avoid an obstacle point until a condition that a plurality of vehicles are locked mutually does not exist. The unlocking method in the prior art mostly adopts a design rule method, a fixed method is designed according to the condition of vehicles, the condition of mutually locked loops is not considered, the number of vehicles of the robot is compared with the number of point bits in a first point bit set, an unlocking strategy is formulated, the robot is controlled to wait at a waiting point bit or at least one robot is controlled to change a path to avoid the obstacle bit by setting the waiting point bit or the obstacle bit, and accurate unlocking is realized according to the ring forming condition.
Drawings
FIG. 1 is a diagram of an application environment of a method for detecting and unlocking a multi-vehicle interlock of a robot in one embodiment;
FIG. 2 is a schematic illustration of robotic multi-car interlock detection in one embodiment;
FIG. 3 is a schematic flow diagram of robotic multi-car interlock detection in one embodiment;
FIG. 4 is a schematic flow chart diagram of a method for robotic multi-vehicle unlocking in one embodiment;
FIG. 5 is a schematic flow chart of a multi-vehicle interlock detection and unlocking method according to an embodiment;
FIG. 6 is a block diagram of an embodiment of a robotic multi-car interlock detection and unlocking device;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The robot multi-vehicle interlocking detection and unlocking method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the robot 102 may communicate with the server 104 over a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104, or may be located on the cloud or other network server. The server 104 may first obtain all point locations in the paths of the robots 102, and find point locations with a zero in-degree and point locations with a zero out-degree from all the point locations; deleting all point locations with zero in degree and all point locations with zero out degree to obtain a first point location set; and determining whether the multiple vehicles are locked with each other according to the number of the point positions in the first point position set. The server 104 may further obtain the number of the robot vehicles, and determine waiting point positions or obstacle position positions according to the number of the robot vehicles and the number of point positions in the first point position set; and controlling the robot passing through the waiting point position to wait at the waiting point position, or controlling at least one robot to change a path to avoid an obstacle point until a condition that a plurality of vehicles are locked mutually does not exist.
The robot 102 may be, but is not limited to, various robots that are applied to a logistics warehouse and have a loading function, including, but not limited to, AGV equipment in various forms. The server 104 may be implemented as a stand-alone server or a server cluster comprised of multiple servers.
In one embodiment, as shown in fig. 2, a method for detecting a multi-vehicle interlock of a robot is provided, which is described by taking the method as an example applied to a server in fig. 1, and includes the following steps:
s201, searching point locations with zero in-degree and point locations with zero out-degree from all the point locations.
When the robot vehicle executes a task, the whole traveling path is formed by a plurality of point positions and traveling directions between the point positions, wherein the traveling directions are considered to be directed edges, and meanwhile, the plurality of point positions and the directed edges between the point positions form a directed graph. Based on the formed directed graph, searching point locations with zero in-degree and point locations with zero out-degree in all point locations in the vehicle path of the robot; all the edges of the pointed point are the degree of incidence of the point, the edges of the point pointing to any other point are the degree of emergence of the point, the point with zero incidence is the point with zero incidence, the point with zero emergence is understood to be the point with zero incidence, and the point with no incidence is understood to be the point with zero incidence.
S202, deleting the point locations with the zero in-degree and the point locations with the zero out-degree to obtain a first point location set.
Deleting all the points with zero in-degree means that the point is deleted regardless of the degree of out-degree as long as the in-degree is zero, and similarly, deleting all the points with zero out-degree means that the point is deleted regardless of the degree of in-degree as long as the out-degree is zero.
In one embodiment, before determining whether there is a multi-vehicle interlock according to the number of points in the first point set, the determining includes determining whether there are points with an entry degree of zero and points with an exit degree of zero in the first point set, and if so, continuing to delete the points with an entry degree of zero and the points with an exit degree of zero until the first point set includes neither the points with an entry degree of zero nor the points with an exit degree of zero. This ensures that the first set of bits does not include any bits with an in degree of zero and any bits with an out degree of zero.
S203, determining whether the multiple vehicles are locked with each other according to the number of the point positions in the first point position set.
Because multiple vehicles run in the same map area, a directed graph formed by multiple running paths may have a closed loop condition, and when the closed loop condition occurs, the running paths between the vehicles are likely to be locked with each other, so that the robot vehicles wait for each other and cannot execute the operation task. Therefore, if the mutual locking condition occurs in the multi-vehicle path of the robot, the condition that a closed loop occurs in a directed graph formed by a plurality of driving paths is certain.
In one embodiment, determining whether a multi-vehicle mutual locking exists according to the number of point locations in a first point location set includes determining that a multi-vehicle mutual locking situation exists if a point location exists in the first point location set; and if no point location exists in the first point location set, judging that no multi-vehicle mutual locking situation exists. It can be understood that if no point location exists in the first set, the point locations in all paths of the robot for multiple vehicles are point locations with zero in-degree or zero out-degree, the out-sides of the points with zero in-degree are cut off by means of directed edge pruning, the out-sides of the points with zero in-degree are cut off iteratively, and finally all the edges can be cut off by means of directed edge pruning, so that all the points can finally become the points with zero in-degree; if there are point locations in the first point location set, there will be several points with non-zero in-degree that can not be subtracted by the method of directed edge pruning, and then these point locations with both in-degree and out-degree will likely form one or more loops.
In one embodiment, a flowchart of the multi-vehicle interlock detection method is shown in fig. 3, where all point locations on a multi-vehicle path of the robot form a point location set V, a point location with an in-degree of zero, that is, a point location with Vin =0, is found from the point location set, a point location with an out-degree of zero, that is, a point location with Vout =0, is found from the point location set V, and a point location with Vin =0 and a point location with Vout =0 are deleted from the point location set V, so as to obtain a first point location set V1; it should be noted that there is no strict order of precedence between the point location for finding Vin =0 and the point location for finding Vout =0 in this step, and similarly there is no strict order of precedence between the point location for finding Vin =0 and the point location for deleting Vout =0, and the present application does not limit the order of finding the point location for Vin =0 and the point location for deleting Vout = 0.
In one embodiment, a point location with Vin =0 may be searched and deleted from the point location set V, and the point location set V is updated to obtain an updated point location set V ', and further, a point location with Vout =0 is searched and deleted from the point location set V ', and the point location set V ' is updated to obtain a point location set V1.
In this step, it may be further determined whether a point of Vin =0 or a point of Vout =0 still exists in the first set of points V1, and if so, the deletion may be continued until the first set of points V1 includes neither a point of Vin =0 nor a point of Vout = 0.
According to the flowchart of fig. 3, after the first point set V1 is obtained, it is further determined whether the first point set V1 is an empty set, if the first point set V1 is an empty set, it is determined that there is no mutual locking of multiple vehicles, if the first point set V1 is not an empty set, it is determined that there is a mutual locking of multiple vehicles, in an actual application process, if the first point set V1 is an empty set, there is certainly no looping, and there is certainly no mutual locking of multiple vehicles under a situation that looping is not performed; however, if the first bit set V1 is not an empty set, a ring formation must exist, but the ring formation does not necessarily cause the multiple vehicles to be locked with each other, and the multiple vehicles can still normally pass under a very special ring formation condition, which is difficult to detect.
In one embodiment, as shown in fig. 4, the unlocking method provided by the present application first obtains the number of robot vehicles, where the number of robot vehicles refers to the number of robot vehicles located in the same map range; acquiring a point location with zero in degree, acquiring a point location with zero initial degree, and deleting the point location with zero in degree and the point location with zero out degree to obtain a first point location set; the step of obtaining the first point set is the same as the method and the step of obtaining the first point set in the multi-vehicle interlocking detection method, and details are not repeated here, it is to be noted that there is no particular sequence in the steps of obtaining the number of the robot vehicles and obtaining the first point set here, and the sequence of the steps of obtaining the number of the robot vehicles and obtaining the first point set is not limited in the present application.
Determining waiting point positions or obstacle point positions according to the number of the vehicles of the robot and the number of the point positions in the first point position set; and controlling the robot passing through the waiting point position to wait at the waiting point position, or controlling at least one robot to change a path to avoid an obstacle point position until a condition that a plurality of vehicles are locked mutually does not exist.
The unlocking is determined to be required only if the number of bits in the first set of bits is not zero, so the following unlocking methods are all established when the number of bits in the first set of bits is not zero. Determining waiting point positions or obstacle point positions according to the number of the vehicles of the robot and the point positions in the first point position set; the method comprises the steps of determining whether a multi-vehicle mutual locking situation exists according to the number of points in a first point set, and if the multi-vehicle mutual locking situation exists, controlling a robot passing through a waiting point to wait at the waiting point, or controlling at least one robot to change a path to avoid an obstacle point until the multi-vehicle mutual locking situation does not exist.
In the unlocking process, the vehicle needing to pass through the waiting point position is enabled to wait at the waiting point position by setting the waiting point position so as to form avoidance, other vehicles pass through the waiting point position first, so that closed loops locked mutually are unlocked, the waiting point position is released when the condition that the multiple vehicles are interlocked cannot be detected, and the vehicle waiting at the waiting point position is controlled to pass; in the scheme of the embodiment, the obstacle point position can be set, the vehicle replacing path needing to pass through the obstacle point position is controlled, avoidance is formed, in the actual scheduling process, the first robot needing to pass through the obstacle point position is controlled firstly, the first robot does not pass through the obstacle point position any more, whether the situation that multiple vehicles are locked mutually exists is monitored continuously, if the situation still exists, the second robot needing to pass through the obstacle point position is controlled again to replace the path, the second robot needing to pass through the obstacle point position does not pass through the obstacle point position any more, whether the situation that the multiple vehicles are locked mutually exists is monitored continuously until the situation that the multiple vehicles are locked mutually does not exist, the obstacle point mark is removed again, all the robots do not replace the path any more, and the operation task is executed normally according to the planned path.
The method also includes determining a first arc set, a second arc set, and a third arc set; deleting the side taking the point position with the in-degree as a starting point and deleting the side taking the point position with the out-degree as a finishing point to obtain a first arc set; determining all pairs of forward edges and reverse edges from the first arc set as a second arc set; and deleting the second arc set from the first arc set to obtain a third arc set. When the robot vehicle executes a task, a plurality of points are arranged from the starting position of the robot vehicle to the task execution position and/or the ending position, and even from the starting position to the task execution position and/or the ending position, the whole driving path is formed by a plurality of points and the driving directions between the points, and meanwhile, a directed graph is formed by a plurality of points and the driving directions between the points. In one embodiment, a first arc set, a second arc set and a third arc set are determined by a directed pruning method, the first arc set refers to an edge from which a point with an in-degree of zero is deleted as a starting point and a directed edge set after a point with an out-degree of zero is deleted as an end point, the second arc set refers to a directed edge set formed by paired forward edges and reverse edges, for example, a path from a to B and a path from B to a exist between a point a and a point B, the path from a to B and the path from B to a constitute a pair of forward edges and reverse edges, so that the pair of forward edges and reverse edges belong to the second arc set, and the third arc set refers to a directed edge set obtained by deleting the second arc set from the first arc set.
And determining a waiting point position or an obstacle point position according to the number of the robot vehicles and the number of the point positions in the first point position set, wherein if the number of the robot vehicles is greater than the number of the point positions in the first point position set, determining at least one point position with an out-degree and an in-degree of 1 as the waiting point position from the point positions forming the third arc set, and controlling the robot passing through the waiting point position to wait at the waiting point position until a multi-vehicle mutual locking situation does not exist.
In one embodiment, an unlocking strategy is formulated by comparing the number of vehicles of the robot with the number of points in the first point set, when the number of vehicles of the robot is greater than the number of points in the first point set, at least one point with the out-degree and the in-degree both being 1 is determined as a waiting point from the points forming the third arc set, it can be understood that the point with the out-degree and the in-degree both being 1, that is, only one robot passes through the point, the point is set as the waiting point, the robot passing through the point waits for the point, vehicles in other closed loops continue to run, the robot waiting for the waiting point waits until the situation that the multiple vehicles are locked with each other does not exist, whether loop-forming interlocking exists or not is continuously detected in the waiting process of the waiting robot, after the situation that the loop-forming interlocking does not exist, the waiting point is released, the waiting point is adjusted to be normal, and the waiting robot plans a path to continue to run according to the original waiting robot.
In one embodiment, if the number of the robot vehicles is greater than the number of the point locations in the first point location set and the point locations forming the third arc set do not have point locations with both out-degree and in-degree of 1, or if the number of the robot vehicles is less than or equal to the number of the point locations in the first point location set; and determining at least one point location with the degree of in-degree of 0 and the degree of out-degree of 1 from all the point locations as a waiting point location, and controlling the robot passing through the waiting point location to wait at the waiting point location until the condition that the vehicles are locked mutually does not exist. The point location with an in-degree of 0 and an out-degree of 1 may be understood as that there is only one out-edge at the point location without an in-edge, that is, the point location is the starting point location of one of the robots, and the robot passing through the point location is controlled to wait at the point location, that is, the robot vehicle at the starting point location waits at the starting point location without departure, so that other robots continue to run according to the planned path until it is detected that there is no loop-forming interlock, the waiting point location is released, the waiting point location is adjusted to a common point location, and the robot originally waiting at the starting point location continues to run according to the planned path.
In one embodiment, the determining at least one point location with an in-degree of 0 and an out-degree of 1 from all the point locations as a waiting point location includes, if no point location with an in-degree of 0 and an out-degree of 1 exists in all the point locations, determining a point location with a minimum in-degree from the first point location set as a replacement path point location, and controlling a robot replacement path passing through the replacement path point location until no mutual locking of multiple vehicles occurs. And the control of the robot replacement path passing through the point location of the replacement path comprises the steps of determining the point location forming the second arc set as an obstacle point location, and controlling the robot replacement path passing through the point location of the replacement path to be configured to ensure that a new path after replacement does not pass through the obstacle point location. Specifically, the point location of the replacement path is determined first, the point location with the minimum degree of penetration is found as the point location of the replacement path, the first robot vehicle passing through the point location of the replacement path may be controlled to search the path again at this point, and a new path is replaced, where the new path is configured to avoid the obstacle point location, where the obstacle point location refers to a point location forming the second arc set, after the first robot vehicle passing through the point location of the replacement path replaces the path, it is continuously detected whether a loop forming situation still exists, if so, the second robot vehicle passing through the point location of the replacement path continues to search the path again at this point, and a new path is replaced, and the new path is configured to avoid the obstacle point location. And returning to continuously detect whether the ring forming situation exists or not until the ring forming situation does not exist in all the paths, and restoring the point positions of the path to be replaced and the obstacle points to normal point positions for the robot vehicle to walk. It is noted that if the robotic vehicle passing the point locations of the alternate path does not pass the point locations comprising the second arc set in its original path, the path is not replaced here, the purpose of the alternate path being to reduce the vehicles passing the point locations comprising the second arc set to unravel loops in all robotic vehicle paths.
In one embodiment, as shown in the schematic flow chart of the interlock detection and unlocking method shown in fig. 5, the interlock detection and unlocking logic shown in the schematic flow chart searches whether looping conditions exist in all paths of the robot vehicles in the same map area, if looping exists, the loop breaking processing is performed in an unlocking mode, so that no loop exists in all paths of all the robot vehicles, and even if a loop appears, the loop breaking processing can be performed in time, so as to prevent that multiple vehicle paths are locked with each other and cannot pass through.
Firstly, a path of the robot vehicle is composed of one point location and directed edges between the point locations, whether a ring formation phenomenon exists is judged according to the entrance degree condition of each point location, a point with the entrance degree of zero, namely a point with Vin =0, is searched from all the point locations, a point with the entrance degree of zero, namely a point with Vout =0, is searched from all the point locations, the point with the Vin =0 and the point with the Vout =0 are deleted from all the point locations, and a first point location set V1 is obtained after deletion. It should be noted that there may be a point where the out-degree and the in-degree are both equal to zero, and it is understood that there may be an intersection between the set of point locations where Vin =0 and the point location where Vout =0, and the point locations where the out-degree and the in-degree are both equal to zero are deleted in the same manner. It will be appreciated that each point in the first set of points V1 is both in-degree and out-degree, such that the points in V1 form one or more loops.
Secondly, judging whether the first point set V1 is an empty set, namely further judging whether the first point set V1 has point positions, if the first point set V1 is an empty set and no point position exists in the first point set V1, judging that the situation that a plurality of vehicles are locked mutually does not exist, namely all vehicles normally pass and the interlocking phenomenon does not exist; if V1 is not an empty set and points exist in V1, the points in V1 form one or more loops, and the loops need to be destroyed to avoid the situation that multiple vehicles are locked with each other.
Thirdly, an unlocking strategy is formulated mainly according to a ring formation condition in the unlocking process, firstly, the number of the vehicles of the robot is obtained, wherein the number of the vehicles refers to the number of the vehicles in the same map area, for example, in some places, the vehicles of the robot are operated in a subarea mode, for example, 50 robots are placed in a warehouse, but the warehouse is divided into a common warehouse area and a high-frequency warehouse area, when the operation is divided, 10 robots are used for carrying the common warehouse area, 40 robots are used for carrying the high-frequency warehouse area, the vehicles of the robots in the common warehouse area and the high-frequency warehouse area are not operated in a cross-area mode, and the interlocking detection and unlocking strategy is only used for collecting data of the areas, for example, the number of the vehicles of the robots obtained by the interlocking detection and unlocking strategy of the high-frequency warehouse area is 40; similarly, if the robots in the same place are operated in a layered mode, for example, a certain warehouse is divided into an upper layer and a lower layer, 30 robots are arranged in the upper layer for carrying, 20 robots are arranged in the lower layer for carrying, and the robots in the upper layer and the lower layer cannot operate across the layers, the interlock detection and unlocking strategy is only used for collecting data of the respective layers. Secondly, determining a first arc set, a second arc set and a third arc set; deleting the side taking the point position with the in-degree as a starting point and deleting the side taking the point position with the out-degree as a finishing point to obtain a first arc set; determining all pairs of forward edges and reverse edges from the first arc set as a second arc set; and deleting the second arc set from the first arc set to obtain a third arc set.
And fourthly, comparing the number of vehicles with the number of points in the V1, wherein the number of vehicles obtained in the third step is compared with the number of points in the first point set obtained in the first step, if the number of vehicles of the robot is greater than the number of points in the first point set, further judging whether points with the degree of departure and the degree of entrance both being 1 exist in the points forming the third arc set, if so, determining at least one point with the degree of departure and the degree of entrance both being 1 from the points forming the third arc set as a waiting point, and controlling the robot passing through the waiting point to wait at the waiting point until a situation that multiple vehicles are locked mutually does not exist. If the point locations forming the third arc set do not have point locations with the out-degree and the in-degree of 1, further judging whether point locations with the in-degree of 0 and the out-degree of 1 exist in all the point locations, if so, determining at least one point location with the in-degree of 0 and the out-degree of 1 from all the point locations as a waiting point location, and controlling the robot passing through the waiting point location to wait at the waiting point location until no mutual locking of multiple vehicles exists. If the point position does not exist, the point position with the minimum in-degree is determined from the first point position set to serve as the point position of the replacement path, and the path of the robot passing through the point position of the replacement path is controlled to be replaced until the condition that the plurality of vehicles are locked mutually does not exist. And the step of controlling the robot replacement path passing through the point location of the replacement path comprises the steps of determining the point location forming the second arc set as an obstacle point location, and controlling the robot replacement path passing through the point location of the replacement path to be configured so that a new path after replacement does not pass through the obstacle point location.
If the number of the robot vehicles is less than or equal to the number of the point bits in the first point bit set; and further judging whether the point locations with the degree of entry being 0 and the degree of exit being 1 exist in all the point locations, if so, determining at least one point location with the degree of entry being 0 and the degree of exit being 1 from all the point locations as a waiting point location, and controlling the robot passing through the waiting point location to wait at the waiting point location until the condition that the vehicles are locked mutually does not exist. And if the point position does not exist, determining the point position with the minimum in-degree from the first point position set as a replacement path point position, and controlling the robot passing through the replacement path point position to replace the path until the condition that the vehicles are locked with each other does not exist. And the control of the robot replacement path passing through the point location of the replacement path comprises the steps of determining the point location forming the second arc set as an obstacle point location, and controlling the robot replacement path passing through the point location of the replacement path to be configured to ensure that a new path after replacement does not pass through the obstacle point location.
The unlocking process is mainly characterized in that the number of vehicles and the number of points with the access degree not equal to zero are compared, waiting points or path replacing points are reasonably set according to a comparison value, if the unlocking strategy is to set the waiting points, the robot vehicles passing through the waiting points are controlled to wait at the point positions of the waiting zones, other vehicles normally pass until no mutual locking condition exists in the interlocking detection, if the unlocking strategy is to set the path replacing points slightly, the points with the reverse edges, namely the points with the paired forward edges and reverse edges, are required to be set as obstacle points, the vehicles passing through the path replacing points are controlled to replace the driving path, the obstacle points are avoided, and accordingly, the vehicles begin to be unlocked from the points with the paired forward edges and reverse edges until no mutual locking condition exists in the interlocking detection.
In one embodiment, as shown in fig. 6, there is provided a robotic multi-car interlock detection and unlocking device, including: the system comprises a multi-vehicle interlock detection module 601, a multi-vehicle interlock determination module 602, a data acquisition module 603 and an unlocking module 604, wherein:
the multi-vehicle interlocking detection module 601 is used for searching point locations with zero in-degree and point locations with zero out-degree from all the point locations; deleting the point locations with the in-degree of zero and the out-degree of zero to obtain a first point location set; detecting the number of points in the first set of points;
a multi-vehicle interlock determining module 602, configured to determine whether multi-vehicle interlock exists according to the number of point locations in the first point location set, and if a point location exists in the first point location set, a multi-vehicle interlock condition exists; if no point location exists in the first point location set, no multi-vehicle locking condition exists;
a data acquisition module 603 for acquiring the number of vehicles of the robot; acquiring dot digits in a first dot digit set;
the unlocking module 604 is configured to determine a waiting point location or an obstacle location according to the number of the robot vehicles and the number of the point locations in the first point location set; and controlling the robot passing through the waiting point position to wait at the waiting point position, or controlling at least one robot to change a path to avoid an obstacle point until a condition that a plurality of vehicles are locked mutually does not exist.
The robot multi-vehicle interlocking detection and unlocking device firstly obtains a first point set through the multi-vehicle interlocking detection module, and the first point set is obtained by deleting the point positions with zero in-degree and the point positions with zero out-degree; determining whether a multi-vehicle mutual locking situation exists through a multi-vehicle interlocking determining module, determining whether multi-vehicle interlocking exists according to the number of point locations in the first point location set, and if the point locations exist in the first point location set, determining that the multi-vehicle mutual locking situation exists; if no point location exists in the first point location set, no multi-vehicle locking condition exists; if the vehicles are locked mutually, acquiring data required for establishing an unlocking strategy through a data acquisition module, and acquiring the number of the vehicles of the robot; acquiring the dot bits in the first dot bit set; the unlocking module determines waiting point positions or obstacle point positions according to the number of the robot vehicles and the point positions in the first point position set; and controlling the robot passing through the waiting point position to wait at the waiting point position, or controlling at least one robot to change a path to avoid an obstacle point until a condition that a plurality of vehicles are locked mutually does not exist. Specifically, the unlocking module needs to obtain a first arc set, a second arc set and a third arc set from all directed edges according to the degree of departure and the degree of entry of the point location; deleting the side taking the point position with the in-degree as a starting point and deleting the side taking the point position with the out-degree as a finishing point to obtain a first arc set; determining all pairs of forward edges and reverse edges from the first arc set as a second arc set; and deleting the second arc set from the first arc set to obtain a third arc set. If the number of the vehicles of the robot is larger than that of the point positions in the first point position set, whether point positions with the out-degree and the in-degree both being 1 exist in the point positions forming the third arc set is further judged, if yes, at least one point position with the out-degree and the in-degree both being 1 is determined from the point positions forming the third arc set to serve as a waiting point position, and the robot passing through the waiting point position is controlled to wait at the waiting point position until a multi-vehicle mutual locking situation does not exist. If the point locations forming the third arc set do not have point locations with the out-degree and the in-degree of 1, further judging whether point locations with the in-degree of 0 and the out-degree of 1 exist in all the point locations, if so, determining at least one point location with the in-degree of 0 and the out-degree of 1 from all the point locations as a waiting point location, and controlling the robot passing through the waiting point location to wait at the waiting point location until no mutual locking of multiple vehicles exists. If the point position does not exist, the point position with the minimum in-degree is determined from the first point position set to serve as the point position of the replacement path, and the path of the robot passing through the point position of the replacement path is controlled to be replaced until the condition that the plurality of vehicles are locked mutually does not exist. And the control of the robot replacement path passing through the point location of the replacement path comprises the steps of determining the point location forming the second arc set as an obstacle point location, and controlling the robot replacement path passing through the point location of the replacement path to be configured to ensure that a new path after replacement does not pass through the obstacle point location. If the number of the vehicles of the robot is less than or equal to the number of the point bits in the first point bit set; and further judging whether a point location with an in-degree of 0 and an out-degree of 1 exists in all the point locations, if so, determining at least one point location with an in-degree of 0 and an out-degree of 1 from all the point locations as a waiting point location, and controlling the robot passing through the waiting point location to wait at the waiting point location until no multi-vehicle mutual locking situation exists. And if the point position does not exist, determining the point position with the minimum in-degree from the first point position set as a replacement path point position, and controlling the robot passing through the replacement path point position to replace the path until the condition that the vehicles are locked with each other does not exist. And the step of controlling the robot replacement path passing through the point location of the replacement path comprises the steps of determining the point location forming the second arc set as an obstacle point location, and controlling the robot replacement path passing through the point location of the replacement path to be configured so that a new path after replacement does not pass through the obstacle point location.
In one embodiment, the multi-vehicle interlocking detection module is used for searching point locations with zero in-degree and point locations with zero out-degree from all the point locations; deleting the point locations with the in-degree of zero and the out-degree of zero to obtain a first point location set; and determining whether the multiple vehicles are locked mutually or not according to the number of the point positions in the first point position set.
In one embodiment, the multi-vehicle interlock detection module is configured to, before determining whether there is multi-vehicle interlock according to the number of point locations in the first point location set, determine whether there is a point location with an entry degree of zero in the first point location set and whether there is a point location with an exit degree of zero, and if so, continue to delete the point location with an entry degree of zero and the point location with an exit degree of zero until the first point location set neither includes a point location with an entry degree of zero nor a point location with an exit degree of zero.
In one embodiment, the multi-vehicle interlock determining module is configured to determine whether multi-vehicle interlock exists according to the number of point locations in the first point location set, where the determining includes determining that the multi-vehicle interlock exists if a point location exists in the first point location set; and if no point location exists in the first point location set, no multi-vehicle locking condition exists.
In one embodiment, the system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring the number of robot vehicles; acquiring point locations with zero in degree, acquiring point locations with zero initial degree, and deleting the point locations with zero in degree and the point locations with zero out degree to obtain a first point location set; determining waiting point positions or obstacle point positions according to the number of the vehicles of the robot and the number of the point positions in the first point position set; and controlling the robot passing through the waiting point position to wait at the waiting point position, or controlling at least one robot to change a path to avoid an obstacle point until a condition that a plurality of vehicles are locked mutually does not exist.
In one embodiment, the unlocking module is configured to determine a first arc set, a second arc set, and a third arc set; deleting the edge taking the point location with the in-degree of zero as a starting point, and deleting the edge taking the point location with the out-degree of zero as an end point to obtain a first arc set; determining all pairs of forward edges and reverse edges from the first arc set as a second arc set; and deleting the second arc set from the first arc set to obtain a third arc set.
In one embodiment, the unlocking module is configured to determine a waiting point location or an obstacle location according to the number of the vehicles of the robot and the number of the points in the first point location set, and includes determining, if the number of the vehicles of the robot is greater than the number of the points in the first point location set, at least one point location with an out-degree and an in-degree both equal to 1 from the points forming the third arc set as the waiting point location, and controlling the robot passing through the waiting point location to wait at the waiting point location until a situation that multiple vehicles are locked with each other does not exist.
If the number of the robot vehicles is larger than that of the point positions in the first point position set, and the point positions forming the third arc set do not have point positions with the out-degree and the in-degree of 1, or if the number of the robot vehicles is smaller than or equal to that of the point positions in the first point position set;
and determining at least one point position with the degree of entry being 0 and the degree of exit being 1 from all the point positions as a waiting point position, and controlling the robot passing through the waiting point position to wait at the waiting point position until the condition that the vehicles are locked with each other does not exist.
And determining at least one point location with an in-degree of 0 and an out-degree of 1 from all the point locations as a waiting point location, wherein if no point location with an in-degree of 0 and an out-degree of 1 exists in all the point locations, determining a point location with the minimum in-degree from the first point location set as a path replacement point location, and controlling a path of the robot passing through the path replacement point location to be replaced until no multi-vehicle mutual locking situation exists.
And the step of controlling the robot replacement path passing through the point location of the replacement path comprises the steps of determining the point location forming the second arc set as an obstacle point location, and controlling the robot replacement path passing through the point location of the replacement path to be configured so that a new path after replacement does not pass through the obstacle point location.
All modules in the robot multi-vehicle interlocking detection and unlocking device can be completely or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, an Input/Output interface (I/O for short), and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing robot task grouping data. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a robot task grouping method.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the above-described method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In an embodiment, a computer program product is provided, comprising a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, databases, or other media used in the embodiments provided herein can include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A robot multi-vehicle interlocking detection method is characterized by comprising the following steps,
searching point locations with zero in-degree and point locations with zero out-degree from all the point locations;
deleting the point locations with the in-degree of zero and the out-degree of zero to obtain a first point location set;
and determining whether the multiple vehicles are locked with each other or not according to the number of the point positions in the first point position set.
2. The detection method according to claim 1, wherein the determining whether there is a multi-vehicle interlock according to the number of the point locations in the first point location set includes determining whether there is a point location with a zero degree of entry and a point location with a zero degree of exit in the first point location set, and if so, continuing to delete the point location with a zero degree of entry and the point location with a zero degree of exit until the first point location set includes neither the point location with a zero degree of entry nor the point location with a zero degree of exit.
3. The detection method according to claim 1, wherein determining whether there is a multi-vehicle interlock according to the number of point locations in the first point location set includes that if there is a point location in the first point location set, there is a multi-vehicle interlock condition; and if no point location exists in the first point location set, no multi-vehicle locking condition exists.
4. A robot multi-vehicle unlocking method is characterized by comprising the following steps,
acquiring the number of vehicles of the robot;
acquiring point locations with zero in degree, acquiring point locations with zero initial degree, and deleting the point locations with zero in degree and the point locations with zero out degree to obtain a first point location set;
determining waiting point positions or obstacle point positions according to the number of the vehicles of the robot and the number of the point positions in the first point position set; and controlling the robot passing through the waiting point position to wait at the waiting point position, or controlling at least one robot to change a path to avoid an obstacle point until a condition that a plurality of vehicles are locked mutually does not exist.
5. The unlocking method of claim 4, further comprising determining a first arc set, a second arc set, and a third arc set;
deleting the side taking the point position with the in-degree as a starting point and deleting the side taking the point position with the out-degree as a finishing point to obtain a first arc set; determining all pairs of forward edges and reverse edges from the first arc set as a second arc set; and deleting the second arc set from the first arc set to obtain a third arc set.
6. The unlocking method according to claim 5, wherein the determining of a waiting point or an obstacle point according to the number of the robotic vehicles and the number of points in the first set of points comprises,
if the number of the vehicles of the robot is larger than that of the point positions in the first point position set, determining at least one point position with the out-degree and the in-degree both being 1 from the point positions forming the third arc set as a waiting point position, and controlling the robot passing through the waiting point position to wait at the waiting point position until no mutual locking of multiple vehicles exists.
7. The unlocking method according to claim 5, wherein if the number of the robotic vehicles is greater than the number of points in the first set of points and there is no point whose out-degree and in-degree are both 1 among the points constituting the third set of arcs, or if the number of the robotic vehicles is less than or equal to the number of points in the first set of points;
and determining at least one point position with the degree of entry being 0 and the degree of exit being 1 from all the point positions as a waiting point position, and controlling the robot passing through the waiting point position to wait at the waiting point position until the condition that the vehicles are locked with each other does not exist.
8. The unlocking method according to claim 7, wherein the determining at least one point location with an in-degree of 0 and an out-degree of 1 from all the point locations as a waiting point location includes, if no point location with an in-degree of 0 and an out-degree of 1 exists in all the point locations, determining a point location with the minimum in-degree from the first point location set as a replacement path point location, and controlling a robot replacement path passing through the replacement path point location until no multi-vehicle mutual locking situation exists.
9. The unlocking method according to claim 8, wherein the controlling of the robot replacement path via the point location of the replacement path includes determining point locations constituting the second arc set as obstacle locations, and controlling the robot replacement path via the point location of the replacement path is configured such that a new path after replacement does not pass through the obstacle locations.
10. A robot multi-vehicle interlocking detection and unlocking device is characterized by comprising,
the multi-vehicle interlocking detection module is used for searching point locations with zero in-degree and point locations with zero out-degree from all the point locations; deleting the point locations with the in-degree of zero and the out-degree of zero to obtain a first point location set; detecting the number of point locations in the first point location set;
the multi-vehicle interlocking determining module is used for determining whether multi-vehicle interlocking exists according to the number of point locations in the first point location set, and if the point locations exist in the first point location set, a multi-vehicle interlocking situation exists; if no point exists in the first point set, no multi-vehicle mutual locking situation exists;
the data acquisition module is used for acquiring the number of the vehicles of the robot; acquiring dot digits in a first dot digit set;
the unlocking module is used for determining waiting point positions or obstacle point positions according to the number of the vehicles of the robot and the point positions in the first point position set; and controlling the robot passing through the waiting point position to wait at the waiting point position, or controlling at least one robot to change a path to avoid an obstacle point until a condition that a plurality of vehicles are locked mutually does not exist.
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| CN117381805A (en) * | 2023-12-13 | 2024-01-12 | 成都航空职业技术学院 | Mechanical arm operation control method and system for conflict handling |
| CN117381805B (en) * | 2023-12-13 | 2024-02-27 | 成都航空职业技术学院 | Mechanical arm operation control method and system for conflict handling |
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