CN117325185A - Method for removing deadlock of mobile robot and scheduling equipment - Google Patents
Method for removing deadlock of mobile robot and scheduling equipment Download PDFInfo
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- CN117325185A CN117325185A CN202311589307.5A CN202311589307A CN117325185A CN 117325185 A CN117325185 A CN 117325185A CN 202311589307 A CN202311589307 A CN 202311589307A CN 117325185 A CN117325185 A CN 117325185A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The present invention relates to information processing technology. The invention aims to solve the problem that the existing mobile robot has deadlock and needs manual release, and provides a method and scheduling equipment for deadlock removal of the mobile robot, wherein the technical scheme can be summarized as follows: the robot needing to avoid is selected, and an avoiding path required by the robot to avoid is planned according to the planned path, the current position of each robot and the space information of each channel, so that the robot reaches an avoiding point according to the avoiding path to avoid other robots, and the deadlock condition is relieved. The invention has the beneficial effects of reducing the manual participation and being suitable for a mobile robot dispatching system.
Description
Technical Field
The present disclosure relates to information processing technologies, and in particular, to a method and a scheduling device for deadlock resolution of a mobile robot.
Background
With the development of mobile robots, single robots cannot meet business requirements, and more complicated application scenes can be met only by cooperation of a plurality of robots of different types. A good scheduling system is necessarily required when a plurality of robots cooperate, however, when a signal of the scheduling system is not good, a problem of packet loss may exist, so that a deadlock situation exists in the scheduling system.
The mobile robot deadlock situation is: referring to fig. 1, where an arrow represents a moving direction of a robot, a is a robot a, B is a robot B, in fig. 1, the robot a and the robot B travel in opposite directions, if information is lost at this time, the robot a and the robot B continue to travel in respective original paths, after a signal is recovered, a scheduling system obtains position information of the robot a and the robot B, so that the robot a and the robot B stop simultaneously, but since the original path of the robot a is blocked by the robot B, the original path of the robot B is blocked by the robot a, at this time, the scheduling system cannot recover to be normal, a situation that the robot a and the robot B wait for each other occurs, and a path re-planning cannot solve the problem, which can only be solved manually.
Therefore, the existing mobile robot has the problem that the deadlock needs to be manually relieved.
Disclosure of Invention
The purpose of the application is to solve the problem that the existing mobile robot has deadlock and needs manual release, and provide a method and scheduling equipment for deadlock removal of the mobile robot.
In the technical scheme adopted to solve the technical problem, the first aspect provides a method for deadlock removal of a mobile robot, which comprises the following steps:
step 1, executing when a deadlock occurs, acquiring information of each robot under the deadlock, and selecting a robot needing to be avoided;
step 2, extracting a planning path of the robot needing to be avoided from the robot information and the current position of each robot under the condition of deadlock;
marking the position points of all the other robots on the planning path, selecting the position point with the longest path between the position point of the other robots and the original starting point of the planning path and the corresponding part of the planning path, and marking the position point and the corresponding part of the planning path as a reference point and a reference path;
step 4, acquiring spatial information of each channel on the reference path;
step 5, screening out all channels meeting the avoidance condition according to the spatial information of all channels on the reference path;
step 6, selecting a channel with the shortest distance along the direction of the reference path of the current position point of the robot to be avoided from among the channels meeting the avoidance conditions as an avoidance channel, and selecting an avoidance point from the avoidance channels;
step 7, planning a path from a current position point of the robot to be avoided to an avoidance point, obtaining an avoidance path, judging whether the robot to be avoided can reach the avoidance point according to the avoidance path, if so, entering the step 8, otherwise, eliminating the channel meeting the avoidance condition, and returning to the step 6;
and 8, the robot needing to avoid waits to an avoidance point according to the avoidance path, and the robot normally operates after the rest robots pass through, so that the deadlock condition is relieved.
Specifically, in order to provide a method for obtaining spatial information of each channel on the reference path, step 4 includes the following steps:
and acquiring the channel width and the continuous length of the channels with the same width on the reference path, dividing each channel by the channel width, wherein the width and the length of each channel are the spatial information of each channel.
Further, to provide a method for obtaining the channel width and the continuous length of the same width channel on the reference path, the method for obtaining the channel width and the continuous length of the same width channel on the reference path includes:
step 401, dividing a reference path according to a certain length to obtain a plurality of reference points;
step 402, extending two opposite rays from each reference point to a direction perpendicular to the direction of the reference path on the static map, stopping extending the corresponding rays when any one of the rays encounters an obstacle, obtaining the length of the ray at the moment, and obtaining the width of each channel on the reference path;
step 403, obtaining the continuous length of the channel with the same width according to the number of the continuous reference points of the channel with the same width.
Specifically, since the channel width may be large, and the channel width to be avoided does not necessarily need to reach the actual width of the channel width during avoidance, in order to simplify the subsequent calculation, in step 402, the ray has a preset longest length limit when extending, and when the ray extends to the length limit, the ray does not encounter an obstacle yet, and then the length of the ray is the preset longest length.
Still further, in order to provide a method for screening each channel satisfying the avoidance condition according to the spatial information of each channel on the reference path, step 5 includes the following steps:
step 501, calculating to obtain an idle area of each channel, wherein the idle area is a residual space area of each channel on a static map added with dynamic obstacles, and the dynamic obstacles are projections of other robots when the robots travel along respective planned routes from the current positions;
step 502, screening out channels corresponding to idle areas meeting the space requirement of the robot needing to avoid.
Specifically, since there is a possibility that each channel on the reference path cannot meet the avoidance condition, in step 5, the method further includes the following steps:
if the channels meeting the avoidance conditions cannot be screened according to the spatial information of the channels on the reference path, respectively extending rays on a static map according to the original starting point of the planning path of the robot needing to be avoided, with the original starting point as an origin and with certain angles as intervals; terminating the extension when the ray encounters an obstacle or reaches a maximum preset length; after removing the rays completely covered by the planned paths of the other robots, selecting the rays according to the lengths of the remaining rays and the corresponding angles of the remaining rays as extension paths; spatial information of each channel on the extension path is acquired, and each channel meeting the avoidance condition is screened out according to the spatial information of each channel on the extension path.
Still further, in order to refine how to plan a path from a current position point of a robot to be avoided to an avoidance point, an avoidance path is obtained, and whether the robot to be avoided can reach the avoidance point according to the avoidance path is judged, in step 7, the method comprises the following steps:
step 701, adding the current occupied space of other robots as fixed obstacles on a static map to obtain an avoidance map;
step 702, planning a path from a current position point of a robot to be avoided to an avoidance point on an avoidance map, if the planning is successful, obtaining an avoidance path, entering step 8, otherwise, judging that the robot to be avoided cannot reach the avoidance point according to the avoidance path, and entering step 703;
and 703, eliminating the channels meeting the avoidance condition, and returning to the step 6.
Specifically, in step 7, in order to avoid the excessive angle turning of the generated avoidance path, smoothing is further performed on the avoidance path.
Still further, in order to provide a method for selecting a robot needing to be avoided, in step 1, the selecting a robot needing to be avoided includes:
step 101, according to the information of each robot under the deadlock condition, the direction of the planning path of each robot is obtained;
102, dividing each robot according to the direction of a planned path to obtain groups in each direction;
step 103, selecting a group with the least robot number in the group in each direction, wherein the robot is the robot needing to avoid.
Specifically, since the number of robots in the two direction groups may be the same, in step 1, the selecting a robot that needs to be avoided includes:
step 10A, according to the information of each robot under the deadlock condition, the direction of the planning path of each current robot and the action priority of each current robot are obtained;
step 10B, dividing each robot according to the direction of the planned path to obtain groups in each direction;
and step 10C, excluding the direction grouping of the robot with the highest action priority, and obtaining the robots in the remaining direction grouping as the robots needing to avoid.
In a technical solution adopted to solve the above technical problem, a second aspect provides a scheduling device, which includes a processing module, a storage module, and a computer program stored in the storage module and capable of running on the processing module, where the processing module is configured to implement a method for deadlock resolution of a mobile robot as described above when the computer program is executed.
The beneficial effects of this application are, in this application scheme, under the discovery deadlock condition, dodge the procedure through the design for some robots under the deadlock condition carry out dodge the operation, let the route of marcing of another part robot, thereby automatic the deadlock of relieving, avoid artifical participation revision route etc. artificial the deadlock mode of relieving, thereby promote mobile robot's work efficiency.
Drawings
Fig. 1 is a schematic plan view of a mobile robot deadlock situation.
Fig. 2 is a schematic flow chart of a method for deadlock resolution of a mobile robot provided in a first aspect of an embodiment of the present application.
Fig. 3 is a system block diagram of a scheduling device provided in a second aspect of an embodiment of the present application.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, 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 for purposes of illustration only and are not intended to limit the present application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Fig. 2 shows a schematic flow chart of a method for deadlock resolution of a mobile robot according to a first aspect of the embodiments of the present application, by way of example and not limitation, the method for deadlock resolution of a mobile robot comprising the steps of:
step 1, executing under the condition of deadlock, acquiring information of each robot under the condition of deadlock, and selecting a robot needing to be avoided.
And 2, extracting a planning path of the robot needing to be avoided from the robot information, and extracting the current position of each robot under the condition of dead lock.
And 3, marking the position points of all the other robots on the planning path, selecting the position point with the longest path between the position point of each other robot and the original starting point of the planning path and the corresponding part of the planning path, and marking the position point and the corresponding part of the planning path as the reference point and the reference path.
And 4, acquiring spatial information of each channel on the reference path.
And 5, screening out all the channels meeting the avoidance condition according to the spatial information of all the channels on the reference path.
And 6, selecting a channel with the shortest distance along the direction of the reference path of the current position point of the robot to be avoided from among the channels meeting the avoidance conditions as an avoidance channel, and selecting an avoidance point from the avoidance channels.
And 7, planning a path from a current position point of the robot to be avoided to an avoidance point, obtaining an avoidance path, judging whether the robot to be avoided can reach the avoidance point according to the avoidance path, if so, entering the step 8, otherwise, eliminating the channel meeting the avoidance condition, and returning to the step 6.
And 8, the robot needing to avoid waits to an avoidance point according to the avoidance path, and the robot normally operates after the rest robots pass through, so that the deadlock condition is relieved.
It can be understood that in the method for deadlock solution of mobile robots, because the deadlock condition occurs because at least two mobile robots in different directions move to the planned path of each other, after the robot needing to be avoided is selected, the position points of the other robots must exist on the planned path (because the deadlock only occurs under the condition).
And selecting the longest position point of the path from the position point of each other robot to the original starting point of the planned path and the corresponding part of the planned path, which can be specifically exemplified as: assuming that a robot needing to avoid is denoted as a robot A, the planned path of the robot A is denoted as a first planned path, the other robots are denoted as a robot B and a robot C, the robot B is closer to the robot A than the robot C, the original starting point of the first planned path is denoted as G, the position point of the robot C on the first planned path is denoted as S, then the S point is selected as a reference point, and part of the first planned path from the S point to the G point is the reference path.
And because the robots all occupy a certain space, when the position points of the other robots are marked on the planning path, the space occupied by the other robots can be projected on the planning path according to the position points of the other robots, and the longest point of the path between the point covered by projection and the original starting point of the planning path and the corresponding part of the planning path are screened out and marked as a reference point and a reference path.
The reason why the position points of the remaining robots are selected as reference points is that: compared with the current position point of the robot needing to be avoided is selected as a reference point, the length of the reference path is longer than the travelling path of the robot needing to be avoided, so that when the avoiding point is selected, the robot needing to be avoided can select the avoiding point to the two sides of the advancing direction of the planning path of the robot, and the selection range of the avoiding point is increased.
Among the channels meeting the avoidance conditions, the channel with the shortest distance between the current position point of the robot to be avoided along the direction of the reference path is selected as the avoidance channel, and the purpose of the channel is that: the length of the subsequent avoidance path is shortest, so that the moving distance of the robot needing to avoid is shortest when the robot is avoided, and the efficiency is improved.
In some embodiments, to provide a method for obtaining spatial information of each channel on the reference path, step 4 may include the following steps:
and acquiring the channel width and the continuous length of the channels with the same width on the reference path, dividing each channel by the channel width, wherein the width and the length of each channel are the spatial information of each channel.
It will be appreciated that since the robot is generally moved based on a planar map, the spatial information of each channel should be based on the width and length of each channel.
In some embodiments, to provide a method for obtaining the continuous lengths of each channel width and the same width channel on the reference path, obtaining the continuous lengths of each channel width and the same width channel on the reference path may include:
step 401, dividing the reference path according to a certain length to obtain a plurality of reference points.
Step 402, two opposite rays are extended from each reference point to the direction perpendicular to the direction of the reference path on the static map, and when any ray encounters an obstacle, the ray is stopped from extending, so that the length of the ray at the moment is obtained, and the width of each channel on the reference path is obtained.
Step 403, obtaining the continuous length of the channel with the same width according to the number of the continuous reference points of the channel with the same width.
It can be understood that a certain length can be set according to actual needs, so that the calculation is simplified, the channel width of each point on the whole reference path is not required to be acquired, and after a certain length is added, the length of each channel can be acquired according to a certain length, and the acquisition is not required to be performed by extending rays.
Since the channel width may be large, and the channel width to be avoided does not necessarily need to reach the actual width of the channel width during avoidance, in order to simplify the subsequent calculation, in some embodiments, in step 402, it may be set as follows: the ray has a preset longest length limit when extending, and the length of the ray is the preset longest length when the ray extends to the length limit and still does not encounter an obstacle.
It can be understood that the purpose of setting the longest length for the ray is that, because the robot generally only needs a certain free space and does not need a too large free space when avoiding, the longest length is set for the ray to correspond to a suitable single-side width of the channel which can be avoided, and the longest length can be correspondingly set according to practical application conditions.
In some embodiments, in order to provide a method for screening each channel that meets the avoidance condition according to the spatial information of each channel on the reference path, step 5 may include the following steps:
step 501, calculating to obtain an idle area of each channel, wherein the idle area is a residual space area of each channel on a static map added with dynamic obstacles, and the dynamic obstacles are projections of other robots when the robots travel along respective planned routes from the current positions;
step 502, screening out channels corresponding to idle areas meeting the space requirement of the robot needing to avoid.
It will be appreciated that since dynamic obstacles (projections of the remaining robots as they travel along their respective planned routes from the current location) are introduced on the static map, i.e. equivalent to subtracting the space taken up by each step as the remaining robots move in each aisle, there is necessarily no passage of the remaining robots in the resulting free area.
The purpose of the screening is that the robot needing to be avoided also has occupied space, and if the robot needing to be avoided cannot be placed in the idle area, the channel cannot be used, so that the screening is needed. And because the projection of other robots during movement can cause a channel to be divided into three areas, namely, an idle area I, the projection area of other robots and an idle area II, the robots needing to be avoided can be placed in the idle area I and the idle area II, but because the robots needing to be avoided cannot be divided into two parts and placed in the idle area I and the idle area II respectively, when the idle area of each channel is calculated, the larger area in the idle area I and the idle area II is generally selected as the idle area (so that the operation on the other robots is not needed). Of course, the planned paths of the other robots may be revised, so that when the robot passes through the channel, any one of the first idle area and the second idle area is made as small as possible, so that the other area serving as the idle area is made as large as possible, and the robot needing to be avoided can be placed, but the other robots are required to be operated by the system, and the complexity of the system is increased.
Since there may be a case where each channel on the reference path cannot meet the avoidance condition, in some embodiments, step 5 may further include the following steps:
if the channel meeting the avoidance condition cannot be screened, respectively extending rays on a static map according to the original starting point of the planning path of the robot needing to be avoided, taking the original starting point as an original point and taking a certain angle as an interval; terminating the extension when the ray encounters an obstacle or reaches a maximum preset length; after removing the rays completely covered by the planned paths of the other robots, selecting the rays according to the lengths of the remaining rays and the corresponding angles of the remaining rays as extension paths; spatial information of each channel on the extension path is acquired, and each channel meeting the avoidance condition is screened out according to the spatial information of each channel on the extension path.
It can be appreciated that the purpose of rejecting rays that are completely covered by the planned paths of the remaining robots is to avoid selecting the direction of movement of the original planned path or the planned paths of the remaining robots, thereby saving the number of subsequent computations. In the selecting of the rays according to the length of the remaining rays and the corresponding angles thereof, since the robot itself needs to occupy a certain space and also needs a certain rotation space to move in place, the optimal rays can be selected according to the length of the remaining rays and the corresponding angles thereof, and the like, wherein the optimal rays are only relatively speaking, the judging parameters of the optimal rays can be set according to actual needs, for example, the length of the rays is at least 5 meters and the corresponding angles are less than 30 degrees, and the like.
In addition, after the rays completely covered by the planning paths of the other robots are removed, the remaining rays can be used as extension paths, the spatial information of all channels on all extension paths is respectively obtained, then all channels meeting the conditions are screened out, and among all channels meeting the conditions, the rays corresponding to the channel closest to the current position of the robot to be avoided are selected as the optimal rays and the actual extension paths. In this way, the optimal rays and the corresponding extending paths can be obtained, and the method has the advantages that various parameters for judging the optimal rays are not required to be set and the feasibility scheme is not easy to leak compared with the method for selecting the optimal rays, but the system processing burden is increased correspondingly.
The method for planning the extended path by the extended rays is performed under the condition that the robot needing to be avoided is selected and is not replaced, if the robot needing to be avoided can be replaced, the robot needing to be avoided can be reselected when a channel meeting the avoidance condition cannot be screened, and therefore the processing burden brought by rescheduling can be omitted, meanwhile, the condition that the channel meeting the avoidance condition cannot be screened on the reference paths respectively generated according to the planned paths of the robots can be also existed, and at the moment, the method for planning the extended path in the method can also be adopted.
Of course, in the above method, there may be a case where the extended rays cannot select a channel satisfying the avoidance condition anyway, and at this time, the system may be only prompted that the avoidance point selection fails, and the selected robot to be avoided may be replaced.
The method for obtaining the spatial information of each channel on the extended path may refer to the method for obtaining the spatial information of each channel on the reference path, and the method for screening each channel meeting the avoidance condition according to the spatial information of each channel on the extended path may refer to the method for screening each channel meeting the avoidance condition according to the spatial information of each channel on the reference path.
In order to refine how to plan a path from a current position point of a robot to be avoided to an avoidance point, obtain an avoidance path, and determine whether the robot to be avoided can reach the avoidance point according to the avoidance path, in some embodiments, in step 7, the method may include the following steps:
and 701, adding the current occupied space of the rest robots as a fixed obstacle on a static map to obtain an avoidance map.
Step 702, planning a path from a current position point of a robot to be avoided to an avoidance point on an avoidance map, if the planning is successful, obtaining an avoidance path, entering step 8, otherwise, judging that the robot to be avoided cannot reach the avoidance point according to the avoidance path, and entering step 703.
Step 703, eliminating the channel meeting the avoidance condition, and returning to step 6.
It can be understood that due to the fact that fixed barriers (the space occupied by other robots currently) are added on the static map, whether the robot needing to be avoided can reach the avoidance point or not is considered during planning, if the avoidance path can be planned successfully, the robot needing to be avoided can reach the avoidance point, otherwise, the robot cannot reach the avoidance point, the channel does not meet the requirements, and therefore the robot needs to be removed.
In some embodiments, in order to avoid the generated angle turn of the avoidance path being too large, in step 7, the avoidance path may also be smoothed.
It can be understood that when the mobile robot turns, if the turning angle is larger, the speed is faster, and the center of gravity is higher, the mobile robot is easy to turn over, so that the path needs to be smoothed when generating a planned path or an avoidance path, so as to avoid overlarge angles of all corners in the path.
In some embodiments, in order to provide a method for selecting a robot needing to be avoided, in step 1, selecting a robot needing to be avoided may include:
and 101, acquiring the current direction of each robot planning path according to the information of each robot under the deadlock condition.
And 102, dividing each robot according to the direction of the planned path to obtain groups in each direction.
Step 103, selecting a group with the least robot number in the group in each direction, wherein the robot is the robot needing to avoid.
It can be appreciated that in the method, that is, the robots in the group of directions with a smaller number of mobile robots are selected as the robots needing to be avoided, so that the problem that most robots avoid a few robots can be avoided. However, in practical application, because the number of robots in the two direction groups may be the same, the method is disabled, and the following corresponding method for selecting the robots to be avoided according to the action priority may be adopted, or other selection decision criteria may be added, or a random selection manner may be adopted for selection.
In addition, in practical applications, since the scheduling system sets an action priority for each mobile robot when scheduling each mobile robot, and some scheduling systems require that the action priority of some robots be higher than that of other robots, which is specifically set according to specific application scenarios, the method for avoiding a plurality of robots by the few robots is not suitable, and needs to be selected with the action priority, therefore, in some embodiments, in step 1, selecting a robot that needs to be avoided may include:
and step 10A, acquiring the direction of the current planned path of each robot and the action priority of each current robot according to the information of each robot under the deadlock condition.
And 10B, dividing each robot according to the direction of the planned path to obtain groups in each direction.
And step 10C, excluding the direction grouping of the robot with the highest action priority, and obtaining the robots in the remaining direction grouping as the robots needing to avoid.
It can be understood that the two methods of selecting the robots to be avoided may be combined, for example, firstly judging the action priority, if the action priorities of the robots in 2 or more direction groups are the same, then judging which direction group has fewer robots, and selecting the robots in the direction group as the robots to be avoided; the number of robots in which direction group is smaller may be determined first, and when the number of robots in 2 or more direction groups is the same, the action priority of each robot may be determined, and the direction group may be selected in the manner of action priority. Of course, even the combined approach may exist: in the case of deadlock, in 2 or more direction groups, there are robots with the same highest action priority, and in the case that the number of robots in the 2 or more direction groups is the same, at this time, other selection decision criteria may be added, or selection may be performed by a random manner.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Fig. 3 shows a system block diagram of a scheduling apparatus provided in the second aspect of the embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment is shown.
The scheduling device comprises a processing module, a storage module and a computer program which is stored in the storage module and can run on the processing module, wherein the processing module is used for realizing the method for removing deadlock of the mobile robot when the computer program is executed.
A third aspect of the embodiments of the present application provides a readable storage medium storing a computer program which, when executed by a processor, implements the method for deadlock resolution of a mobile robot described above.
It should be noted that, because the content of information interaction and execution process between the above devices/units/modules is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A method for deadlock resolution of a mobile robot, comprising the steps of:
step 1, executing when a deadlock occurs, acquiring information of each robot under the deadlock, and selecting a robot needing to be avoided;
step 2, extracting a planning path of the robot needing to be avoided from the robot information and the current position of each robot under the condition of deadlock;
marking the position points of all the other robots on the planning path, selecting the position point with the longest path between the position point of the other robots and the original starting point of the planning path and the corresponding part of the planning path, and marking the position point and the corresponding part of the planning path as a reference point and a reference path;
step 4, acquiring spatial information of each channel on the reference path;
step 5, screening out all channels meeting the avoidance condition according to the spatial information of all channels on the reference path;
step 6, selecting a channel with the shortest distance along the direction of the reference path of the current position point of the robot to be avoided from among the channels meeting the avoidance conditions as an avoidance channel, and selecting an avoidance point from the avoidance channels;
step 7, planning a path from a current position point of the robot to be avoided to an avoidance point, obtaining an avoidance path, judging whether the robot to be avoided can reach the avoidance point according to the avoidance path, if so, entering the step 8, otherwise, eliminating the channel meeting the avoidance condition, and returning to the step 6;
and 8, the robot needing to avoid waits to an avoidance point according to the avoidance path, and the robot normally operates after the rest robots pass through, so that the deadlock condition is relieved.
2. The method of mobile robot deadlock resolution according to claim 1, characterised in that step 4 comprises the steps of:
and acquiring the channel width and the continuous length of the channels with the same width on the reference path, dividing each channel by the channel width, wherein the width and the length of each channel are the spatial information of each channel.
3. The method for deadlock resolution of a mobile robot according to claim 2, wherein the acquiring the channel width on the reference path and the continuous length of the same width channel comprises:
step 401, dividing a reference path according to a certain length to obtain a plurality of reference points;
step 402, extending two opposite rays from each reference point to a direction perpendicular to the direction of the reference path on the static map, stopping extending the corresponding rays when any one of the rays encounters an obstacle, obtaining the length of the ray at the moment, and obtaining the width of each channel on the reference path;
step 403, obtaining the continuous length of the channel with the same width according to the number of the continuous reference points of the channel with the same width.
4. A method of deadlock resolution of a mobile robot according to claim 3, characterised in that in step 402 the ray has a preset longest length limit when extended, and the length of the ray is the preset longest length when the ray has not encountered an obstacle when extended to the length limit.
5. The method of mobile robot deadlock resolution according to claim 1, characterised in that step 5 comprises the steps of:
step 501, calculating to obtain an idle area of each channel, wherein the idle area is a residual space area of each channel on a static map added with dynamic obstacles, and the dynamic obstacles are projections of other robots when the robots travel along respective planned routes from the current positions;
step 502, screening out channels corresponding to idle areas meeting the space requirement of the robot needing to avoid.
6. The method for deadlock resolution of a mobile robot according to claim 1, further comprising the steps of, in step 5:
if the channels meeting the avoidance conditions cannot be screened according to the spatial information of the channels on the reference path, respectively extending rays on a static map according to the original starting point of the planning path of the robot needing to be avoided, with the original starting point as an origin and with certain angles as intervals; terminating the extension when the ray encounters an obstacle or reaches a maximum preset length; after removing the rays completely covered by the planned paths of the other robots, selecting the rays according to the lengths of the remaining rays and the corresponding angles of the remaining rays as extension paths; spatial information of each channel on the extension path is acquired, and each channel meeting the avoidance condition is screened out according to the spatial information of each channel on the extension path.
7. The method for deadlock resolution of a mobile robot according to claim 1, comprising the steps of:
step 701, adding the current occupied space of other robots as fixed obstacles on a static map to obtain an avoidance map;
step 702, planning a path from a current position point of a robot to be avoided to an avoidance point on an avoidance map, if the planning is successful, obtaining an avoidance path, entering step 8, otherwise, judging that the robot to be avoided cannot reach the avoidance point according to the avoidance path, and entering step 703;
and 703, eliminating the channels meeting the avoidance condition, and returning to the step 6.
8. The method for deadlock resolution of a mobile robot according to any of claims 1 to 7, wherein in step 1, the selecting a robot to be avoided comprises:
step 101, according to the information of each robot under the deadlock condition, the direction of the planning path of each robot is obtained;
102, dividing each robot according to the direction of a planned path to obtain groups in each direction;
step 103, selecting a group with the least robot number in the group in each direction, wherein the robot is the robot needing to avoid.
9. The method for deadlock resolution of a mobile robot according to any of claims 1 to 7, wherein in step 1, the selecting a robot to be avoided comprises:
step 10A, according to the information of each robot under the deadlock condition, the direction of the planning path of each current robot and the action priority of each current robot are obtained;
step 10B, dividing each robot according to the direction of the planned path to obtain groups in each direction;
and step 10C, excluding the direction grouping of the robot with the highest action priority, and obtaining the robots in the remaining direction grouping as the robots needing to avoid.
10. Scheduling device, characterized in that it comprises a processing module, a memory module and a computer program stored in the memory module and capable of running on the processing module, said processing module being adapted to implement the method for deadlock resolution of a mobile robot according to any of claims 1-9 when said computer program is executed.
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