WO2019141221A1

WO2019141221A1 - Conflict management method and system for multiple mobile robots

Info

Publication number: WO2019141221A1
Application number: PCT/CN2019/072259
Authority: WO
Inventors: 刘清
Original assignee: 库卡机器人(广东)有限公司
Priority date: 2018-01-19
Filing date: 2019-01-18
Publication date: 2019-07-25
Also published as: CN108268016A

Abstract

Embodiments of the present invention relate to the field of robots and provide a conflict management method and system for multiple mobile robots. The conflict management method for multiple mobile robots comprises: obtaining current positions and planned paths of multiple mobile robots; allocating node regions adjacent to the positions of the mobile robots to the mobile robots according to the current positions and the planned paths of the multiple mobile robots, the mobile robots passing through the node regions; and when a second node region allocated to a second mobile robot and a node region allocated to a first mobile robot overlap each other, marking the overlapping node regions as conflict node regions in a conflict state, and determining that planned paths of the first mobile robot and the second mobile robot conflict with each other. Before the multiple mobile robots move in the next step, the node regions are allocated, and conflict is determined and detected according to the allocated node regions, and therefore, management of conflict between the mobile robots can be facilitated.

Description

Multi-mobile robot conflict management method and system

Cross-reference to related applications

The present application claims the benefit of Chinese Patent Application No. 20181005474, filed on Jan. 19, 2011, the content of which is hereby incorporated by reference.

Technical field

The present invention relates to the field of robots, and in particular to a method and system for conflict management of multiple mobile robots.

Background technique

It is the research focus of the current Internet of Things field to deploy a plurality of mobile robots in a dense area (for example, a logistics warehouse area), and to perform tasks such as moving goods to replace manual labor.

In order to avoid collisions between multiple mobile robots in a dense area during operation, two different processing schemes are generally adopted as follows: First, the robot has good conflict resolution capability through the current local environment information of the robot. The second is centralized management conflict resolution, which is mainly to eliminate conflicts by segmenting the motion path of the robot.

However, the inventors of the present application found in the prior art that at least the following drawbacks exist in the prior art: First, the distributed method is simple in operation, real-time and flexible, but due to local poles, often The task cannot be completed completely. Secondly, the centralized management method can perform tasks more accurately, but it is very easy to cause the robot to run path conflicts. Usually, the optimal solution is found, but the calculation is large and the real-time performance is poor. No better solution can be proposed.

Summary of the invention

An object of the present invention is to provide a collision management method and system for a multi-mobile robot, which is used to better solve the path conflict problem caused by centralized scheduling of multiple mobile robots in a dense area.

In order to achieve the above object, an embodiment of the present invention provides a conflict management method for a multiple mobile robot, including: acquiring a current location and a planned path of each of the plurality of mobile robots, wherein the planned path can bypass an obstacle in the predetermined area, The predetermined area includes a plurality of node areas; and each of the mobile robots is assigned a node area adjacent to a position of the mobile robot according to respective current positions and planned paths of the plurality of mobile robots, wherein the mobile robot Configuring to pass only from the allocated node region; when there is a coincidence between the second node region allocated for the second mobile robot and the node region assigned to the first mobile robot, marking the overlapping node regions A conflicting node area that is a conflicting state, and determining that there is a planned path conflict between the first mobile robot and the second mobile robot.

Optionally, after the determining that there is a planned path conflict between the first mobile robot and the second mobile robot, the method further includes: when detecting the first mobile robot or the second mobile When the robot has passed the conflicting node area, the conflicting node area is re-transformed from the conflicting state to a state that can be assigned.

Optionally, after the determining that there is a planned path conflict between the first mobile robot and the second mobile robot, the method further includes: according to the first planned path of the first mobile robot and the a second planning path of the second mobile robot, determining a conflict type of the conflicting node area, the conflict type including any one of the following: a cross conflict, a same direction conflict, or a relative conflict; according to the conflict type, adjusting the The first planned path of the first mobile robot and/or the second planned path of the second mobile robot.

Specifically, when the first planning path and the second planning path are perpendicular to each other, determining that the conflict type is a cross conflict, wherein the adjusting the first mobile robot according to the conflict type The first planning path and/or adjusting the second planning path of the second mobile robot includes: controlling the second mobile robot to pause the running movement, and controlling the first mobile robot to continue according to the first planning path Running the movement; and controlling the second mobile robot to continue performing the movement operation on the second planned path when the conflicting node area is transitioned from the conflicting state to the assignable state.

Specifically, when the first planning path and the second planning path are in the same direction or in the opposite direction, determining that the conflict type is a co-directional conflict or a facing conflict, where the including: re-for the second The mobile robot assigns a node area adjacent to the position of the second mobile robot to exit the node area in which the second mobile robot is located and the second planned path; and control the first mobile robot to follow the The first planned path continues to run.

Specifically, when the first planning path and the second planning path direction are opposite, and the node area where the first mobile robot and the second mobile robot are located are adjacent, determining the conflict type In order to conflict with each other, wherein the adjusting the first planning path of the first mobile robot and/or adjusting the second planning path of the second mobile robot comprises: releasing a first mobile robot that has been assigned to The conflicting node area, and reallocating a node area adjacent to the position of the first mobile robot to the first mobile robot to exit the node area where the first mobile robot is located and the first Planning a path; and controlling the second mobile robot to continue to move according to the second planned path.

Specifically, the acquiring the current location and the planned path of each of the plurality of mobile robots includes: transmitting a scheduling command to each of the mobile robots, wherein the scheduling command includes target node area information of each mobile robot; and responding to the scheduling command Receiving a planned path from the plurality of mobile robots, wherein the planned path is determined by each of the mobile robots according to respective target node region information and calculated by an A* algorithm.

Another aspect of the present invention provides a conflict management system for a multi-mobile robot in a dense area, comprising: an obtaining unit configured to acquire a current location and a planned path of each of the plurality of mobile robots, wherein the planned path can bypass the predetermined An obstacle in the area, the predetermined area includes a plurality of node areas, and a node assigning unit configured to allocate, for each of the mobile robots, the mobile robot according to a current position and a planned path of each of the plurality of mobile robots a node area adjacent to the location, wherein the mobile robot is configured to pass only from the allocated node area; the conflict detection unit is configured to be assigned to the first movement when the second node area is assigned to the second mobile robot When there is a coincidence between the node regions of the robot, the conflicting node regions in which the overlapping node regions are in conflict state are marked, and a planned path conflict exists between the first mobile robot and the second mobile robot.

Optionally, the system further includes: a state transition unit configured to, when detecting that the first mobile robot or the second mobile robot has passed the conflict node area, re-open the conflict node area The conflict state is converted to a state that can be assigned.

Optionally, the system further includes: a conflict type determining unit, configured to determine a conflict of the conflicting node area according to the first planned path of the first mobile robot and the second planned path of the second mobile robot a type, the conflict type includes any one of the following: a cross conflict, a coherent conflict, or a opposite conflict; the conflict resolution unit is configured to adjust the first planned path of the first mobile robot according to the conflict type And/or adjusting the second planned path of the second mobile robot.

Specifically, the conflict type determining unit includes a cross conflict determining module, and the conflict resolution unit includes a cross conflict resolution module, wherein the cross conflict determining module is configured to be when the first planning path and the second plan When the paths are perpendicular to each other, determining that the conflict type is a cross conflict; and the cross conflict resolution module is configured to control the second mobile robot to pause the running movement, and control the first mobile robot according to the first planned path Continuing to run the movement; and controlling the second mobile robot to continue performing the movement operation on the second planned path when the conflicting node area is transitioned from the conflicting state to the assignable state.

Specifically, the conflict type determining unit includes a same reverse conflict determining module, and the conflict resolution unit includes a same reverse conflict resolution module, wherein the same reverse conflict determining module is configured to be the first planned path. And determining, by the same direction or the reverse direction, that the conflict type is a co-directional conflict or a facing conflict; the same reverse conflict resolution module is configured to re-allocate the second mobile robot Determining a node area adjacent to the second mobile robot to exit the node area where the second mobile robot is located and the second planned path, and controlling the first mobile robot to continue according to the first planned path Run the move.

Specifically, the conflict type determining unit includes a mutual conflict determining module, and the conflict resolution unit includes a mutual conflict resolution module, wherein the conflict resolution determining module is configured to be when the first planning path and the second planning When the path direction is reversed, and the node areas in which the first mobile robot and the second mobile robot are located are adjacent, it is determined that the conflict types are conflicting with each other; the conflict resolution module is configured to release the assigned The conflicting node area of the first mobile robot, and reallocating a node area adjacent to the position of the first mobile robot to the first mobile robot to exit the node where the first mobile robot is located And the first planned path, and controlling the second mobile robot to continue to move according to the second planned path.

Specifically, the acquiring unit includes: a scheduling command sending module, configured to send a scheduling command to each of the mobile robots, where the scheduling command includes target node area information of each mobile robot; and the planning path acquiring module is configured to The plurality of mobile robots receive the planning path, wherein the planning path is determined by each of the mobile robots according to respective target node area information and calculated by an A* algorithm.

Through the above technical solution, the current position and the planned path of the mobile robot are obtained, and according to the current position and the planned path of each of the plurality of mobile robots, and before the mobile robot moves, the mobile robot is allocated according to the current position and the planned path of the mobile robot. The node area adjacent to the position of the mobile robot that will pass next, and when there is a coincidence between the node areas allocated for the two different mobile robots, it is determined that there is a robot path conflict. Therefore, before the plurality of mobile robots move in the next step, the node area is allocated, and according to the allocated node area, it is judged and whether a plurality of mobile robots collide in the next running movement, which is helpful for multi-moving. Management of conflicts of the robot; and, in the embodiment of the present invention, the conflict is managed by the allocation and monitoring of the nodes, and the low consumption of the processor resources is realized, which has strong real-time performance.

Other features and advantages of embodiments of the invention will be described in detail in the Detailed Description.

DRAWINGS

The drawings are intended to provide a further understanding of the embodiments of the invention. In the drawing:

1 is a diagram showing an example of a dense area in which a collision management method for a multi-mobile robot according to an embodiment of the present invention is implemented;

2 is a flowchart of a conflict management method for a multi-mobile robot according to an embodiment of the present invention;

3 is a flow chart of a method for acquiring a planned path of a mobile robot according to an embodiment of the present invention;

4 is an example of a node distribution table regarding a predetermined area in an embodiment of the present invention;

FIG. 5 is an example of node allocation according to an embodiment of the present invention; FIG.

6 is an example of a node resource table global with respect to a predetermined area;

7 is a flowchart of a conflict management method for a multi-mobile robot according to another embodiment of the present invention;

FIG. 8A is a diagram showing an example of a cross collision in a node allocation process according to an embodiment of the present invention; FIG.

FIG. 8B is an illustration of a case of a co-directional collision in a node allocation process according to an embodiment of the present invention; FIG.

8C is a diagram showing an example of a situation in which a phase conflict occurs in a node allocation process according to an embodiment of the present invention;

FIG. 8D is an example of a conflicting situation in a node allocation process according to an embodiment of the present invention; FIG.

9 is a block diagram showing the structure of a collision management system for a multi-mobile robot according to an embodiment of the present invention.

Description of the reference numerals

A1, A0, A, B mobile robot B1, B2 obstacles

N1, N2 node 502 node allocation unit

501 acquisition unit 503 collision detection unit

More than 50 mobile robot conflict management systems

Detailed ways

The specific embodiments of the embodiments of the present invention are described in detail below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are merely illustrative of the embodiments of the invention.

As shown in FIG. 1, a plurality of obstacles B1, B2, etc., a plurality of mobile robots A0, A1, etc., and a plurality of maps are arranged in a map of a dense area of a collision management method for a multi-mobile robot according to an embodiment of the present invention. Node areas N1, N2, and so on. Wherein, the dense area may be predetermined according to needs, for example, it may refer to an area in the warehouse, the plurality of mobile robots A0, A1 may refer to a plurality of logistics robots, and through the mobile robots A0, A1 Running the move can carry the goods, but when multiple logistics robots are running at the same time, it may cause conflicts. The sizes of the different node regions N1 and N2 may be equal, which may be formed by equally dividing the map of the dense regions. It should be noted that the conflict management method of the embodiment of the present invention may be performed by a server that centrally manages the plurality of mobile robots.

As shown in FIG. 2, a conflict management method for a multi-mobile robot according to an embodiment of the present invention includes:

S201. Acquire a current location and a planned path of each of the plurality of mobile robots, wherein the planned path can bypass an obstacle in the predetermined area, and the predetermined area includes a plurality of node areas.

Specifically, the manner of obtaining the planned path may be determined by the mobile robot and uploaded to the server by the mobile device, or may be obtained by the server, and all of the above are within the protection scope of the present invention.

Referring to FIG. 3, which is an optional implementation manner of the acquisition manner of the planned path, the mobile robot may be an AGV (Automated Guided Vehicle), wherein the acquisition method includes: S301, the server may send to each mobile robot. A scheduling command, wherein the scheduling command includes target node area information of each mobile robot. S302. After each mobile robot receives the respective scheduling command, it calculates respective corresponding planning paths according to the respective target node region information and through the A* algorithm. S303. Each mobile robot sends the respective planned path obtained by the calculation to the server. After the server obtains the planned path sent by each mobile robot, corresponding subsequent processing is performed to ensure that the path conflict does not occur during the execution of the planned path by the mobile robot. As an example, there may be a plurality of node regions each having a unique node ID on the map (for example,

node numbers

0, 1, ..., 99 in the node distribution table for the dense region shown in FIG. 4), and the mobile robot A0 is receiving After the scheduling command, it is necessary to reach the target node area No. 31 from the node area of the current position 73. At this time, the mobile robot A0 calculates the shortest path to the target node area No. 31 by the A* algorithm, thereby ensuring that the mobile robot A0 can arrive quickly. Target node area. However, in this calculation, the movement movement of other mobile robots such as A1 in the current space is not considered, and only the static obstacle nodes are considered, and in the process of moving the mobile robot A0, the space is Other mobile robots such as A1 are obstacles with respect to this mobile robot A0, so it is necessary to take anti-collision measures to avoid other mobile robots to prevent collision. Details on this conflict management measure will be expanded below.

S202. Assign, to each mobile robot, a node area adjacent to a position of the mobile robot according to a current position and a planned path of each of the plurality of mobile robots, wherein the mobile robot is configured to pass only from the allocated node area.

Regarding the configuration of the mobile robot, it may be that the mobile robot performs the movement only when an instruction regarding the next allocated node area is received from the server, even though it may have independently planned the operation path.

In addition, it is possible to assign the node area No. 63 to A0 in advance before the robot A0 runs from the node node area 73 to the node area 63 according to the planned path at the time point 0. Alternatively, the first mobile robot A may allocate a plurality of node areas for the next step, as shown in FIG. 5, according to the needs of the mobile robot (for example, when the speed of the mobile robot is fast). The first mobile robot A is assigned a node area No. 24 and a node area No. 25 according to the running path of the robot, and the second mobile robot B is assigned a node area 146 and a node area No. 147, etc., and all of the above belong to the protection of the present invention. Within the scope.

S203. When there is a coincidence between a second node area allocated for the second mobile robot and a node area allocated to the first mobile robot, marking the overlapping node area with the overlapping node area as a conflicting state, and determining the There is a planned path conflict between a mobile robot and a second mobile robot.

Specifically, the situation in which each node resource is occupied and allocated by each robot is counted in a node resource table globally related to the predetermined area, including the node area ID currently occupied by the robot and the node area ID allocated to the robot, specifically Reference can be made to the example shown in FIG. 6. In one case, if the node resource region allocated for the first mobile robot A is the node node region No. 10, then the node resource region allocated for the second mobile robot B is also the node node region No. 10, or in another In the case where the node resource area allocated for the first mobile robot A includes the node areas No. 10 and No. 11, and the node area allocated for the second mobile robot B includes the node area No. 9 and the node area No. 10, then It is indicated that the first mobile robot A and the second mobile robot B have coincident node area No. 10, and the tenth node is marked as a conflicting node area in a conflict state. Correspondingly, it may be determined that there is a planned path conflict between the first mobile robot A and the second mobile robot B. At this time, corresponding conflict management measures should be taken. Specifically, the conflict notification signal may be generated, and the conflict notification signal may be generated. Send to the operations staff to remind them to handle and resolve mobile robot conflicts. Alternatively, the conflict between the mobile robots may be solved autonomously by the server, and specific details will be expanded below.

Optionally, when detecting that the first mobile robot A or the second mobile robot B has passed the No. 10 conflicting node area, the server may re-convert the conflicting node area from the conflicting state to the assignable state, for example, may be different. The identification (by labeling the color or shape of the node, etc.) distinguishes between the conflicting node area and the assignable node area, thereby realizing the redistribution work after the conflicting node returns to normal, and ensuring that the normal node resources can be The mobile robot is recycled, which improves the utilization efficiency of dense areas.

FIG. 7 is a flowchart of a method for managing conflicts of a multi-mobile robot according to another embodiment of the present invention, including:

S401. Acquire a current location and a planning path of each of the plurality of mobile robots, wherein the planning path can bypass an obstacle in the predetermined area, and the predetermined area includes a plurality of node areas.

S402. All the mobile robots are allocated a node area adjacent to the position of the mobile robot according to the current position and the planned path of each of the plurality of mobile robots.

S403. When there is a coincidence between the second node area allocated for the second mobile robot and the node area allocated to the first mobile robot, mark the conflicting node area where the overlapping node area is a conflicting state, and determine the first There is a planned path conflict between a mobile robot and a second mobile robot.

S404. Determine, according to the first planned path of the first mobile robot and the second planned path of the second mobile robot, a conflict type of the conflicting node area, where the conflict type includes any one of the following: a cross conflict, a same direction conflict, or a conflict. ;

S405. Adjust a first planning path of the first mobile robot and/or adjust a second planning path of the second mobile robot according to the conflict type.

The embodiment shown in FIG. 7 can be regarded as an optional implementation of the method of the embodiment shown in FIG. 2. In this embodiment, it is also disclosed how to automatically and efficiently solve the path after detecting a conflict. Plan conflicts to prevent mobile robots from colliding. Specifically, it is proposed that, in the case that a path conflict is detected, the conflict type can be analyzed, and the respective planned paths of the conflicting mobile robots are specifically adjusted for the type of the conflict, and it should be noted that the adjustment may be a large adjustment ( For example, from the original planning path or re-planning path, it can also be a small adjustment (for example, made on the original planning path), or a combination of the two. And, it should be noted that, in addition to the types of conflicts listed above, the conflict types may include other unlisted conflict types, and the listed conflict types may also include child conflict types. For example, the type of conflicting conflicts may be including conflicting types and the like.

8A-8D respectively show four conflict types, respectively, a cross collision as shown in FIG. 8A, a coherent collision as shown in FIG. 8B, a facing collision as shown in FIG. 8C, and FIG. 8D. Conflicts.

Specifically, as shown in FIG. 8A, when the planned path of the first mobile robot A and the planned path of the second mobile robot B are perpendicular to each other, it is determined that the conflict type is a cross conflict. Correspondingly, the present embodiment also discloses a solution for cross collision, for example, when the first mobile robot A and the second mobile robot B collide at the dotted frame node area at the path intersection, at this time, The node has been assigned to the first mobile robot A, so the second mobile robot B can be controlled to suspend the running movement, and the first mobile robot A is controlled to continue to run according to its planned path until it passes through the conflicting node area indicated by the dashed box; And as described above, when the first mobile robot A passes through the conflicting node region of the broken line frame, and the conflicting node region is converted from the conflicting state to the state that can be assigned, the second mobile robot B is controlled to continue to execute in the second plan. The movement operation on the path, that is, re-applying the node area in the assignable state, and moving the operation.

Specifically, as shown in FIG. 8B, when the planned path of the first mobile robot A and the planned path of the second mobile robot B are in the same direction, it is determined that the conflict type is a coherent collision, which can also be understood as a rear-end collision; As shown, when the planned path of the first mobile robot A and the planned path of the second mobile robot B are reversed, it is determined that the conflict type is a co-directional collision. For the same direction conflict or the reverse collision, since the first mobile robot A has been assigned the conflict node area, it may be that the second mobile robot B is again allocated the node area adjacent to the position of the second mobile robot B, That is, the calculation is started in the previous node area of the conflict point to exit the node area where the second mobile robot B is located and its original planned path to make the path, and control the first mobile robot A to continue according to the original planned path. Run the move, thereby giving way in advance to avoid conflicts between the mobile robots. Further, after the second mobile robot B finds that A has passed the conflicting node, the second mobile robot B recalculates the planned path.

Specifically, as shown in FIG. 8D, when the planned path of the first mobile robot A and the planned path direction of the second mobile robot B are reversed, and the node areas where the first mobile robot A and the second mobile robot B are located, When neighboring, determine that the conflict type is conflicting. Correspondingly, as shown in FIG. 8D, a conflicting solution strategy is proposed. At this time, although the node area has been allocated for the first mobile robot A, other robots already exist in the allocated node area, and the existing robot should be released. Assigning to the conflicting node area of the first mobile robot A, and reallocating the node area adjacent to the position of the first mobile robot A (for example, one of the three nodes of the upper and lower sides and the left side) to exit the first mobile robot A The node area and the first planned path are located; further, the second mobile robot B can be controlled to continue to move according to the path of its original plan. Thereafter, it may be to control the mobile robot A to recalculate the planned path to the destination node, thereby solving the conflict.

The embodiment of the invention discloses the above conflict type in the process of node resource allocation, and the conflict type is predicted, and it does not happen. Moreover, the implementation of the embodiment of the present invention can effectively avoid the occurrence of various types of conflicts, and effectively avoid the conflict between the mobile robot and other robots during operation. At the same time, through the implementation of the embodiment of the present invention, the reasonable allocation of resources is realized, and the space resources in the closed area can be efficiently utilized without increasing the number of concurrent tasks, and the intra-space movement is optimized. The transportation efficiency of the robot. Through multiple effective experiments, the footprint of the mobile robot is calculated according to 1.44 square meters. The space required for a single mobile robot is less than 7 square meters, so that in the case of achieving certain transportation efficiency, the dense area such as the whole of the factory area The area can be reduced to save costs.

As shown in FIG. 9, a block diagram of a conflict management system 50 of a multi-mobile robot according to an embodiment of the present invention includes: an obtaining unit 501 configured to acquire a current location and a planned path of each of the plurality of mobile robots. The planning path is capable of bypassing an obstacle in a predetermined area, the predetermined area includes a plurality of node areas, and the node allocating unit 502 is configured to: according to respective current positions and planned paths of the plurality of mobile robots, The mobile robot assigns a node area adjacent to the position of the mobile robot, wherein the mobile robot is configured to pass only from the allocated node area; the collision detecting unit 503 is configured to be allocated for the second mobile robot When there is a coincidence between the second node area and the node area that has been allocated to the first mobile robot, the overlapping node area is marked as a conflicting node area, and the first mobile robot and the second are determined. There is a planned path conflict between mobile robots.

In some embodiments, the system 50 further includes a state transition unit (not shown) configured to, when detecting that the first mobile robot or the second mobile robot has passed the conflicting node region, The conflicting node area is re-transitioned from the conflicting state to a state that can be assigned.

In some embodiments, the system further includes: a conflict type determining unit (not shown) configured to determine according to the first planned path of the first mobile robot and the second planned path of the second mobile robot a conflict type of the conflicting node area, where the conflict type includes any one of: a cross conflict, a same direction conflict, or a conflict of opposite directions; the conflict resolution unit is configured to adjust the first mobile robot according to the conflict type The first planning path and/or the second planning path of the second mobile robot.

In some embodiments, the conflict type determining unit includes a cross conflict determination module, and the conflict resolution unit includes a cross conflict resolution module, wherein the cross conflict determination module is configured to be when the first planning path and the When the second planned paths are perpendicular to each other, determining that the conflict type is a cross conflict; and the cross conflict resolution module is configured to control the second mobile robot to pause the running movement, and control the first mobile robot according to the first A planning path continues to run the movement; and when the conflicting node area transitions from the conflicting state to the assignable state, controlling the second mobile robot to continue performing the moving operation on the second planned path.

In some embodiments, the conflict type determining unit includes a same reverse conflict determining module, and the conflict resolution unit includes a same reverse conflict resolution module, wherein the same reverse conflict determining module is configured to be When the planning path and the second planning path are in the same direction or in the opposite direction, determining that the conflict type is a co-directional conflict or a facing conflict; the same reverse conflict resolution module is configured to re-create the second mobile robot Allocating a node area adjacent to the location of the second mobile robot to exit the node area in which the second mobile robot is located and the second planned path, and controlling the first mobile robot to follow the first The planning path continues to run the move.

In some embodiments, the conflict type determining unit includes a mutual conflict determining module, and the conflict resolution unit includes a mutual conflict resolution module, wherein the conflict resolution determining module is configured to be when the first planning path and the When the second planned path direction is reversed, and the node areas where the first mobile robot and the second mobile robot are located are adjacent, it is determined that the conflict types are conflicting with each other; the conflict resolution module is configured to release Assigning to the conflicting node area of the first mobile robot, and reallocating a node area adjacent to the position of the first mobile robot to the first mobile robot to exit the first mobile robot And a node area and the first planned path, and controlling the second mobile robot to continue to move according to the second planned path.

In some embodiments, the obtaining unit 501 includes: a scheduling command sending module configured to send a scheduling command to each of the mobile robots, wherein the scheduling command includes target node area information of each mobile robot; and the planning path acquiring module is configured to A planning path is received from the plurality of mobile robots, wherein the planning path is determined by each of the mobile robots according to respective target node area information and calculated by an A* algorithm.

It should be noted that the conflict management system of the multiple mobile robot provided by the embodiment of the present invention may be built on a server for centrally managing multiple mobile robots, and each unit and module as described above may refer to a program module. Or unit. For more details and corresponding technical effects of the system of the embodiment of the present invention, reference may be made to the description of the method embodiment above, and details are not described herein again.

The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the foregoing embodiments. The technical solution carries out a variety of simple variants, all of which fall within the scope of protection of embodiments of the invention.

It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, various possible combinations of the embodiments of the present invention are not separately described.

Those skilled in the art can understand that all or part of the steps of implementing the foregoing embodiments may be completed by a program instructing related hardware, and the program is stored in a storage medium, and includes a plurality of instructions for causing a single chip, a chip or a processor. The processor performs all or part of the steps of the method described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

In addition, the various embodiments of the present invention may be combined in any combination, as long as they do not deviate from the idea of the embodiments of the present invention, and should also be regarded as the disclosure of the embodiments of the present invention.

Claims

A conflict management method for multiple mobile robots, comprising:

Obtaining a current location and a planned path of each of the plurality of mobile robots, wherein the planned path is capable of bypassing an obstacle within the predetermined area, the predetermined area including a plurality of node areas;

Assigning, to each of the mobile robots, a node region adjacent to a position of the mobile robot according to respective current positions and planned paths of the plurality of mobile robots, wherein the mobile robot is configured to only from the allocated node region by;

When there is a coincidence between the second node area allocated for the second mobile robot and the node area allocated to the first mobile robot, marking the overlapping node area as a conflicting node area of the conflict state, and determining the There is a planned path conflict between the first mobile robot and the second mobile robot.
The method according to claim 1, wherein after the determining that there is a planned path conflict between the first mobile robot and the second mobile robot, the method further comprises:

When it is detected that the first mobile robot or the second mobile robot has passed the conflicting node area, the conflicting node area is re-transformed from the conflicting state to a state that can be assigned.
The method according to claim 2, wherein after the determining that there is a planned path conflict between the first mobile robot and the second mobile robot, the method further comprises:

Determining, according to the first planned path of the first mobile robot and the second planned path of the second mobile robot, a conflict type of the conflicting node area, where the conflict type includes any one of the following: a cross conflict, Conflict in the same direction or in the opposite direction;

Adjusting the first planned path of the first mobile robot and/or adjusting the second planned path of the second mobile robot according to the conflict type.
The method of claim 3 wherein:

When the first planning path and the second planning path are perpendicular to each other, determining that the conflict type is a cross conflict, wherein the adjusting the first plan of the first mobile robot according to the conflict type The path and/or adjusting the second planned path of the second mobile robot includes:

Controlling the second mobile robot to suspend the running movement, and controlling the first mobile robot to continue to move according to the first planned path;

When the conflicting node area is converted from the conflicting state to the state that can be assigned, the second mobile robot is controlled to continue performing the moving operation on the second planned path.
The method of claim 3 wherein:

When the first planning path and the second planning path are in the same direction or in the opposite direction, determining that the conflict type is a co-directional conflict or a facing conflict, wherein the:

Reassigning, to the second mobile robot, a node area adjacent to a position of the second mobile robot to exit the node area and the second planned path where the second mobile robot is located;

Controlling the first mobile robot to continue to move according to the first planned path.
The method of claim 3 wherein:

When the first planning path and the second planning path direction are opposite, and the node areas where the first mobile robot and the second mobile robot are located are adjacent, determining that the conflict types are conflicting The adjusting the first planned path of the first mobile robot and/or adjusting the second planned path of the second mobile robot includes:

Release the conflict node area that has been allocated to the first mobile robot, and reallocate a node area adjacent to the position of the first mobile robot to the first mobile robot to exit the first mobile robot a node area in which it is located and the first planned path;

Controlling the second mobile robot to continue to move according to the second planned path.
The method according to claim 1, wherein the obtaining the current location and the planned path of each of the plurality of mobile robots comprises:

Sending a scheduling command to each of the mobile robots, wherein the scheduling command includes target node area information of each mobile robot;

A planning path is received from the plurality of mobile robots in response to the scheduling command, wherein the planning path is determined by each of the mobile robots according to respective target node area information and calculated by an A* algorithm.
A conflict management system for multiple mobile robots, comprising:

An acquiring unit configured to acquire a current location and a planned path of each of the plurality of mobile robots, wherein the planned path is capable of bypassing an obstacle within the predetermined area, the predetermined area including a plurality of node areas;

a node allocating unit configured to allocate, to each of the mobile robots, a node region adjacent to a position of the mobile robot according to respective current positions and planned paths of the plurality of mobile robots, wherein the mobile robot is configured to be configured only Passing through the allocated node area;

a conflict detecting unit configured to mark, when the second node area allocated for the second mobile robot has a coincidence with the node area allocated to the first mobile robot, the conflicting node that marks the overlapping node area as a conflicting state And determining that there is a planned path conflict between the first mobile robot and the second mobile robot.
The system of claim 8 wherein the system further comprises:

a state conversion unit configured to, when detecting that the first mobile robot or the second mobile robot has passed the conflicting node area, re-transfer the conflicting node area from the conflicting state to an assignable state .
The system of claim 9 wherein said system further comprises:

a conflict type determining unit, configured to determine, according to the first planned path of the first mobile robot and the second planned path of the second mobile robot, a conflict type of the conflicting node area, where the conflict type includes the following Any one: cross conflict, same direction conflict or opposite conflict;

The conflict resolution unit is configured to adjust the first planned path of the first mobile robot and/or adjust the second planned path of the second mobile robot according to the conflict type.
The system according to claim 10, wherein the conflict type determining unit comprises a cross conflict determination module, and the conflict resolution unit comprises a cross conflict resolution module, wherein

The cross conflict determination module is configured to determine that the conflict type is a cross conflict when the first planned path and the second planned path are perpendicular to each other;

The cross conflict resolution module is configured to control the second mobile robot to pause the running movement, and control the first mobile robot to continue to move according to the first planned path; and when the conflicting node area is converted from a conflicting state to When the state can be assigned, the second mobile robot is controlled to continue performing the movement operation on the second planned path.
The system according to claim 10, wherein the conflict type determining unit comprises a reverse collision determining module, and the conflict resolution unit comprises a same reverse conflict resolution module, wherein

The same reverse conflict determination module is configured to determine that the conflict type is a co-directional conflict or a confrontation conflict when the first planned path and the second planned path are in the same direction or opposite direction;

The same reverse conflict resolution module is configured to re-allocate the second mobile robot with a node region adjacent to the location of the second mobile robot to exit the node region where the second mobile robot is located and the a second planning path, and controlling the first mobile robot to continue to move according to the first planned path.
The system according to claim 10, wherein the conflict type determining unit comprises a mutual conflict determining module, and the conflict resolution unit comprises a mutual conflict resolution module, wherein

The conflict resolution determining module is configured to: when the first planning path and the second planning path direction are opposite, and the node area where the first mobile robot and the second mobile robot are located are adjacent, Determining that the types of conflicts are conflicting;

The conflict resolution module is configured to release the conflict node area that has been allocated to the first mobile robot, and reallocate a node area adjacent to a position of the first mobile robot to the first mobile robot, Exiting the node area where the first mobile robot is located and the first planned path, and controlling the second mobile robot to continue to move according to the second planned path.
The system of claim 8 wherein said obtaining unit comprises:

a scheduling command sending module, configured to send a scheduling command to each of the mobile robots, wherein the scheduling command includes target node area information of each mobile robot;

And a planned path obtaining module configured to receive a planned path from the plurality of mobile robots, wherein the planned path is determined by each of the mobile robots according to respective target node region information and calculated by an A* algorithm.