WO2019141222A1

WO2019141222A1 - Conflict management method and system for multiple mobile robots

Info

Publication number: WO2019141222A1
Application number: PCT/CN2019/072260
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: CN108268040A

Abstract

A conflict management method and system for multiple mobile robots, belonging to the field of robotics. The conflict management method for multiple mobile robots comprises: acquiring the respective current positions and planned paths of multiple mobile robots; establishing a node resource table according to the current positions and the planned paths of the multiple mobile robots, the node resource table recording a correlation between a mobile robot ID, a node area ID and an occupancy time, any two of the multiple mobile robot IDs in the node resource table not synchronously corresponding to the same occupancy time under one node area ID; and controlling the multiple mobile robots to respectively occupy, according to the occupancy time corresponding to each mobile robot ID in the node resource table, a node area having the corresponding node area ID.

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. 201810055329.6 filed on Jan. 19, 2011-0, 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, And the predetermined area includes a plurality of node areas; establishing a node resource table according to a current location of the plurality of mobile robots and the planned path, wherein the node resource table records a mobile robot ID, a node area ID, and an occupation time Corresponding relationship between the three, and any two of the plurality of mobile robot IDs do not collectively correspond to the same occupied time under the same node area ID in the node resource table; and controlling the plurality of mobile robots respectively The node area of the corresponding node area ID is occupied according to the occupation time corresponding to the respective mobile robot ID in the node resource table.

Specifically, the establishing a node resource table according to the location of the plurality of mobile robots and the planned path includes: acquiring a moving speed of each of the plurality of mobile robots; determining the plurality of mobile robots according to the moving speed a unit distance that can be passed in a unit time; determining, in the node resource table, each unit according to the current position of the plurality of mobile robots, the unit distance, the planned path, and the size of the node area The node area ID and the corresponding occupied time respectively allocated by the mobile robot ID.

Specifically, the determining, according to the current location of the multiple mobile robots, the unit distance, the planned path, and the size of the node area, respectively, are allocated in the node resource table for each of the mobile robot IDs. The node area ID and the corresponding occupation time include: allocating the first mobile robot according to respective current positions of the first mobile robot and the second robot, the unit distance, the planned path, and the size of the node area a plurality of first node regions and corresponding first occupancy times, and allocating a plurality of second node regions and corresponding second occupancy times for the second mobile robot; and when one of the first node regions is present therein When the second node area is the same, determining whether there is a coincidence between the first occupied time corresponding to the one of the first node areas and the second occupied time corresponding to the one of the second node areas; if yes, marking The one of the second node areas that are coincident is a conflicting node area, and the second movement is again The robot assigns the node area ID and the corresponding occupied time.

Specifically, the reassigning the node area ID and the corresponding occupation time to the second mobile robot includes: additionally allocating a previous node area on the planned path of the second mobile robot with respect to the conflict node area. Taking time to extend the dwell time of the second mobile robot in the previous node region, wherein the dwell time is not less than the time allocated by the first mobile robot to pass through the conflicting node region .

Specifically, the reassigning the node area ID and the corresponding occupation time to the second mobile robot includes: determining that the first planned path of the first mobile robot and the second planned path of the second mobile robot pass Whether there is a coincidence at the conflicting node area; if present, replacing the conflicting node area and the corresponding occupied time in the node resource table with a node area adjacent to the previous node area and corresponding Take up time.

Optionally, the acquiring 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; and responding to the scheduling Commanding, receiving a planning path from the plurality of mobile robots, wherein the planning 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, 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 area An obstacle, and the predetermined area includes a plurality of node areas; a node resource table establishing unit configured to establish a node resource table according to a current location of the plurality of mobile robots and the planned path, wherein the node resource table Corresponding relationship between the mobile robot ID, the node area ID, and the occupation time is recorded, and any two of the plurality of mobile robot IDs do not collectively correspond to the same under the same node area ID in the node resource table. The occupation time unit is configured to control the plurality of mobile robots to occupy the node area of the corresponding node area ID according to the occupation time corresponding to the respective mobile robot IDs in the node resource table.

Specifically, the node resource table establishing unit includes: a speed acquiring module configured to acquire respective moving speeds of the plurality of mobile robots; and a unit distance determining module configured to determine the plurality of mobile robots according to the moving speed a unit distance that can be passed in a unit time; a resource allocation module configured to determine the node according to a current position of the plurality of mobile robots, the unit distance, the planned path, and a size of the node area The node area ID and the corresponding occupied time respectively allocated to each of the mobile robot IDs in the resource table.

Specifically, the resource allocation module includes: a resource allocation component configured to: according to respective current positions of the first mobile robot and the second robot, the unit distance, the planned path, and the size of the node area, The first mobile robot allocates a plurality of first node regions and corresponding first occupation time, and allocates a plurality of second node regions and corresponding second occupation time to the second mobile robot; the conflict detection module is configured to exist when When the first node area is the same as one of the second node areas, determining a first occupation time corresponding to the one of the first node areas and a second corresponding to the one of the second node areas Whether there is a coincidence of the occupation time; the conflict resolution module is configured to: if yes, mark the one of the second node areas that are coincident with each other as a conflict node area, and re-assign the node area ID and corresponding to the second mobile robot Take up time.

Optionally, the conflict resolution module is configured to allocate an additional time to a previous node area on the planned path of the second mobile robot with respect to the conflict node area, so as to extend the second mobile robot in the A dwell time in a previous node region, wherein the dwell time is not less than a time when the first mobile robot passes the conflicting node region.

Specifically, the conflict resolution module is configured to determine whether there is a coincidence between the first planned path of the first mobile robot and the second planned path of the second mobile robot after passing through the conflicting node area, if yes, The conflicting node area and the corresponding occupied time in the node resource table are replaced with a node area adjacent to the previous node area and a corresponding occupied time.

Optionally, 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 a planning path, wherein the planning path is determined by each of the mobile robots according to respective target node region 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 the node resource table is established according to the current position and the planned path of the plurality of mobile robots, and does not correspond to any two mobile robot IDs in the node resource table. The same occupation time under the same node area ID further controls the plurality of mobile robots to occupy the node area of the corresponding node area ID according to the occupation time corresponding to the respective mobile robot IDs in the node resource table. Therefore, in the scheduling process of the mobile robot, the node resource table including the time variable is introduced, which avoids the situation that two robots are in the same node at the same time point, and eliminates the path conflict of the mobile robot when executing the planned path. And the problem of colliding with each other; and, in the embodiment of the present invention, the maintenance of the node resource table can achieve low consumption of the processor resources, and has strong real-time performance. In addition, the implementation of the embodiment of the present invention also implements The rational allocation of resources makes it possible to efficiently utilize the spatial resources of the closed area and increase the number of concurrent tasks without conflict, and optimize the transportation efficiency of mobile robots in the space.

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 an example of a map of a dense area of a collision management method for a multi-mobile robot according to an embodiment of the present invention;

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 a node resource table regarding a three-dimensional coordinate axis;

6 is an example of a node resource table according to an embodiment of the present invention;

7 is an example of a flow chart of establishing a node resource table according to an embodiment of the present invention;

FIG. 8 is an illustration of an aspect of solving a mobile robot collision by an allocated node resource table according to an embodiment of the present invention; FIG.

FIG. 9A is an example of a collision situation between mobile robots according to an embodiment of the present invention; FIG.

9B is an illustration of another aspect of solving a mobile robot collision by an allocated node resource table according to an embodiment of the present invention;

9C is an illustration of another aspect of solving a mobile robot collision by an allocated node resource table according to an embodiment of the present invention;

9D is an illustration of another aspect of solving a mobile robot collision by an allocated node resource table according to an embodiment of the present invention;

FIG. 10 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 mobile robot B1, B2 obstacles

N1, N2 node 502 node resource table establishment unit

501 acquisition unit 503 control occupied 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 alternative embodiment of the manner of obtaining the planned path, the mobile robot in the embodiment of the present invention may be an AGV (Automated Guided Vehicle), wherein the obtaining method includes: S301, a server A scheduling command may be transmitted to each mobile robot, 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. Establish a node resource table according to a current location and a planned path of the multiple mobile robots. The node resource table records a correspondence between the mobile robot ID, the node area ID, and the occupied time, and any two of the plurality of mobile robot IDs do not jointly correspond to the same node area ID in the node resource table. The same occupation time.

In the embodiment of the present invention, the node area is managed as an assignable resource, and the occupation time of the node area is introduced as a variable to maintain it, as shown in FIG. 5, in the coordinates, the x and y axes Represents the position in the two-dimensional space, respectively, and the z-axis is the time coordinate. With the passage of time, the three-dimensional coordinates of the mobile robot at a certain moment can be calculated according to the planned path of the mobile robot. For example, the mobile robot can be displayed from the current position node region S to the three-dimensional coordinate axis shown in FIG. The trajectory and coordinates of the target node region T at various times. Specifically, since the mobile robot is a process from entering to leaving a certain node, it takes a period of time, so the occupied time in the node resource table may refer to a time period. As described above, in the process in which the mobile robot A0 runs from the current position node area S to the target node area T, it autonomously circumvents the stationary obstacle, but cannot eliminate collision collisions with other running mobile robots; To this end, an embodiment of the present invention provides a node resource table, which records a correspondence between a mobile robot ID, a node area ID, and an occupation time, and any two of the plurality of mobile robot IDs are in a node resource. The table does not jointly correspond to the same occupied time under the same node area ID. It can be understood that each mobile robot may be configured with a unique mobile robot ID (for example, 10A, 10B, 10C, etc.), and each node area may also be configured with a unique node area ID (as shown in FIG. 4). Shown). Wherein, the mobile robot may be configured to pass only from the allocated node area. Specifically, the mobile robot may perform the movement only when receiving an instruction about the next allocated node area from the server, even though it may already The operating path is planned independently.

FIG. 6 is an example of a node resource table according to an embodiment of the present invention, which is a result obtained by performing a dimensionality reduction process on a node resource table, which exemplarily shows that the current time is 0 in the node area 73. The mobile robot A0 plans the resource allocation situation to the node No. 31 in the target area, and the resource allocation situation of the mobile robot A1 located at node 55 at the current time 0 to the node No. 19 of the target node. As can be seen from FIG. 6, each node ID is unique to a resource at a certain time, and can be identified by a hash table, such as node area 73 occupying time 1 and number 73 occupying time 2 Node areas are different resources. Moreover, the resources allocated for different mobile robots (for example, A0 and A1) do not coincide, that is, any two of the plurality of mobile robot IDs do not collectively correspond to the same node region ID in the node resource table. Take up time.

S203. Control a plurality of mobile robots to occupy a node area of the corresponding node area ID according to the occupation time corresponding to the respective mobile robot IDs in the node resource table.

As an example, the server may send a control command to the mobile robot, and after receiving the control command, the mobile robot can parse the node area information and the corresponding occupied time information from the control command; further, when the mobile robot executes the planned path It needs to be guaranteed that it occupies the corresponding node area in the occupied time of the parsing.

Centrally manage the operation of multiple mobile robots through the node resource table, so that two different robots will not occupy the same resources during the running process, that is, there will be no two mobile robots running in the process according to the planned path. Appearing in the same node area effectively avoids the conflict between the mobile robot and other mobile 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 non-occurrence does not occur. Under the premise of conflict, the spatial resources of the closed area can be utilized efficiently, increase the number of concurrent tasks, and optimize the transportation efficiency of mobile robots in the space. 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.

FIG. 7 is a flowchart of establishing a node resource table according to an embodiment of the present invention, including:

S401. The server acquires a moving speed of each of the plurality of mobile robots.

S402. The server determines, according to the moving speed, a unit distance that each of the plurality of mobile robots can pass in a unit time;

S403. The server determines, according to the current location, the unit distance, the planned path, and the size of the node area of the plurality of mobile robots, a node area ID and a corresponding occupied time respectively allocated to the respective mobile robot IDs in the node resource table.

Specifically, on the one hand, the server may obtain the position coordinates of each mobile robot in real time, and calculate the distance that the mobile robot passes in the unit time by calculating the change of the position coordinates in the unit time, thereby determining the moving speed (each The moving speed of the mobile robot can be different. On the other hand, the server can also be determined by comprehensive analysis of the dynamic performance parameters of the mobile robot and the environmental parameters of the closed area. For example, when selecting the same type of mobile robot, it can be The plurality of robots select the same moving speed v, so that the distance traveled by the mobile robot in one time unit t _x can be calculated as:

S(N _x )=v*t _x

Further, the position of the node area where all the mobile robots are located at any time can be calculated. For example, when the moving distance of the first mobile robot A1 per unit time is exactly one node area, it may be for one unit time. The next node area is allocated, and the corresponding occupied time can be occupied by one unit time or other time length. In the normal case, it is only necessary to allocate one unit time for the next node area of the first mobile robot A1, but there may be a special path conflict. For example, the node area and the occupation time are also allocated to the second mobile robot A0 in the above manner, but there may be a case where the first mobile robot A1 and the second mobile robot A0 occupy the same node area at the same occupation time, and when it is detected When such a situation occurs, it is determined that there is a risk of conflict or collision in the path plan at this time, and the node area ID and the corresponding occupation time should be newly allocated for the second mobile robot A0 that finds the resource conflict to plan for the second mobile robot A0. The path is adjusted to avoid conflicts.

Specifically, FIG. 8 is an embodiment of the present invention when the state of collision is detected, the mobile robot as an example of an aspect of the allocated resource table A0 node, when at time t ₀ required for the second mobile A0 robot allocated region next node N1 has been first mobile robot A1 occupied at time t _0, the second mobile robot A0 will first take up the current application time after the node N of the next one unit time point t ₁ is ₀ Resource, then continue to search and apply for the resource of the next node N ₁ at the time point t ₂ after the next unit time; when it is still not available at this time, it may be that the second mobile robot A0 continues to stay in the current node area, and the The time that the second mobile robot A0 stays in the current node area should not be less than the time allocated by the first mobile robot A1 for the next node area through which the collision occurred. Thus, by controlling the second mobile robot A0 to stay in a node area before the conflict node area for a period of time, after the first mobile robot A1 passes the conflict node area, the conflict node area is restored to the normal resource, and then It is assigned to the second mobile robot A0, effectively solving the occurrence of the conflict. However, in one case, as shown in FIG. 9A, if the planned paths of the two mobile robots A0 and A1 coincide exactly, and since no priority is set between the mobile robots, the preemption for the nodes is random, two of which The mobile robots are moving in opposite directions, so it is expected that the two mobile robots will collide in the No. 19 node area. At this time, even if the mobile robot A0 stays in the original node area 18 for a long time, the conflict cannot be solved. It will cause two mobile robots to collide. In view of this, the embodiment of the present invention proposes a conflict resolution solution as shown in FIG. 9B-9D, which may be: searching for the next possible node area in the node area of the first node area of the node area of the node node No. 19 in the conflict node area. 31 (Fig. 9B), and at the point of time when the original plan occupied the node No. 19, it was assigned to occupy the No. 31 node area (Fig. 9C), and stayed in the No. 31 node area for a period of time to allow the first mobile robot A1 passes through the node area No. 19 where the collision occurs (as shown in Fig. 9D). Thereafter, on the one hand, the second mobile robot A0 returns from the node area No. 31 back to the node area No. 18, and continues to allocate the node area after, thereby obtaining the node resource allocation table as shown in FIG. 9; Alternatively, the second mobile robot A0 may also be moved from the node area No. 18 to the node area No. 31, and then re-planned to the path of the target node node area 25, etc., and the above embodiments are all within the protection scope of the present invention. .

It should be noted that, regarding the example of the conflict shown in FIG. 9A, as long as the moving path of the first mobile robot A1 and the moving path of the second mobile robot A0 overlap at the conflicting node, the above conflict may occur. In addition, it is not necessary that the first mobile robot A1 and the second mobile robot A0 are moving in opposite directions (not shown), for example, when the planned paths of both the first mobile robot A1 and the second mobile robot A0 are in the same direction, However, when the moving speeds between the two mobile robots are different, but because the moving paths of the two mobile robots overlap at the conflicting nodes, the mobile robot may cause collision or rear-end collision.

As shown in FIG. 10, it is a structural block diagram of a conflict management system 50 of a multi-mobile robot according to an embodiment of the present invention, including: an obtaining unit 501 configured to acquire respective current positions and planned paths of a plurality of mobile robots, Wherein the planned path is capable of bypassing an obstacle in a predetermined area, and the predetermined area includes a plurality of node areas; the node resource table establishing unit 502 is configured to determine a current location of the plurality of mobile robots and the planned path Establishing a node resource table, wherein the node resource table records a correspondence between the mobile robot ID, the node area ID, and the occupation time, and any two of the plurality of mobile robot IDs are in the node resource The same occupation time under the same node area ID is not shared in the table; and the control occupation unit 503 is configured to control the plurality of mobile robots to occupy the occupation time corresponding to the respective mobile robot IDs in the node resource table, respectively. The node area of the corresponding node area ID.

In some embodiments, the node resource table establishing unit 502 includes: a speed acquiring module configured to acquire respective moving speeds of the plurality of mobile robots; and a unit distance determining module configured to determine the according to the moving speed a unit distance that each of the plurality of mobile robots can pass in a unit time; the resource allocation module is configured to determine, according to the current position of the plurality of mobile robots, the unit distance, the planned path, and the size of the node area The node area ID and the corresponding occupied time respectively allocated to the respective mobile robot IDs in the node resource table.

In some embodiments, the resource allocation module includes: a resource allocation component configured to determine a current location of the first mobile robot and the second robot, the unit distance, the planned path, and a size of the node area, Allocating a plurality of first node areas and corresponding first occupied time to the first mobile robot, and allocating a plurality of second node areas and corresponding second occupied time to the second mobile robot; conflict detection module, configuring Determining, when one of the first node regions is the same as the one of the second node regions, determining that the first occupied time corresponding to the one of the first node regions corresponds to the one of the second node regions Whether there is a coincidence of the second occupied time; the conflict resolution module is configured to: if yes, mark the one of the second node areas that are coincident with each other as a conflicting node area, and re-create the first in the node resource table The mobile robot allocates the node area ID and the corresponding occupied time.

In some embodiments, the conflict resolution module is configured to additionally allocate an occupation time in the node resource table to a previous node area on a planned path of the second mobile robot with respect to the conflict node area, to Extending a dwell time of the second mobile robot in the previous node region, wherein the dwell time is not less than a time when the first mobile robot passes the conflicting node region.

In some embodiments, the conflict resolution module is configured to determine whether there is a coincidence between the first planned path of the first mobile robot and the second planned path of the second mobile robot after passing through the conflicting node area, if If yes, replace the conflicting node area and the corresponding occupied time in the node resource table with a node area adjacent to the previous node area and a corresponding occupied time.

In some embodiments, the obtaining unit 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; a planning path acquiring module, configured A plan path is received for receiving from the plurality of mobile robots, wherein the plan path is determined by each of the mobile robots according to respective target node region 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 configured to centrally manage 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, and the predetermined area includes a plurality of node areas;

Establishing a node resource table according to the current location of the plurality of mobile robots and the planned path, wherein the node resource table records a correspondence between the mobile robot ID, the node area ID, and the occupied time, and a plurality of Any two of the mobile robot IDs do not collectively correspond to the same occupied time under the same node area ID in the node resource table;

The plurality of mobile robots are controlled to occupy the node regions of the corresponding node region IDs according to the occupation time corresponding to the respective mobile robot IDs in the node resource table.
The method according to claim 1, wherein the establishing a node resource table according to the locations of the plurality of mobile robots and the planned path comprises:

Obtaining respective moving speeds of the plurality of mobile robots;

Determining, according to the moving speed, a unit distance that the plurality of mobile robots can respectively pass in a unit time;

Determining, according to a current position of the plurality of mobile robots, the unit distance, the planned path, and a size of the node area, a node area ID respectively allocated to each of the mobile robot IDs in the node resource table The corresponding occupation time.
The method according to claim 2, wherein said determining said resource list in said node according to said current position of said plurality of mobile robots, said unit distance, said planned path, and said size of said node area The node area ID and the corresponding occupied time respectively allocated for each of the mobile robot IDs include:

Allocating a plurality of first node regions and corresponding firsts to the first mobile robot according to respective current positions of the first mobile robot and the second robot, the unit distance, the planned path, and the size of the node region Taking time, and allocating a plurality of second node regions and corresponding second occupancy time to the second mobile robot;

Determining, when one of the first node regions is identical to one of the second node regions, determining a first occupation time corresponding to the one of the first node regions and corresponding to the one of the second node regions Whether there is a coincidence of the second occupation time;

If yes, the one of the second node areas that are coincident is marked as a conflicting node area, and the node area ID and the corresponding occupied time are re-allocated for the second mobile robot in the node resource table.
The method according to claim 3, wherein the reassigning the node area ID and the corresponding occupation time to the second mobile robot comprises:

Adding an occupation time to the previous node area on the planned path of the second mobile robot with respect to the conflict node area in the node resource table to extend the second mobile robot at the previous node Residence time in the area,

The dwell time is not less than a time allocated by the first mobile robot to pass through the conflicting node region.
The method according to claim 4, wherein the reassigning the node area ID and the corresponding occupation time to the second mobile robot comprises:

Determining whether there is a coincidence between the first planned path of the first mobile robot and the second planned path of the second mobile robot at the passage of the conflicting node area;

If yes, replace the conflicting node area and the corresponding occupied time in the node resource table with a node area adjacent to the previous node area and a corresponding occupied time.
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, and the predetermined area includes a plurality of node areas;

a node resource table establishing unit, configured to establish a node resource table according to a current location of the plurality of mobile robots and the planned path, wherein the node resource table records a mobile robot ID, a node area ID, and an occupation time Corresponding relationship between the two, and any two of the plurality of mobile robot IDs do not collectively correspond to the same occupied time under the same node area ID in the node resource table;

The control occupying unit is configured to control the plurality of mobile robots to occupy the node area of the corresponding node area ID according to the occupation time corresponding to the respective mobile robot IDs in the node resource table.
The system according to claim 7, wherein the node resource table establishing unit comprises:

a speed acquisition module configured to acquire a moving speed of each of the plurality of mobile robots;

a unit distance determining module configured to determine, according to the moving speed, a unit distance that the plurality of mobile robots can pass in a unit time;

a resource allocation module, configured to determine, according to a current location of the plurality of mobile robots, the unit distance, the planned path, and a size of the node area, respectively, in the node resource table, for each of the mobile robot IDs The assigned node area ID and the corresponding occupied time.
The system of claim 8, wherein the resource allocation module comprises:

a resource allocation component, configured to allocate a plurality of first nodes to the first mobile robot according to respective current positions of the first mobile robot and the second robot, the unit distance, the planned path, and the size of the node area a region and a corresponding first occupation time, and allocating a plurality of second node regions and corresponding second occupation time to the second mobile robot;

a conflict detection module, configured to determine, when one of the first node regions is identical to one of the second node regions, determining a first occupied time and one of the first node regions Whether there is a coincidence of the second occupied time corresponding to the two-node area;

a conflict resolution module, configured to mark the one of the second node areas that are coincident with each other as a conflicting node area, and re-assign the node area ID and corresponding to the second mobile robot in the node resource table Occupation time.
The system according to claim 9, wherein the conflict resolution module is configured to be a previous node on the planned path of the second mobile robot with respect to the conflicting node area in the node resource table. The area additionally allocates an occupation time to extend the dwell time of the second mobile robot in the previous node area, wherein the dwell time is not less than a time when the first mobile robot passes the conflict node area.
The system according to claim 10, wherein the conflict resolution module is configured to determine that the first planned path of the first mobile robot and the second planned path of the second mobile robot pass the conflict node Whether there is a coincidence at the area, if yes, replacing the conflicting node area and the corresponding occupied time in the node resource table with the node area adjacent to the previous node area and the corresponding occupied time.
The system of claim 7, wherein the 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.