WO2024007731A1

WO2024007731A1 - Movement scheduling method and apparatus for multiple robots

Info

Publication number: WO2024007731A1
Application number: PCT/CN2023/093757
Authority: WO
Inventors: 魏锡光; 李晶; 翟志新; 韩昊; 赵成业; 谭文哲
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2022-05-26
Filing date: 2023-05-12
Publication date: 2024-01-11
Also published as: CN115220447A

Abstract

A movement scheduling method and apparatus for multiple robots. The movement scheduling method for multiple robots comprises: acquiring movement paths of multiple robots (102), wherein the movement paths each comprise multiple sections (202); according to the movement path of a first robot (1021) and a first section where the first robot (1021) is currently located, determining envelope ranges of sections where the first robot (1021) is moving to (204); according to envelope ranges of sections where the multiple robots (102) are moving to, determining predicted collision sections for the first robot (1021) with respect to other robots among the multiple robots (102) (206); and performing movement scheduling on the first robot (1021) according to the predicted collision sections (208). The predicted collision sections are determined according to the envelope ranges of the sections where the first robot (1021) is moving to, such that the predicted collision sections can be better determined in view of the actual movement situation of the robot, thereby more accurately scheduling the movement of multiple robots.

Description

Multi-robot motion scheduling method and device

This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on July 4, 2022, with application number 202210780024.8 and the invention title "Multi-robot motion scheduling method and device", the entire content of which is incorporated by reference. in this application.

Technical field

The invention relates to the field of robot control technology, and in particular to a multi-robot motion scheduling method. The invention also relates to a multi-robot motion scheduling device, a computing device, and a computer-readable storage medium.

Background technique

With the development of robot technology, more and more movable robots are being used in industrial services such as freight, warehousing, logistics, catering, etc., which greatly facilitates human production and life. But at the same time, how to schedule the motion of multiple robots to avoid deadlocks in multiple robots is an important issue in multi-robot motion scheduling.

In the existing technology, for deadlocks that may occur among multiple robots moving on a determined path, planning is generally based on the motion paths of the multiple robots, and then corresponding prevention mechanisms are set up for control and scheduling.

However, this method only establishes corresponding prevention mechanisms for control and scheduling through the planning of the robot's motion path. It does not take into account the complexity of the robot's motion due to its own contours and real-time performance in large-scale robot motion scenarios. For multi-robots, Movement scheduling lacks accuracy. Therefore, there is an urgent need for a motion scheduling method for multi-robot motion that can accurately schedule the motion of multiple robots even when the motion of the multi-robots is complex.

Contents of the invention

In view of this, embodiments of the present invention provide a multi-robot motion scheduling method to solve the technical defects existing in the existing technology. Embodiments of the present invention simultaneously provide a multi-robot motion scheduling device, a computing device, and a computer-readable storage medium.

According to a first aspect of the embodiment of the present invention, a multi-robot motion scheduling method is provided, including:

Obtain the movement paths of multiple robots, where the movement paths include multiple road segments;

Determine the envelope range of the path section to be moved by the first robot according to the movement path of the first robot and the first road section currently located, where the first robot is any one of a plurality of robots, and the envelope range covers the first robot;

Determine each predicted conflict section of the first robot relative to other robots among the plurality of robots based on the envelope range of the sections to be moved by the multiple robots;

According to each predicted conflict section, motion scheduling is performed on the first robot.

Optionally, determine the envelope range of the section to be moved by the first robot based on the movement path of the first robot and the first section currently located, including:

Determine the road section to be moved by the first robot according to the movement path of the first robot and the first road section currently located;

According to the contour information of the first robot, the envelope range of the road section to be moved is determined.

Optionally, determining the section to be moved by the first robot based on the movement path of the first robot and the first section it is currently located on includes:

Determine the road sections to be moved by the first robot based on the movement path of the first robot, the first road section currently located, and the preset number of road sections, where the number of road sections to be moved is equal to the preset number of road sections.

Optionally, based on the envelope range of the sections to be moved by the multiple robots, determining each predicted conflict section between the first robot and other robots among the multiple robots includes:

Determine whether there is an intersection between the envelope ranges of the sections to be moved by the first robot and the second robot, where the second robot is any other robot among the plurality of robots;

If there is an intersection, the predicted conflict section of the first robot relative to the second robot is determined based on the intersection.

Optionally, perform motion scheduling on the first robot based on each predicted conflict section, including:

Determine the conflict range of the first robot with respect to other robots based on each predicted conflict section of the first robot with respect to other robots;

Determine whether the first robot is located within the conflict range based on the first road segment and the conflict range;

If so, schedule the first robot movement.

Optionally, the conflict range includes an upper bound of the conflict segment index and a lower bound of the conflict segment index;

Determine whether the first robot is within the conflict range based on the first road segment and conflict range, including:

Get the segment index of the first segment;

If the road segment index is greater than or equal to the lower bound of the conflict segment index, it is determined that the first robot is within the conflict range.

Determine the relative conflict envelope of the first robot based on the predicted conflict section of the first robot relative to the second robot, where the second robot is any one of the other robots;

Determine whether the first robot is within the conflict range based on the starting point envelope and relative conflict envelope of the first robot;

If so, schedule the first robot movement.

Optionally, determine whether the first robot is within the conflict range based on the starting point envelope and relative conflict envelope of the first robot, including:

If the starting point envelope of the first robot intersects with the relative conflict envelope, it is determined that the first robot is within the conflict range.

Optionally, after determining whether the first robot is located within the conflict range based on the first road segment and the conflict range, the method further includes:

If not, determine the endpoint envelope of the first robot based on the movement path of the first robot;

When the end envelope does not intersect with the envelope ranges of the sections to be moved by other robots, the movement of the first robot is scheduled.

Optionally, when the end envelope does not intersect with the envelope ranges of the sections to be moved by other robots, after scheduling the movement of the first robot, it also includes:

If there are multiple unscheduled specific robots, count the number of following robots for each specific robot respectively;

The target-specific robot movement in each specific robot is scheduled according to the number of follower robots of each specific robot.

Optionally, the method also includes:

When the number of following robots of each specific robot is equal, the motion parameters of each specific robot are obtained;

According to the movement parameters of each specific robot, determine the movement time of each specific robot;

According to the movement time of each specific robot, the target specific robot movement in each specific robot is scheduled.

Determine the target avoidance index of the first robot based on each predicted conflict section;

According to the target avoidance index, the first robot is scheduled to move to the target road section.

According to a second aspect of the embodiment of the present invention, a multi-robot motion scheduling device is provided, including:

The acquisition module is configured to acquire the motion paths of multiple robots, where the motion paths include multiple road segments;

The envelope range determination module is configured to determine the envelope range of the section to be moved by the first robot based on the movement path of the first robot and the first section currently located, where the first robot is any one of a plurality of robots. , the envelope range covers the first robot;

The prediction conflict section determination module is configured to determine the first robot according to the envelope range of the sections to be moved by the multiple robots. Each predicted conflict segment relative to other robots among multiple robots;

The scheduling module is configured to perform motion scheduling on the first robot according to each predicted conflict section.

According to a third aspect of the embodiment of the present invention, a computing device is provided, including:

memory and processor;

The memory is used to store computer-executable instructions. When the processor executes the computer-executable instructions, the steps of the multi-robot motion scheduling method are implemented.

According to a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, which stores computer-executable instructions that implement the steps of the multi-robot motion scheduling method when executed by a processor.

The multi-robot motion scheduling method provided by the present invention obtains the motion paths of multiple robots, where the motion path includes multiple road segments. According to the motion path of the first robot and the first road segment currently located, the to-be-moved motion of the first robot is determined. The envelope range of the road section, where the first robot is any one of the multiple robots, and the envelope range covers the first robot. According to the envelope range of the road section to be moved by the multiple robots, the first robot is determined relative to the multiple robots. According to each predicted conflict section of other robots, the first robot is scheduled for movement based on each predicted conflict section. The predicted conflict section is determined by the envelope range of the section to be moved by the first robot, so that the predicted conflict section can be better combined with the actual movement of the robot to achieve more accurate motion scheduling for multiple robots.

Description of the drawings

Figure 1 is a schematic system structure diagram of a multi-robot motion scheduling method provided by an embodiment of the present invention;

Figure 2 is a flow chart of a multi-robot motion scheduling method provided by an embodiment of the present invention;

Figure 3A is a processing flow chart of a multi-robot motion scheduling method used to prevent multi-robot deadlock conflicts provided by an embodiment of the present invention;

Figure 3B is a schematic diagram of a motion path in a multi-robot motion scheduling method used to prevent multi-robot deadlock conflicts provided by an embodiment of the present invention;

Figure 4 is a schematic structural diagram of a multi-robot motion scheduling device provided by an embodiment of the present invention;

Figure 5 is a structural block diagram of a computing device provided by an embodiment of the present invention.

Detailed ways

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, the present invention can be implemented in many other ways different from those described here. Those skilled in the art can make similar extensions without violating the connotation of the present invention. Therefore, the present invention is not limited by the specific implementation disclosed below.

The terminology used in one or more embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to limit the one or more embodiments of the invention. As used in one or more embodiments of this invention and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used in one or more embodiments of the present invention refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present invention, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present invention, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

First, terminology related to one or more embodiments of the present invention will be explained.

Robot scheduling: Robot scheduling is achieved by setting scheduling rules on the robot scheduling terminal.

In the present invention, a multi-robot motion scheduling method is provided. The present invention also relates to a multi-robot motion scheduling device, a computing device, and a computer-readable storage medium, which will be described in detail one by one in the following embodiments.

Figure 1 shows a schematic structural diagram of a multi-robot motion scheduling system provided by an embodiment of the present invention. Embodiments of the invention The execution subject of the provided multi-robot motion scheduling method is the robot dispatching end 101; the robot dispatching end 101 includes: a dispatching end memory 1011 and a dispatching end processor 1012, wherein the dispatching end memory 1011 stores pre-written scheduling rules The program code is used by the scheduling end processor 1012 to execute the program code of the scheduling rules to implement motion scheduling for multiple robots. In the multi-robot motion scheduling method provided by the embodiment of the present invention, multiple robots 102 perform motion by receiving the program code of the scheduling rules sent by the robot scheduling terminal 101. The above-mentioned robot dispatching terminal 101 can be any electronic product that can perform human-computer interaction with the user, such as a PC (Personal Computer), a mobile phone, a Pocket PC, a tablet computer, etc.

The robot scheduling end 101 obtains the motion paths of multiple robots 102, and then determines the envelope range of the segment to be moved by the first robot 1021 based on the motion path of the first robot 1021 and the first segment it is currently located on, and then determines the envelope range of the segment to be moved by the first robot 1021 based on the motion path of the multiple robots 102. 102 to determine the envelope range of the section to be moved, determine the predicted conflict sections of the first robot 1021 relative to other robots (1022, 1023...) in the plurality of robots 102, and move the first robot 1021 based on each predicted conflict section Scheduling.

The specific multi-robot motion scheduling method will be described in detail in subsequent embodiments.

Figure 2 shows a flow chart of a multi-robot motion scheduling method according to an embodiment of the present invention, which specifically includes the following steps:

Step 202: Obtain the movement paths of multiple robots, where the movement paths include multiple road segments.

Depending on the specific functions that need to be implemented in the application scenario, the robot is a schedulable motion robot with one or more functions. For example, robots used for transporting dishes in restaurants, robots used for transportation in logistics and warehousing, and robots used for surveying and construction of engineering scenes. The embodiments of the present invention are not limited here.

The movement path of the robot is a preset path that can move according to certain scheduling rules. The movement path includes multiple nodes and sections connected by the nodes. For example, the movement path composed of the seats and aisles of a restaurant can be used to move the seats. Viewed as nodes on the motion path, aisles can be viewed as segments on the motion path. Or, in a logistics warehousing warehouse, the shelves can be regarded as nodes on the movement path, and the robot movement tracks in the warehouse can be regarded as sections on the movement path. The motion path can be identified by nodes and road segments, or by the coordinate positions of nodes and road segments.

In practical applications, the robot has multiple built-in working maps. For each working map, the robot will build an initial movement path. For example, in a restaurant, for the multiple floors of the restaurant, the robot has multiple built-in working maps. Corresponding work map, for each work map, the food delivery robot will construct an initial movement path from the food outlet to each seat.

Obtaining the movement paths of multiple robots can be performed by deducing the scheduling rules pre-assigned to the robots from the robot scheduling terminal to obtain the movement paths of the multiple robots, or it can be receiving the movement paths uploaded by the multiple robots, which is not covered by the present invention. limited.

Specifically, the motion paths of multiple robots are obtained, where the motion paths include multiple nodes and multiple paths connected by the nodes.

For example, the movement paths T1-Tn of multiple robots A1-An are obtained. Taking the movement path T1 as an example, the movement path T1 is A-B-C-D-E, where A, B, C, D, and E are the nodes of the movement path, and the road segments are obtained by connecting them. AB, BC, CD, DE.

By obtaining the movement paths of multiple robots, it lays the foundation for subsequent determination of the envelope range of the section to be moved.

Step 204: Determine the envelope range of the path section to be moved by the first robot based on the movement path of the first robot and the first path segment currently located, where the first robot is any one of multiple robots, and the envelope range covers the first path segment. A robot.

The first road segment currently located is the road segment in the motion path corresponding to the current location of the robot. For example, if the current location of the robot is between node A and node B, and the corresponding segment in the motion path is AB, then AB is determined to be the first segment.

The envelope range is the range covered by the robot during movement, which is determined based on the shape and size of the robot. For example, the movement path is expressed in coordinates as (0, 0)-(0, 1)-(0, 2), and the robot is A square with a side length of 2. The coordinate representation of the motion path of the center of the square is consistent with the coordinate representation of the motion path. The coordinates of its envelope range are expressed as (-1,-1)(1,-1)-( -1,3)(1,3) is a rectangle.

Specifically, the envelope range of the section to be moved by the first robot is determined based on the movement path of the first robot, the first section currently located, and the shape and size of the first robot.

For example, the movement path of the first robot is represented by coordinates as (0,0)-(0,1)-(0,2)-(0,3), current The first road section is (0, 0)-(0, 1), the first robot is a square with a side length of 2, and the envelope range of the section to be moved is (-1, -1) (1, -1 )-(-1,3)(1,3).

By determining the envelope range of the first robot based on the movement path of the first robot and the first road section currently located, a foundation is laid for determining each predicted conflict road section.

Step 206: Based on the envelope ranges of the sections to be moved by the multiple robots, determine each predicted conflict section between the first robot and other robots among the multiple robots.

The predicted conflict section is the section where the robot will conflict with other robots on the driving path.

Each predicted conflict section between the first robot and other robots among the plurality of robots is obtained by comparing the envelope range of the section to be moved between the first robot and other robots. Comparing the envelope range of each robot between the first robot and the other robots, the predicted conflict sections that can be obtained are different.

Specifically, the envelope ranges of the sections to be moved by multiple robots are compared, and each predicted conflict section between the first robot and other robots among the multiple robots is determined.

For example, the envelope range of the section to be moved by the first robot is (AB-BC-CD), and the envelope range of the section to be moved by the other robots is (BC-CD-DE). The envelope range of the sections to be moved by the two robots is The envelope range of the road section is compared to determine the predicted conflict sections BC and CD of the first robot relative to other robots among the multiple robots.

According to the envelope range of the sections to be moved by the multiple robots, each predicted conflict section of the first robot relative to other robots among the multiple robots is determined, and the section where the first robot has a conflict risk is confirmed, which provides the basis for the subsequent analysis of the predicted conflict section of the first robot. A robot is scheduled and provides a reference basis.

Step 208: Perform motion scheduling on the first robot based on each predicted conflict section.

The specific method of performing motion scheduling on the first robot is to determine the motion state of the first robot on each predicted conflict road section, and send a motion scheduling instruction to the first robot, so that the first robot moves according to the motion state on each predicted conflict road section. corresponding movement.

Specifically, based on each predicted conflict road section, the movement state of the first robot on each predicted conflict road section is determined, and movement scheduling is performed on the first robot.

For example, based on the predicted conflict sections BC and CD, it is determined that the movement state of the first robot on the BC section is stopped, and the movement state of the first robot on the CD section is forward, and movement scheduling is performed on the first robot.

In the embodiment of the present invention, the movement paths of multiple robots are obtained, where the movement paths include multiple road sections. According to the movement path of the first robot and the first road section currently located, the envelope range of the road section to be moved by the first robot is determined. , wherein the first robot is any one of the plurality of robots, and the envelope range covers the first robot. According to the envelope ranges of the sections to be moved by the plurality of robots, the relative positions of the first robot relative to other robots among the plurality of robots are determined. Conflict road sections are predicted, and movement scheduling is performed on the first robot based on each predicted conflict road section. The predicted conflict section is determined by the envelope range of the section to be moved by the first robot, so that the predicted conflict section can be better combined with the actual movement of the robot to achieve more accurate motion scheduling for multiple robots.

Optionally, step 204 includes the following specific steps:

The section to be moved is a certain section on the movement path of the first robot, calculated from the first section currently located, that will be moved. A certain road section to be moved is determined based on preset determination conditions. The determination condition may be the number of road sections to be moved, or the end point of the movement, etc. For example, the movement path of the first robot includes multiple road segments, which is AB-BC-CD-DE. The first road segment currently located is AB. The first road segment will start to move to node D, and the sections to be moved are AB, BC, and CD. .

The outline information of the first robot is the area information that can be swept by the size and shape of the first robot. The first robot is not necessarily a regular-shaped robot. It will be set to a robot of different sizes and shapes according to the application scenario. Therefore, it needs to be scanned according to the size and shape of the first robot. The area information passed, that is, the contour information, determines the envelope range of the section to be moved.

Specifically, the section to be moved by the first robot is determined based on the movement path of the first robot, the first section currently located and the preset determination conditions, and the envelope range of the section to be moved is determined based on the contour information of the first robot.

For example, according to the movement path AB-BC-CD-DE of the first robot, the first section AB currently located and the preset determination condition: the end point is D, determine the sections BC and CD to be moved by the first robot, according to The contour information of the first robot determines the envelope range of the section to be moved.

According to the movement path of the first robot and the first section currently located, the section to be moved by the first robot is determined, and the envelope range of the section to be moved is determined based on the contour information of the first robot, so that the envelope of the section to be moved is determined. The envelope range is more in line with the actual movement of the first robot, thereby making the envelope range of the determined section to be moved more accurate, and the subsequent predicted conflict sections more accurate. The movement scheduling of the first robot is consistent with the actual movement of the first robot. More suitable for sports situations.

Optionally, determining the section to be moved by the first robot based on the movement path of the first robot and the first section it is currently located on includes the following specific steps:

The preset number of road sections is the monitoring window used to monitor the movement path of the first robot, because if each section of the movement path of multiple robots is monitored, the calculation amount of motion scheduling will be too high due to too much data. Then it is necessary to set a monitoring window with a preset number of road sections for monitoring. The number of preset road sections is determined based on the actual movement of the first robot. If the movement speed of the first robot is high, the number of preset road sections needs to be designed to be larger to ensure timely detection of conflicts and improve the timeliness of scheduling. Reliability and safety of multi-robot motion scheduling.

Specifically, according to the movement path of the first robot, the first road section currently located and the preset number of road sections, the road section to be moved by the first robot is determined. The road section to be moved is the road section that the first robot will move starting from the first road section in the movement path. of preset number of road segments.

For example, according to the motion path AB-BC-CD-DE of the first robot and the first road segment AB currently located, the preset number of road segments is 2, and the first robot starts from the first road segment AB-BC-CD-DE on the motion path AB-BC-CD-DE. A section AB starts with two sections that will be moved, namely BC and CD are the sections to be moved.

According to the movement path of the first robot, the first road section currently located, and the preset number of road sections, the section to be moved by the first robot is determined, which reduces the overall calculation amount, improves the efficiency of determining the section to be moved, and thereby improves the overall multi-purpose Efficiency of robot motion scheduling.

Optionally, step 206 includes the following specific steps:

Determine whether the envelope ranges of the sections to be moved by the first robot and the second robot intersect, that is, whether the envelope ranges of the two overlap. For example, the envelope range of the first robot is a square with coordinates (0, 0) (0, 1) (1, 1) (1, 0), and the envelope range of the second robot is a square with coordinates (0, The rectangle of 0)(0,1)(5,1)(5,0), the two overlap within the square range of (0,0)(0,1)(1,1)(1,0) , and it is determined that the envelope ranges of the sections to be moved by the first robot and the second robot intersect.

If there is an intersection, the way to determine the predicted conflict segment of the first robot relative to the second robot based on the intersection is: for the first robot, determine the path segment of the first robot relative to the second robot based on all the segments of the first robot within the intersection. Predict conflict sections.

Specifically, it is determined whether there is an intersection between the envelope ranges of the sections to be moved by the first robot and the second robot. If there is an intersection, then for the first robot, it is determined based on all the sections of the first robot within the intersection that the first robot is relative to Prediction of conflict sections by the second robot.

For example, the envelope range of the section to be moved by the first robot is the rectangle around the ABCDE node, and the envelope range of the second robot's section is the rectangle around the ABCDE node. The envelope range of the section to be moved is the rectangle around the DEF node. It is determined that the envelope ranges of the sections to be moved by the first robot and the second robot intersect, which are D and E. For the first robot, according to the intersection range of the first robot All road sections CD, DE, within are determined, and the predicted conflict sections of the first robot relative to the second robot are CD, DE.

Optionally, if there is no intersection, it is determined that there is no conflict between the first robot and the second robot.

By determining whether there is a set in the envelope range of the first robot and the second robot, and determining the predicted conflict path of the first robot relative to the second robot based on the set, the efficiency of determining the predicted conflict path is improved, thereby improving the overall multi-robot performance. Scheduling efficiency of motion scheduling.

Optionally, step 208 includes the following specific steps:

If so, schedule the first robot movement.

The conflict range of the first robot with respect to other robots is the range of conflict sections obtained by statistics based on each predicted conflict section. For example, the predicted conflict sections of the first robot with respect to other robots are CD, DE and EF, and the conflicts obtained by statistics The range is (CD, EF), which means that the robot moves from the CD section to the EF section and has conflicts with other robots.

If both robots enter the same conflict range, both robots will deadlock, that is, the conflict cannot be avoided. Therefore, after determining that the first robot is already within the conflict range, the movement of the first robot will be scheduled, and for other robots that have not entered the conflict range, a deadlock will occur. When within the conflict range, scheduling it to avoid can avoid deadlocks between the first robot and other robots. For example, the conflict range is (CD, EF). When the first robot is currently located in the first section CD, if other robots are located in the EF section and are in the same conflict range, the conflict cannot be avoided. Therefore, the first section of the first robot is in When within the conflict range, the first robot is scheduled to move.

The first section is the section where the starting point is in the section to be moved by the first robot.

Specifically, based on each predicted conflict section of the first robot relative to other robots, the conflict range of the first robot relative to other robots is determined. If the first road section is within the conflict range, it is determined that the first robot is within the conflict range, and the first robot is scheduled. Robot movement.

For example, the predicted conflict sections of the first robot with respect to the second robot are CD, DE, EF and FG, and the conflict range of the first robot with respect to the second robot is determined to be (CD, FG). The road segment is DE, the first road segment DE is within the conflict range (CD, FG), and the movement of the first robot is scheduled.

According to each predicted conflict section of the first robot relative to other robots, the conflict range of the first robot relative to other robots is determined. Based on the first road section and the conflict range, it is determined whether the first robot is within the conflict range. If so, the first robot is scheduled. Robot movement can cause unavoidable conflicts between the first robot and other robots when other robots have not entered the conflict range. Scheduling in advance prevents conflicts in time and ensures the reliability and safety of multi-robot movements.

Optionally, the conflict range includes an upper bound of the conflict segment index and a lower bound of the conflict segment index. Based on the first road segment and the conflict range, determining whether the first robot is located within the conflict range includes the following specific steps:

Get the segment index of the first segment;

The road segment index is a road segment index used to mark each road segment in the movement path. It can be the sequential labeling of the road segment, the node name of the road segment, or the coordinate representation of the road segment. The description of the present invention takes the sequential labeling of the road segment as an example.

The upper bound of the conflict section index is the section index of the last predicted conflict section in the conflict range, and the lower bound of the conflict section index is the section index of the first predicted conflict section in the conflict range. For example, the conflict range is (0, 3), which means that the conflict range of the first robot relative to other robots is the first robot's section 0 to section 3. The upper bound of the conflict section index is 3, and the lower bound of the conflict section index is 0.

For example, the segment index of the first segment is 1, the conflict range is (0, 3), the upper bound of the conflict segment index is 3, and the conflict segment The lower bound of the index is 0, and the road segment index of the first road segment is greater than the lower bound of the conflicting road segment index. It is determined that the first robot is already within the conflict range.

By obtaining the section index of the first section, and based on the relationship between the section index and the lower bound of the conflict section index, it is determined whether the first robot is within the conflict range, and then the movement of the first robot is subsequently scheduled, so that the section index is used to determine the third Whether a robot is located within the conflict range improves the determination efficiency, thereby improving the scheduling efficiency of motion scheduling for the first robot.

Optionally, perform motion scheduling on the first robot based on each predicted conflict section, including the following specific steps:

If so, schedule the first robot movement.

The relative conflict envelope of the first robot is the coverage range of the first robot during its movement relative to the predicted conflict section of the second robot. For example, if the first robot is a square robot, its coverage range during the movement of the section to be moved is a rectangle. The predicted conflict sections of the first robot relative to the second robot are CD and DE, and the relative conflict envelope of the first robot is determined to be the rectangle around the C-D-E node.

The starting point envelope of the first robot is the envelope range of the robot's current location. For example, if the first robot is a square robot and the first robot is currently located at point C, then the square around point C is the starting point envelope.

Determining whether the first robot is located within the conflict range based on the starting point envelope and the relative conflict envelope of the first robot is to determine whether the first robot is located within the conflict range based on the distance relationship between the starting point envelope and the relative conflict envelope. For example, if the distance threshold is set to d, when the distance between the starting envelope and the relative conflict is less than or equal to d, it is determined that the first robot is within the conflict range, or if there is an intersection between the starting envelope and the relative conflict envelope , determine that the first robot is within the conflict range.

Specifically, the conflict range of the first robot relative to other robots is determined based on each predicted conflict section of the first robot relative to other robots, and the relative conflict of the first robot is determined based on the predicted conflict section of the first robot relative to the second robot. Envelope, based on the distance relationship between the starting point envelope and the relative conflict envelope, determine whether the first robot is within the conflict range.

For example, the first robot is a square. According to the predicted conflict segment of the first robot relative to the second robot is A-B-C-D, the relative conflict envelope of the first robot is determined to be the rectangle around the A-B-C-D node. The preset distance threshold is d. If the distance between the starting point envelope (the square around point E) and the relative conflict envelope (the rectangle around the A-B-C-D node) is less than or equal to d, it is determined that the first robot is within the conflict range, and the movement of the first robot is scheduled.

Determine the conflict range of the first robot relative to other robots based on each predicted conflict section of the first robot relative to other robots, determine the relative conflict envelope of the first robot based on the predicted conflict sections of the first robot relative to the second robot, Wherein, the second robot is any one of the other robots, and based on the starting point envelope and the relative conflict envelope of the first robot, it is determined whether the first robot is within the conflict range, and if so, the movement of the first robot is scheduled. Scheduling the first robot through the starting point envelope of the first robot and the relative conflict envelope of the first robot can cause unavoidable conflicts between the first robot and other robots before other robots enter the conflict range and proceed in advance. Scheduling prevents conflicts in time and ensures the reliability and safety of multi-robot movements.

Optionally, determining whether the first robot is within the conflict range according to the starting point envelope and the relative conflict envelope of the first robot includes the following specific steps:

The starting point envelope of the first robot intersects with the relative conflict envelope, that is, the ranges of the two overlap.

For example, the first robot is a square. According to the predicted conflict segment of the first robot relative to the second robot is ABCD, the relative conflict envelope of the first robot is determined to be the rectangle around the ABCD node. If the starting point envelope (around point E There is an intersection between the square) and the relative conflict envelope (the rectangle around the ABCD node), which determines that the first robot is located in the conflict range Within the range, schedule the movement of the first robot.

Scheduling the first robot based on whether there is an intersection between the starting point envelope of the first robot and the relative conflict envelope of the first robot can more accurately cause the collision between the first robot and other robots when other robots do not enter the conflict range. Conflicts are unavoidable, and scheduling in advance can prevent conflicts in a timely manner, further ensuring the reliability and safety of multi-robot movements.

Optionally, after determining whether the first robot is located within the conflict range based on the first road segment and the conflict range, the following specific steps are also included:

The end envelope of the first robot is the envelope corresponding to the end node of the last segment in the motion path of the first robot. For example, the movement path of the first robot is A-B-C-D-E, and the envelope range of the end node E of the last road segment DE is the end envelope.

For the first robot and the second robot, if the movement path of the first robot exceeds the envelope range of the section to be moved by the other robots, the first robot will continue to move after moving through the conflict range until it reaches the end point, and the second robot will If the movement path of the second robot does not exceed the envelope range of the section to be moved, the second robot will not move beyond the conflict range and will stop on a predicted conflict path in the first robot's movement path, blocking the normal movement of the first robot. Movement, therefore, requires the first robot to move first until the first robot moves, and until there is no handover with the envelope range of the section to be moved by other robots, the movement of the second robot will not block the movement of the first robot. Move normally and avoid conflicts. For example, the movement path of the first robot is A-B-C-D-E-F, the movement path of the second robot is F-B-C-D, and the predicted conflict sections between the first robot and the second robot are BC, CD and DE. If the second robot moves first and stops at the end point D , then the first robot continues to move and will conflict with the second robot at point D.

When the end envelope of the first robot does not intersect with the envelope ranges of the sections to be moved by other robots, it means that there are no other robots on the movement path of the first robot that may reach the end point and stop. It is necessary to first A robot performs motion scheduling.

Specifically, the end point of the first robot is determined according to the movement path of the first robot, and the end point envelope of the first robot is determined based on the end point of the first robot and the contour information of the first robot. When there is no intersection between the envelope ranges of the moving sections, the movement of the first robot is scheduled.

For example, the movement path of the first robot is A-B-C-D-E-F, and the end point of the first robot is determined to be E. According to the end point E of the first robot and the contour information of the first robot (a circle with a radius of 1), the end point of the first robot is determined. The end envelope, when there is no handover between the end envelope of the first robot and the envelope range of the sections to be moved by other robots, ensures that there are no other machines on the movement path of the first robot that may reach the end and stop. , no conflict will occur, and the first robot movement is scheduled.

According to the motion path of the first robot, the end envelope of the first robot is determined, and when there is no intersection between the end envelope and the envelope range of the sections to be moved by other robots, the movement of the first robot is scheduled. The movement of the first robot can be scheduled before other robots stop or occupy a certain section of the movement path of the first robot, thus preventing other robots from blocking the normal movement of the first robot, preventing conflicts in a timely manner, and ensuring Multi-robot motion reliability and safety.

Optionally, in the case where the end envelope does not intersect with the envelope ranges of the sections to be moved by other robots, after scheduling the movement of the first robot, the following specific steps are also included:

Previously, the scheduling was completed for the first robot. The first robot was any one of multiple robots. However, since the scheduling for the first robot was determined relative to other robots, it was inevitable that due to differences between robots, including robots, Differences in motion scheduling scenarios such as differences in contour information, differences in the first road section where the robot is currently located, differences in the number of preset road sections, etc., have resulted in multiple specific robots being unscheduled. Movement scheduling of these robots is required to ensure that multiple robots are not scheduled. Integrity of robot motion scheduling.

A following robot is a robot that follows a specific robot. The following robot and the specific robot have the same movement path. For example, in a restaurant, a customer at a certain seat orders multiple dishes, which need to be transmitted through multiple robots, that is, a specific robot includes multiple follower robots.

In some scenarios, specific robots with a small number of following robots are prioritized for motion scheduling, which can ensure that other specific robots and corresponding following robots do not need to stop and wait for a long time. In some scenarios, following a specific robot with a large number of robots and giving priority to movement scheduling can ensure that more robots move to the end point, complete the corresponding tasks, and realize their corresponding functions. Specific choices are not limited here.

Specifically, if there are multiple unscheduled specific robots, count the number of follower robots of each specific robot respectively, determine the target specific robot based on the number of follower robots of each specific robot and the actual application scenario, and schedule the target specific robot among each specific robot. The robot and its counterpart follow the robot's movement.

For example, in an actual application scenario where other specific robots and corresponding following robots do not need to stop for a long time to wait, there are three unscheduled specific robots B1, B2 and B3, and the following statistics of B1, B2 and B3 are respectively The number of robots is 3, 5, and 4. Based on the number of following robots and the actual application scenarios of the three specific robots, the specific robot B1 with the smallest number of following robots is determined as the target specific robot, and the target specific robot B1 and its corresponding three following robots are scheduled. sports.

For multiple unscheduled specific robots, count the number of follower robots of each specific robot respectively. According to the number of follower robots of each specific robot, schedule the movement of the target specific robot in each specific robot. For target specific robots that meet the requirement of the number of follower robots, Prioritizing mobilization satisfies the scheduling requirements for specific robots with follower robots in actual application scenarios, making scheduling more applicable, and scheduling specific robots that have not been scheduled ensures the integrity of multi-robot motion scheduling. sex.

Optionally, the multi-robot motion scheduling method also includes the following specific steps:

The movement parameters of a specific robot are parameters of the actual movement of the specific robot, including: the movement speed of the specific robot, the rotation angular speed of the specific robot, the length of the movement path of the specific robot, etc.

In some scenarios, for specific robots with fast movement speed or high rotation angular speed, priority is given to motion scheduling, which can ensure that the specific robot completes its corresponding tasks faster and realizes the corresponding functions. In some scenarios, for specific robots with longer motion paths, priority is given to motion scheduling, which can ensure that the time difference between multiple specific robots completing their corresponding tasks is shorter and the corresponding functions can be achieved. The embodiments of the present invention are not limited here. .

Specifically, when the number of following robots of each specific robot is equal, the movement parameters of each specific robot are obtained, and the movement time-consuming of each specific robot is determined based on the movement parameters of each specific robot. According to the sum of the movement time-consuming of each specific robot, Practical application scenarios, scheduling target-specific robot movements in each specific robot.

For example, in an actual application scenario where a specific robot completes its corresponding task faster and realizes the corresponding function, there are three specific robots B4, B5 and B6, and the number of following robots is 4. Obtain the movement speed of each specific robot. They are 0.5m/s, 0.7m/s, and 0.9m/s respectively. According to the movement speed of three specific robots, the movement time of each specific robot is determined to be 10s. The movement speed is determined based on the movement time of 10s and the actual application scenario. The fastest specific robot B6 is the target specific robot, and the movement of the target specific robot B6 is scheduled.

When the number of follower robots of each specific robot is equal, the motion parameters of each specific robot are obtained, the motion time-consuming of each specific robot is determined based on the motion parameters of each specific robot, and the motion time-consuming of each specific robot is scheduled. Goal-specific robot motion in robotics. According to the movement time-consuming of each specific robot, the target-specific robot movement in each specific robot is scheduled, which meets the scheduling requirements for movement time-consuming in actual application scenarios, making the movement scheduling of multiple robots more efficient, and multi-robot movement scheduling is more efficient. The motion scheduling of robots is more applicable, and scheduling specific robots that follow the same robot ensures the integrity of motion scheduling for multiple robots.

Optionally, step 208 includes the following specific steps:

Determine the target avoidance index of the first robot based on the number of sections in each predicted conflict section. For example, the predicted conflict section between the first robot and the second robot is (1,3), and the predicted conflict between the first robot and the third robot is (1,3). The road section is (0,3), the number of road sections predicted to conflict with the first robot relative to the second robot is 3, and the number of road sections predicted to conflict with the first robot relative to the third robot is 4, determine the first robot The target avoidance index is 0, which means that the index of the road section that the first robot needs to avoid is at infinity, that is, the first robot does not need to avoid it. In addition, the predicted conflict section between the second robot and the first robot is (0,1), the predicted conflict section between the second robot and the third robot is (0,1), and the predicted conflict section between the second robot and the first robot is (0,1). The number of conflicting road sections is 2. The number of conflicting road sections predicted by the second robot relative to the third robot is 2. It is determined that the target avoidance index of the second robot is 0, which means that the second robot moves to the corresponding target avoidance index. Before the target road section 0, perform avoidance.

Specifically, the target avoidance index of the first robot is determined based on each predicted conflict section, and the first robot is scheduled to move to the target section corresponding to the target avoidance index according to the target avoidance index, and then the first robot is scheduled to avoid.

For example, according to each predicted conflict section (0,2)(0,3), the target avoidance index of the first robot is determined to be 0, and according to the target avoidance index 0, the first robot is scheduled to move to the path corresponding to the target avoidance index 0. The first robot is dispatched to avoid the target road section.

According to each predicted conflict road section, the target avoidance index of the first robot is determined, and based on the target avoidance index, the first robot is scheduled to move to the target road section. By determining the target avoidance index of the first robot, and only using the target avoidance index, the first robot is scheduled to move to the target road section, thereby improving the efficiency of movement scheduling for the first robot.

The following uses the application of the multi-robot motion scheduling method provided by the present invention to prevent multi-robot deadlock conflicts as an example with reference to FIGS. 3A and 3B to further explain the multi-robot motion scheduling method. 3A shows a processing flow chart of a multi-robot motion scheduling method for preventing multi-robot deadlock conflicts provided by an embodiment of the present invention, which specifically includes the following steps:

Step 302: Obtain the movement paths of multiple robots, where the movement paths include multiple road segments, and each road segment includes a road segment index.

FIG. 3B shows a schematic diagram of a motion path in a multi-robot motion scheduling method used to prevent multi-robot deadlock conflicts provided by an embodiment of the present invention.

Obtain the movement path of the first robot A1 as A-B-C-F-G, the movement path of the second robot A2 as D-C-F, and the movement path of the third robot A3 as G-F-C-B-E. Correspondingly, the movement path of the first robot includes multiple road segments: AB(0), BC(1), CF(2) and FG(3), and the movement path of the second robot includes multiple road segments: DC(0) and CF(1), the movement path of the third robot includes multiple road segments: GF(0), FC(1), CB(2) and BE(3).

Step 304: Determine the sections to be moved by the multiple robots based on the movement paths of the multiple robots and the first section they are currently located on.

According to the movement path A-B-C-F-G of the first robot, the first road section 0 currently located is determined, and the road section to be moved by the first robot is determined to be (0,3). In the same way, the section to be moved by the second robot is determined to be (0,1), and the section to be moved by the third robot is determined to be (0,3).

Step 306: Determine the envelope range of the section to be moved by each robot based on the contour information of each robot.

As shown in Figure 3B, based on the contour information of the first robot, the second robot and the third robot, it is determined that the envelope range of the section to be moved by the first robot is the rectangle around the A-B-C-F-G node, and the envelope range of the section to be moved by the second robot is determined. The envelope range is the rectangle around the D-C-F node, and the envelope range of the section to be moved by the third robot is determined to be the rectangle around the G-F-C-B-E node.

Step 308: Determine whether the envelope ranges of the sections to be moved by each robot intersect.

As shown in Figure 3B, it is determined that the envelope ranges of the sections to be moved by the first robot, the second robot and the third robot intersect. The intersection between the first robot and the second robot is the rectangle around the BCF node. The first robot and the third robot The intersection of the three robots is the rectangle around the BCFG node, and the intersection of the second robot and the third robot is the rectangle around the CF node.

Step 310: Determine the predicted conflict sections of each robot based on the intersection.

As shown in Figure 3B, taking the first robot's road section as the main judgment, based on the intersection of the rectangles around the B-C-F node, it is determined that the predicted conflict sections of the first robot relative to the second robot are BC, CF and FG, that is, road sections 1, 2, 3; Taking the first robot's road section as the main judgment, based on the intersection of the rectangles around the B-C-F-G node, determine the predicted conflict sections of the first robot relative to the third robot as AB, BC, CF and FG, that is, road sections 0, 1, 2, 3; Taking the second robot's road section as the main judgment, based on the intersection of the rectangles around the B-C-F node, determine the predicted conflict sections of the second robot relative to the first robot as DC and CF, that is, road sections 0 and 1; taking the second robot's road section as The subject judges, based on the intersection of the rectangles around the C-F node, the predicted conflict sections of the second robot relative to the third robot are DC and CF, that is, sections 0 and 1; the third robot section is used as the subject to judge, based on the intersection of the rectangles around the B-C-F-G node. The intersection of the rectangles determines that the predicted conflict sections of the third robot relative to the first robot are GF, FC, CB and BE, that is, sections 0, 1, 2, and 3; the third robot section is used as the main body to judge, based on the C-F node around the The intersection of the rectangles determines the predicted conflict sections of the third robot relative to the second robot as GF, FC, and CB, that is, sections 0, 1, and 2.

Step 312: Determine the conflict range based on each predicted conflict road section.

According to each predicted conflict section, the conflict range of the first robot relative to the second robot is determined to be (1,3); the conflict range of the first robot relative to the third robot is determined to be (0,3); the conflict range of the second robot relative to the third robot is determined to be (0,3); The conflict range of the first robot is (0,1); determine the conflict range of the second robot relative to the third robot as (0,1); determine the conflict range of the third robot relative to the first robot as (0,3) ;The conflict range of the third robot relative to the second robot is (0,2).

Step 314: Obtain the road segment index of the first road segment, and determine whether each robot is within a conflict based on the robot's starting point envelope and the corresponding conflict envelope.

Step 316: If yes, schedule the corresponding robot motion.

As shown in Figure 3B, according to the motion paths of the first robot, the second robot and the third robot, the starting point envelope of the first robot is determined to be the square around node A, and the starting point envelope of the second robot is determined to be the square around node D. Square, determine the starting point envelope of the third robot as the square around the G node.

The first section index of the first robot is -1 (meaning it has not entered the AB section, that is, section 0) and is not located in the conflict range (1,3) and (0,3);

There is no intersection between the starting point envelope of the first robot and the relative conflict envelope of the second robot (rectangle around the D-C-F node, relative conflict range (0,1));

There is no intersection between the starting point envelope of the first robot and the relative conflict envelope of the third robot (rectangle around the G-F-C-B-E node, relative conflict range (0,3));

That is, the first robot is not in conflict.

The index of the first road segment of the second robot is -1, which is not in the conflict range (0,1);

There is no intersection between the starting point envelope of the second robot and the relative conflict envelope of the first robot (rectangle around the B-C-F-G node, relative conflict range (1,3));

There is no intersection between the starting point envelope of the second robot and the relative conflict envelope of the third robot (rectangle around the G-F-C-B node, relative conflict range (0,2));

That is, the second robot is not in conflict.

The first section index of the third robot is -1, which is not located in the conflict range (0,3) and (0,2), corresponding to the conflict range of the first and second robots;

There is no intersection between the starting point envelope of the third robot and the relative conflict envelope of the first robot (the rectangle around the A-B-C-F-G node, the relative conflict range is (0,3));

There is no intersection between the starting point envelope of the third robot and the relative conflict envelope of the second robot (rectangle around the D-C-F node, relative conflict range (0,1));

That is, the third robot is not in conflict.

Therefore, the first robot, the second robot and the third robot are not scheduled for the time being.

Step 318: If not, determine the endpoint envelope of each robot based on the movement path of each robot; if there is no intersection between the endpoint envelope and the envelope range of the sections to be moved by other robots, schedule the corresponding robots in sequence. sports.

As shown in Figure 3B, according to the motion paths of the first robot, the second robot and the third robot, the end envelope of the first robot is determined to be the square around the G node, and the end envelope of the second robot is determined to be the square around the F node. Square, determine the end envelope of the third robot as the square around the E node.

There is no intersection between the endpoint envelope of the first robot and the relative conflict envelope of the second robot (rectangle around the D-C-F node, relative conflict range (0,1));

The starting point envelope of the first robot intersects with the relative conflict envelope of the third robot (rectangle around the G-F-C-B-E node, relative conflict range (0,3));

That is, the first robot needs to avoid the third robot, and the avoidance index is 0.

The end envelope of the second robot intersects with the relative conflict envelope of the first robot (rectangle around the B-C-F-G node, relative conflict range (1,3));

The end envelope of the second robot intersects with the relative conflict envelope of the third robot (rectangle around G-F-C-B node, relative conflict range (0,2));

That is, the second robot needs to avoid the first and third robots, and the avoidance index is 0.

There is no intersection between the endpoint envelope of the third robot and the relative conflict envelope of the first robot (the rectangle around the A-B-C-F-G node, the relative conflict range is (0,3));

That is, the third robot does not need to avoid, and the avoidance index is 0.

Therefore, the third robot schedules the movement, but the first robot and the second robot do not schedule the movement temporarily.

When the third robot moves to the end point E, that is, when the section to be moved by the third robot does not intersect with the envelope range of the sections to be moved by the first robot and the second robot (the rectangle around the A-B-C-F-G node, the rectangle around the D-C-F node), Repeat step 314, step 316 and step 318. There is no intersection between the end envelope of the first robot and the envelope range of the section to be moved by the second robot (the rectangle around the D-C-F node). The first robot is scheduled to move and the second robot is to avoid.

When the first robot moves to point C, the envelope of the first robot to be moved (the rectangle around the C-F-G node) intersects with the envelope range of the second robot's path to be moved (the rectangle around the D-C-F node). According to step 316, the first robot is in conflict, and the avoidance index is 0. The first robot continues to be scheduled, and the second robot avoids. The conflict range of the second robot is (0,1), the avoidance index is 0, and the second robot Unable to move.

When the first robot moves to point F, the envelope range of the section to be moved by the first robot (the rectangle around the F-G node) intersects with the envelope range of the section to be moved by the second robot (the rectangle around the D-C-F node). According to step 316, the first robot is in conflict, the avoidance index is 0, and the first robot continues to be scheduled. The second robot performs avoidance, where the conflict range of the second robot is (1,1), the avoidance index is 1, and the second robot is scheduled to the section before the avoidance index, which is the 0th section.

Repeat this until the end.

In the embodiment of the present invention, each predicted conflicting road section is determined based on the envelope range of the road sections to be moved by multiple robots, and then movement scheduling is performed on the first robot based on each predicted conflicting road section. Determining the predicted conflict section through the envelope range of the sections to be moved by multiple robots makes it possible to better combine the actual movement conditions of the robots to determine the predicted conflict section, achieve more accurate motion scheduling for multiple robots, and avoid problems caused by robot conflicts. Deadlock improves the efficiency of the robot.

Corresponding to the above method embodiments, the present invention also provides an embodiment of a multi-robot motion scheduling device. FIG. 4 shows a schematic structural diagram of a multi-robot motion scheduling device provided by an embodiment of the present invention. As shown in Figure 4, the device includes:

The acquisition module 402 is configured to acquire the motion paths of multiple robots, where the motion paths include multiple road segments;

The envelope range determination module 404 is configured to determine the envelope range of the section to be moved by the first robot based on the movement path of the first robot and the first section currently located, where the first robot is any of the plurality of robots. One, the envelope range covers the first robot;

The predicted conflict section determination module 406 is configured to determine each predicted conflict section of the first robot relative to other robots among the plurality of robots based on the envelope range of the sections to be moved by the multiple robots;

The scheduling module 408 is configured to perform motion scheduling on the first robot according to each predicted conflict road section.

Optionally, the envelope range determination module 404 may be further configured as:

According to the movement path of the first robot and the first road section currently located, the road section to be moved by the first robot is determined, and the envelope range of the road section to be moved is determined based on the contour information of the first robot.

Optionally, the predicted conflict section determination module 406 may be further configured as:

Determine whether there is an intersection between the envelope ranges of the sections to be moved by the first robot and the second robot, where the second robot is any one of the other robots among the multiple robots. If there is an intersection, then based on the intersection, determine the relationship between the first robot and the first robot. Prediction of conflict sections by the second robot.

Optionally, the scheduling module 408 can be further configured as:

According to each predicted conflict section of the first robot relative to other robots, the conflict range of the first robot relative to other robots is determined. Based on the first road section and the conflict range, it is determined whether the first robot is within the conflict range. If so, the first robot is scheduled. Robot movement.

Optionally, the scheduling module 408 can be further configured as:

Obtain the road segment index of the first road segment. If the road segment index is greater than or equal to the lower bound of the conflict segment index, it is determined that the first robot is within the conflict range.

Optionally, the scheduling module 408 can be further configured as:

Determine the conflict range of the first robot relative to other robots based on each predicted conflict section of the first robot relative to other robots, determine the relative conflict envelope of the first robot based on the predicted conflict sections of the first robot relative to the second robot, Wherein, the second robot is any one of the other robots, and based on the starting point envelope and the relative conflict envelope of the first robot, it is determined whether the first robot is within the conflict range, and if so, the movement of the first robot is scheduled.

Optionally, the scheduling module 408 can be further configured as:

If the starting point envelope of the first robot intersects with the relative conflict envelope, it is determined that the first robot is within the conflict range, and if so, the movement of the first robot is scheduled.

Optionally, the scheduling module 408 can be further configured as:

According to each predicted conflict section of the first robot relative to other robots, the conflict range of the first robot relative to other robots is determined. Based on the first road section and the conflict range, it is determined whether the first robot is located within the conflict range. If not, then based on the first road section and the conflict range, it is determined The movement path of one robot determines the end-point envelope of the first robot, and when there is no intersection between the end-point envelope and the envelope range of the sections to be moved by other robots, the movement of the first robot is scheduled.

Optionally, the device also includes:

The target-specific robot scheduling module is configured to count the number of follower robots of each specific robot if there are multiple unscheduled specific robots, and schedule the target-specific robot movement in each specific robot based on the number of follower robots of each specific robot.

Optionally, the goal-specific robot scheduling module can be further configured to:

When the number of follower robots of each specific robot is equal, the motion parameters of each specific robot are obtained, the motion time-consuming of each specific robot is determined based on the motion parameters of each specific robot, and the motion time-consuming of each specific robot is scheduled. Goal-specific robot motion in robotics.

Optionally, the scheduling module 408 can be further configured as:

According to each predicted conflict road section, the target avoidance index of the first robot is determined, and based on the target avoidance index, the first robot is scheduled to move to the target road section.

The above is a schematic solution of a multi-robot motion scheduling device in this embodiment. It should be noted that the technical solution of the multi-robot motion scheduling device and the above-mentioned technical solution of the multi-robot motion scheduling method belong to the same concept. Details of the technical solution of the multi-robot motion scheduling device that are not described in detail can be found in Description of the technical solution of the above multi-robot motion scheduling method. In addition, each component in the device embodiment should be understood as the functional modules that must be established to implement each step of the program flow or each step of the method. Each functional module is not an actual functional division or separation limit. The device claim defined by such a set of functional modules should be understood as a functional module structure that mainly implements the solution through the computer program described in the specification, and should not be understood as a physical device that mainly implements the solution through hardware.

Figure 5 shows a structural block diagram of a computing device according to an embodiment of the present invention. Components of the computing device 500 include, but are not limited to, memory 510 and processor 520 . The processor 520 is connected to the memory 510 through a bus 530, and the database 550 is used to save data.

Computing device 500 also includes an access device 540 that enables computing device 500 to communicate via one or more networks 560 . Examples of these networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or networks such as the Internet A combination of communication networks. Access device 540 may include any type of network interface, wired or wireless, for example, one or more of a Network Interface Card (NIC), such as an IEEE802.11 Wireless Local Area Network (WLAN) wireless Interface, World Interoperability for Microwave Access (Wi-MAX, World Interoperability for Microwave Access) interface, Ethernet interface, Universal Serial Bus (USB, Universal Serial Bus) interface, cellular network interface, Bluetooth interface, Near Field Communication (NFC, Near Field Communication) interface, etc.

In one embodiment of the present invention, the above-mentioned components of the computing device 500 and other components not shown in FIG. 5 may also be connected to each other, such as through a bus. It should be understood that the structural block diagram of the computing device shown in FIG. 5 is for illustrative purposes only and does not limit the scope of the present invention. Those skilled in the art can add or replace other components as needed.

Computing device 500 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet computer, personal digital assistant, laptop computer, notebook computer, netbook, etc.), a mobile telephone (e.g., smartphone ), a wearable computing device (e.g., smart watch, smart glasses, etc.) or other type of mobile device, or a stationary computing device such as a desktop computer or PC. Computing device 500 may also be a mobile or stationary server.

The processor 520 is configured to execute computer-executable instructions of the multi-robot motion scheduling method.

The above is a schematic solution of a computing device in this embodiment. It should be noted that the technical solution of the computing device and the technical solution of the above-mentioned multi-robot motion scheduling method belong to the same concept. Details that are not described in detail in the technical solution of the computing device can be found in the above-mentioned multi-robot motion scheduling method. Description of the technical solution.

An embodiment of the present invention also provides a computer-readable storage medium that stores computer instructions, which are used for a multi-robot motion scheduling method when executed by a processor.

The above is a schematic solution of a computer-readable storage medium in this embodiment. It should be noted that the technical solution of the storage medium belongs to the same concept as the technical solution of the above-mentioned multi-robot motion scheduling method. For details that are not described in detail in the technical solution of the storage medium, please refer to the above-mentioned multi-robot motion scheduling method. Description of the technical solution.

The foregoing has described specific embodiments of the invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desired results. Additionally, the processes depicted in the figures do not necessarily require the specific order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain implementations.

The computer instructions include computer program code, which may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media, etc.

It should be noted that for the convenience of description, the foregoing method embodiments are expressed as a series of action combinations. However, those skilled in the art should know that the present invention is not limited by the described action sequence. Because in accordance with the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily necessary for the present invention.

In the above embodiments, each embodiment is described with its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

The preferred embodiments of the invention disclosed above are only intended to help illustrate the invention. Alternative embodiments are not described in all details, nor are the inventions limited to the specific embodiments described. Obviously, many modifications and variations are possible in light of the teachings of the invention. The present invention selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can better understand and utilize the present invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

A multi-robot motion scheduling method, including:

Step 202: Obtain the motion paths of multiple robots (102), where the motion paths include multiple road segments;

Step 204: Determine the envelope range of the section to be moved by the first robot (1021) according to the movement path of the first robot (1021) and the first section where it is currently located, where the first robot (1021) is Any one of the plurality of robots (102), the envelope range covers the first robot (1021);

Step 206: Determine each predicted conflict section between the first robot (1021) and other robots in the plurality of robots (102) based on the envelope range of the section to be moved by the plurality of robots (102);

Step 208: Perform motion scheduling on the first robot (1021) according to each predicted conflict road section.
The method according to claim 1, determining the envelope range of the section to be moved by the first robot (1021) based on the movement path of the first robot (1021) and the first section currently located, including:

Determine the road section to be moved by the first robot (1021) according to the movement path of the first robot (1021) and the first road section currently located;

According to the profile information of the first robot (1021), the envelope range of the section to be moved is determined.
The method according to claim 2, determining the section to be moved by the first robot (1021) based on the movement path of the first robot (1021) and the first section currently located, including:

Determine the road sections to be moved by the first robot (1021) according to the movement path of the first robot (1021), the first road section currently located, and the preset number of road sections, where the number of road sections to be moved is equal to the preset number of road sections. Set the number of road segments.
The method according to claim 1, wherein the first robot (1021) is determined relative to other robots among the plurality of robots (102) according to the envelope range of the sections to be moved by the plurality of robots (102). The robot’s predicted conflict sections include:

Determine whether there is an intersection between the envelope ranges of the sections to be moved by the first robot (1021) and the second robot, where the second robot is any other robot among the plurality of robots (102);

If there is an intersection, the predicted conflict section of the first robot (1021) relative to the second robot is determined based on the intersection.
The method according to any one of claims 1-4, wherein the movement scheduling of the first robot (1021) based on each of the predicted conflict sections includes:

Determine the conflict range of the first robot (1021) with respect to the other robots based on each predicted conflict section of the first robot (1021) with respect to the other robots;

Determine whether the first robot (1021) is located within the conflict range according to the first road section and the conflict range;

If so, schedule the movement of the first robot (1021).
The method according to claim 5, the conflict range includes an upper bound of the conflict section index and a lower bound of the conflict section index;

Determining whether the first robot (1021) is located within the conflict range based on the first road section and the conflict range includes:

Obtain the road segment index of the first road segment;

If the road segment index is greater than or equal to the conflicting road segment index lower bound, it is determined that the first robot (1021) is located within the conflict range.
The method according to any one of claims 1-4, wherein the movement scheduling of the first robot (1021) based on each of the predicted conflict sections includes:

Determine the conflict range of the first robot (1021) with respect to the other robots based on each predicted conflict section of the first robot (1021) with respect to the other robots;

Determine the relative conflict envelope of the first robot (1021) according to the predicted conflict section of the first robot (1021) relative to the second robot, wherein the second robot (1021) is one of the other robots. any of;

Determine whether the first robot (1021) is located within the conflict range according to the starting point envelope of the first robot (1021) and the relative conflict envelope;

If so, schedule the first robot motion.
The method according to claim 7, determining whether the first robot (1021) is located within the conflict range according to the starting point envelope and the relative conflict envelope of the first robot (1021), including :

If the starting point envelope of the first robot (1021) intersects with the relative conflict envelope, it is determined that the first robot (1021) is located within the conflict range.
The method according to claim 5, after determining whether the first robot (1021) is located within the conflict range according to the first road section and the conflict range, further comprising:

If not, determine the endpoint envelope of the first robot (1021) according to the movement path of the first robot (1021);

When there is no intersection between the terminal envelope and the envelope range of the sections to be moved by the other robots, the movement of the first robot (1021) is scheduled.
The method according to claim 9, in the case that there is no intersection between the end point envelope and the envelope range of the section to be moved by the other robot, after scheduling the movement of the first robot (1021), it further includes: :

If there are multiple unscheduled specific robots, count the number of following robots for each specific robot respectively;

The target specific robot movement in each specific robot is scheduled according to the number of following robots of each specific robot.
The method of claim 10, further comprising:

When the number of following robots of each specific robot is equal, obtain the motion parameters of each specific robot;

Determine the movement time of each specific robot according to the movement parameters of each specific robot;

According to the movement time of each specific robot, the target specific robot movement in each specific robot is scheduled.
The method according to any one of claims 1-4, wherein the movement scheduling of the first robot (1021) based on each of the predicted conflict sections includes:

Determine the target avoidance index of the first robot (1021) according to each predicted conflict road section;

According to the target avoidance index, the first robot (1021) is scheduled to move to the target road section.
A multi-robot motion scheduling device, including:

The acquisition module (402) is configured to acquire motion paths of multiple robots (102), wherein the motion paths include multiple road section;

The envelope range determination module (404) is configured to determine the envelope range of the section to be moved by the first robot (1021) according to the movement path of the first robot (1021) and the first section currently located, where, The first robot (1021) is any one of the plurality of robots (102), and the envelope range covers the first robot (1021);

The predicted conflict section determination module (406) is configured to determine, according to the envelope range of the sections to be moved by the multiple robots (102), the first robot (1021) relative to the multiple robots (102). Predicted conflict sections of other robots;

The scheduling module (408) is configured to perform motion scheduling on the first robot (1021) according to each predicted conflict road section.
A computing device (500) comprising:

Memory (510) and processor (520);

The memory (510) is used to store computer-executable instructions, and the processor (520) is used to execute the computer-executable instructions to implement the multi-robot motion scheduling method of any one of claims 1 to 12. step.
A computer-readable storage medium stores computer instructions that, when executed by a processor, implement the steps of the multi-robot motion scheduling method described in any one of claims 1 to 12.