CN108268037A - The method for collision management and system of multiple mobile robot - Google Patents
The method for collision management and system of multiple mobile robot Download PDFInfo
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- CN108268037A CN108268037A CN201810055310.1A CN201810055310A CN108268037A CN 108268037 A CN108268037 A CN 108268037A CN 201810055310 A CN201810055310 A CN 201810055310A CN 108268037 A CN108268037 A CN 108268037A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000013439 planning Methods 0.000 claims abstract description 61
- 230000005540 biological transmission Effects 0.000 claims abstract description 51
- 238000007726 management method Methods 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims description 36
- 230000004888 barrier function Effects 0.000 claims description 11
- 238000004422 calculation algorithm Methods 0.000 claims description 7
- 230000003111 delayed effect Effects 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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Abstract
The embodiment of the present invention provides a kind of method for collision management and system of multiple mobile robot, belongs to robotic technology field.The method for collision management of the multiple mobile robot includes：Obtain the respective current location of multiple mobile robots and path planning；Determine the respective network transmission delay of multiple mobile robots；Node resource table is established according to the delay of the current location of multiple mobile robots, path planning and network transmission；And the multiple mobile robots of control respectively according to mobile robot ID respective in node resource table corresponding to holding time, occupy the node region of corresponding node region ID.Thus, can be correspondingly each mobile robot distribution node region and holding time according to the network transmission delay of corresponding personalized difference, it has ensured the pinpoint accuracy that node resource meter is calculated, and the probability clashed between multiple mobile robot can be effectively reduced based on the node resource table.
Description
Technical field
The present invention relates to robotic technology field, a kind of method for collision management more particularly to multiple mobile robot and it is
System.
Background technology
Lay multiple mobile robots in the close quarters (such as logistics warehouse region), and by these mobile robots Lai
Such as transporting goods for task is completed, is the research emphasis of current Internet of Things field to substitute hand labor.
In order to avoid the collision between multiple mobile robots in close quarters in operation, generally employ at present
The different processing scheme of the following two kinds：First, being by the current local environmental information of robot, robot is allowed to have good
Conflict resolution ability；Second, it is centralized management formula conflict resolution, mainly by the way that the motion path of robot to be segmented to disappear
Except conflict.
But present inventor found during the application is put into practice it is above-mentioned in the prior art at least exist it is as follows
Defect：First, although distributed method operation is simple, real-time and flexibility are strong, due to will appear local extreme points, often without
Method completely completes task；Second, centralized management formula method can relatively accurately perform task, but be easy to that robot is caused to transport
Row path conflict, will usually find optimal solution, but calculation amount is very big, real-time is poor, this current industry still can not be proposed compared with
Good solution.
Invention content
The purpose of the embodiment of the present invention is to provide the method for collision management and system of a kind of multiple mobile robot, at least
Solve the problems, such as path conflict of the multiple mobile robot in close quarters caused by centralized dispatching.
To achieve these goals, the embodiment of the present invention provides a kind of method for collision management of multiple mobile robot, including：
The respective current location of multiple mobile robots and path planning are obtained, wherein the path planning can be got around in presumptive area
Barrier and the presumptive area include multiple node regions；Determine that the respective network of the multiple mobile robot passes
Defeated delay；It is delayed according to the current location of the multiple mobile robot, the path planning and the network transmission and establishes section
Point resource table, wherein there is between mobile robot ID, node region ID and holding time three record in the node resource table
Correspondence and multiple mobile robot ID in it is both arbitrary jointly corresponding not same in the node resource table
Same holding time under one node region ID；And the multiple mobile robot of control is respectively according to the node resource table
In holding time corresponding to respective mobile robot ID, occupy the node region of corresponding node region ID.
Preferably, in the multiple mobile robot of the control respectively according to the node resource table in respective movement
Holding time corresponding to robot ID, after the node region for occupying corresponding node region ID, this method further includes：In real time
Determine each comfortable network transmission delay performed when occupying node region of the multiple mobile robot；And based on it is true in real time
Fixed network transmission delay, dynamically adjust in the node resource table about mobile robot ID, node region ID and
The correspondence between holding time three.
Preferably, it is described to be passed according to the current location of the multiple mobile robot, the path planning and the network
Defeated delay is established node resource table and is included：First movement robot and the second mobile robot energy within the unit interval are determined respectively
The unit distance being enough moved through；According to the respective current location of the first movement robot and second robot, institute
The size of network transmission delay, the unit distance, the path planning and the node region is stated, is the first movement
Robot distributes multiple first node regions and corresponding first holding time and is distributed for second mobile robot more
A second node region and corresponding second holding time；And when there are first node regions one of them described and wherein one
When a second node region is identical, the first holding time corresponding to one of first node region and institute are judged
The second holding time corresponding to one of second node region is stated with the presence or absence of coincidence；If so, label is described to have weight
The one of second node region closed is conflicting nodes region, and is described second again in the node resource table
Mobile robot distribution node region ID and corresponding holding time.
Specifically, described is the second mobile robot distribution node region ID and corresponding holding time packet again
It includes：In the node resource table be relative to the conflicting nodes region on the path planning of second mobile robot
Previous node region additional allocation holding time, to extend second mobile robot in the previous node region
The interior residence time, wherein, it is not less than that it passes through the punching by the first movement robot distributes the residence time
The time of prominent node region.
The respective current location of multiple mobile robots is obtained specifically, described and path planning includes：To each described
Mobile robot sends traffic order, wherein the traffic order includes the destination node area information of each mobile robot；
In response to the traffic order, path planning is received from the multiple mobile robot, wherein the path planning is each institute
State mobile robot according to respective destination node area information and pass through A* algorithms calculate determined by.
On the other hand the embodiment of the present invention provides a kind of conflict managementsystem of multiple mobile robot, including：Initial information
Acquiring unit, for obtaining the respective current location of multiple mobile robots and path planning, wherein the path planning can
The barrier and the presumptive area got around in presumptive area includes multiple node regions；Transmission delay determination unit, is used for
Determine the respective network transmission delay of the multiple mobile robot；Node resource table establishes unit, for according to the multiple
Node resource table is established in the current location of mobile robot, the path planning and network transmission delay, wherein the section
Record has correspondence between mobile robot ID, node region ID and holding time three and multiple in point resource table
Arbitrary the two in the mobile robot ID does not correspond to same under same node region ID jointly in the node resource table
One holding time；And control occupies unit, for controlling the multiple mobile robot respectively according to the node resource table
In holding time corresponding to respective mobile robot ID, occupy the node region of corresponding node region ID.
Preferably, which further includes：Real-time update delay unit determines the multiple each leisure of mobile robot in real time
Perform network transmission delay when occupying node region；And dynamic resource adjustment unit, for based on the institute determined in real time
State network transmission delay, dynamically adjust in the node resource table about mobile robot ID, node region ID and occupy when
Between the correspondence between three.
Preferably, the node resource table is established unit and is included：Unit distance determining module, for determining the first shifting respectively
The unit distance that mobile robot and the second mobile robot can be moved through within the unit interval；Holding time distribution module,
For according to the respective current location of the first movement robot and second robot, network transmission delay, institute
The size of unit distance, the path planning and the node region is stated, for first movement robot distribution multiple the
One node region and corresponding first holding time and for second mobile robot distribute multiple second node regions and
Corresponding second holding time；Conflict judgment module, for when there are first node regions one of them described and one of them
When the second node region is identical, judge the first holding time corresponding to one of first node region with it is described
The second holding time corresponding to one of second node region is with the presence or absence of coincidence；Conflict-solving module, for if so,
It is conflicting nodes region, and in the node resource table to mark the one of second node region that there is coincidence
Again it is the second mobile robot distribution node region ID and corresponding holding time.
Specifically, the conflict-solving module is used in the node resource table be relative to the conflicting nodes region
Previous node region additional allocation holding time on the path planning of second mobile robot, to extend described
Residence time of two mobile robots in the previous node region, wherein, it is described that the residence time, which is not less than,
Its time by the conflicting nodes region that one mobile robot is distributed.
Specifically, the initial information acquiring unit includes：Traffic order sending module, for each moving machine
Device human hair send traffic order, wherein the traffic order includes the destination node area information of each mobile robot；Plan road
Diameter acquisition module, in response to the traffic order, path planning being received from the multiple mobile robot, wherein the rule
Draw path for each mobile robot according to respective destination node area information and pass through A* algorithms calculate determined by.
Through the above technical solutions, on the one hand, the node area that mobile robot ID, path segments passed through is had based on record
The node resource table of correspondence between the node region ID in domain and holding time three controls multiple mobile robots to distinguish
The section of corresponding node region ID is occupied according to the holding time corresponding to mobile robot ID respective in node resource table
Point region, and will not be corresponded under same node region ID between any two mobile robot ID in node resource table
Same holding time；Thus in the scheduling process to mobile robot, the node resource table comprising time variable is introduced, is kept away
Exempt to exist together in same time point Liang Ge robots the situation of a node, solved multiple mobile robot in Execution plan path
When path conflict and the problem of collide；It also, in embodiments of the present invention can be real by the maintenance to node resource table
Now to the low consumption of processor resource, there is stronger real-time；In addition, implementation through the embodiment of the present invention, also achieves
To the reasonable distribution of resource so that under the premise of not clashing, efficiently utilize the space resources of closed area and increase
The quantity of concurrent tasks optimizes the conevying efficiency of mobile robot in space.On the other hand, node resource table is being established
In the process, it is contemplated that personalization of multiple respective network transmission delays of mobile robot during actual motion is poor
Different, thus, it is possible to be correspondingly each mobile robot distribution node region according to the network transmission delay of corresponding personalized difference
And holding time, ensure the pinpoint accuracy of node resource table established, and reduce the probability that conflict occurs.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is that the embodiment of the present invention is further understood for providing, and a part for constitution instruction, under
The specific embodiment in face is used to explain the embodiment of the present invention, but do not form the limitation to the embodiment of the present invention together.Attached
In figure：
Fig. 1 is the map of the close quarters of the method for collision management for the multiple mobile robot for implementing one embodiment of the invention
Example；
Fig. 2 is the flow chart of the method for collision management of the multiple mobile robot of one embodiment of the invention；
Fig. 3 is the flow chart about the path planning method for obtaining mobile robot in one embodiment of the invention；
Fig. 4 is the example about the Node distribution table of presumptive area in one embodiment of the invention；
Fig. 5 is the example of the node resource table about 3-D walls and floor；
Fig. 6 is the example of the node resource table of one embodiment of the invention；
Fig. 7 is that the specific of the S204 in the method for collision management of multiple mobile robot shown in Fig. 2 performs flow diagram；
Fig. 8 is the structure diagram of the conflict managementsystem of the multiple mobile robot of one embodiment of the invention.
Reference sign
A1, A0 mobile robot B1, B2 barrier
The control of N1, N2 node 805 occupies unit
80 conflict managementsystem, 801 initial information acquiring unit
802 path segments division unit, 803 state transit time determination unit
804 node resource tables establish unit
Specific embodiment
The specific embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to restrict the invention embodiment.
As shown in Figure 1, the close quarters of the method for collision management in the multiple mobile robot for implementing one embodiment of the invention
Map in be labelled with multiple barrier B1, B2 etc., multiple mobile robots A0, A1 etc. and multiple node region N1, N2
Deng.Wherein, which can be that institute as needed is scheduled, such as it can refer to the region in warehouse, multiple
Mobile robot A0, A1 can refer to multiple merchandising machine people and be moved by the operation of mobile robot A0, A1,
It can realize and transport goods, but when multiple merchandising machine people run simultaneously, may result in conflict.Wherein, it is different
The size of node region N1, N2 can be equal, can pass through and institute's shape is divided to the map making equal proportions of close quarters
Into.It should be noted that the method for collision management of the embodiment of the present invention can be by managing multiple mobile robot concentratedly
Performed by server.
As shown in Fig. 2, the method for collision management of the multiple mobile robot of one embodiment of the invention includes：
S201, the respective current location of the multiple mobile robots of acquisition and path planning, wherein path planning can be got around
Barrier and presumptive area in presumptive area include multiple node regions.
Specifically, the acquisition modes about path planning, can independently be determined by mobile robot, and by its upload
To server or server by calculating, and above belong in protection scope of the present invention.
A kind of preferred embodiment of the acquisition modes about path planning, the embodiment of the present invention are illustrated that referring to Fig. 3
In mobile robot can be AGV (Automated Guided Vehicle laser navigations vehicle), the wherein acquisition methods
Including：S301, server can send traffic order to each mobile robot, and wherein traffic order includes each mobile machine
The destination node area information of people.S302, after each mobile robot receives respective traffic order, can be according to each
From destination node area information and pass through A* algorithms and calculate respectively path planning.S303, each mobile robot
It can will calculate obtained respective path planning and be sent to server.It is got transmitted by each mobile robot in server
Path planning after, corresponding subsequent processing can be performed, with ensure in mobile robot during Execution plan path
Path conflict will not occur.As an example, there can be multiple node regions for being respectively provided with unique node ID on map
(such as 0,1 ... No. 99 node region in the Node distribution table shown in Fig. 4 about close quarters), mobile robot A0 is connecing
After receiving traffic order, need to reach No. 31 destination node regions from the node region of current location 73, move machine at this time
People A0 can calculate the shortest path for reaching No. 31 destination node regions by A* algorithms, thus ensure that mobile robot A0 can be fast
Speed reaches destination node region.But there is no other mobile robot examples considered in current spatial in calculating at this moment
Operation such as A1 is moved, and also only can take into account static barrier node, and in the mobile process of mobile robot A0 operations
In, other mobile robots such as A1 in space is barrier relative to this mobile robot A0, it is therefore desirable to be taken
Anti-collision measure prevents from bumping against to avoid other mobile robots.It, specifically will be under about the details of the conflict management measure
It is unfolded in text.
S202, the respective network transmission delay of multiple mobile robots is determined.
In embodiments of the present invention, the realization of the network transmission delay between mobile robot and server should not be limited to
Mode.Illustratively, can be mobile robot run it is mobile during, actively can report position to server communication
Information, such as when server is communicated every time with mobile robot, there is the timestamp information of both sides in communication protocol, this
A timestamp is a standard letter, such as according to Greenwich Mean Time.So timestamp and currently running clothes by receiving
The time of business device system compares, it is possible to obtain time difference δ t, and be based further on time difference δ t and be assured that network
Transmission delay.
Specifically, during data communicate, mobile robot and server system communication protocol include sending time
Parameter, mobile robot are t+t0 at the time of sending out data, and system is t+t1 at the time of receiving mobile robot, is pressed if
It carries out calculating the situation that can lead to data inaccuracy and conflict occur according to this t+t1.Due to the data processing of computer in itself and
The time is calculated all in Microsecond grade, can be ignored.So the delay time δ t of network are t1-t0.
S203, node resource is established according to the delay of the current location of multiple mobile robots, path planning and network transmission
Record has the correspondence between mobile robot ID, node region ID and holding time three in table, wherein node resource table,
And both arbitrary in multiple mobile robot ID do not corresponded to jointly in node resource table it is same under same node region ID
One holding time.
In embodiments of the present invention, be managed node region as a kind of assignable resource, and introduce about
The holding time of node region is maintained as variable, as shown in figure 5, in coordinate, x, y-axis represent two-dimentional empty respectively
Between middle position, and z-axis be time coordinate.Over time, can shifting be calculated according to the path planning of mobile robot
The three-dimensional coordinate of mobile robot at a time, for example, can be shown in Fig. 5 3-D walls and floor on show mobile robot
From current location, node region S runs to track and the coordinate that destination node region T is inscribed when each.Specifically, due to moving
To leave some node be a process to mobile robot from entering, and a period of time is needed to carry out, such as holding time can be
With a certain number of unit interval, therefore the holding time in node resource table can refer to the period.As above, it is moving
Mobile robot A0 can independently get around static obstacle from during current location node region S runs to destination node region T
Object, but can not eliminate and conflict with the collision between other running mobile robots；For this purpose, an embodiment of the present invention provides
A kind of node resource table has recorded the correspondence between mobile robot ID, node region ID and holding time three, and
And both arbitrary in multiple mobile robot ID do not corresponded to jointly in node resource table it is same under same node region ID
Holding time.It is understood that each mobile robot can be configured with unique mobile robot ID (such as 10A,
10B, 10C etc.) and each node region can also be configured with unique node region ID (as shown in Figure 4).Its
In, mobile robot can be arranged to only from the allocated node region pass through, specifically, can be mobile robot
Have from server receive the instruction about the node region of next distribution when, can just perform movement, that is, make it possible to from
Master ga(u)ge has pulled operating path.
About the foundation of node resource table, can be respectively determining first movement robot and the second mobile robot in list
The unit distance that can be moved through in the time of position；According to the respective current location of first movement robot and the second robot,
Network transmission delay, unit distance, the size of path planning and node region distribute multiple first for first movement robot
Node region and corresponding first holding time and distribute multiple second node regions and corresponding for the second mobile robot
Second holding time；And when identical with one of second node region there are one of first node region, judge
The first holding time corresponding to one of first node region is accounted for second corresponding to one of second node region
With the time with the presence or absence of coincidence；If so, it is conflicting nodes region that label, which has the one of second node region overlapped, and
It is again the second mobile robot distribution node region ID and corresponding holding time in node resource table, for example, it may be
It is the previous node area relative to conflicting nodes region on the path planning of the second mobile robot in node resource table
Domain additional allocation holding time, to extend residence time of second mobile robot in previous node region, wherein, it stops
Time is not less than its time by conflicting nodes region distributed by first movement robot, to ensure first movement machine
People and the second mobile robot will not appear in same node region in the same time.Thereby, it is possible to realize multiple mobile machines
Arbitrary the two in people ID, does not correspond to the same holding time under same node region ID jointly in node resource table.
About the method for determination of unit distance, more specifically, on the one hand, can be that server can be by each movement
The historical position changes in coordinates of robot, calculate mobile robot within the unit interval by distance, determine therefrom that mobile speed
Degree (movement speed of each mobile robot can be different)；On the other hand or server passes through to mobile robot
Power property arguments, closed area environmental parameter carried out determined by comprehensive analysis, such as the movement when selected same model
During robot, it can be that multiple robot selectes identical movement speed v, can thus calculate in a chronomere
tx, mobile robot by distance be：
S(Nx)=v*tx
Further, the position of all mobile robots node region residing at any time, example can be calculated
Can be it one such as when the displacement distance of the first movement robot A1 in the unit interval is just a node region
A unit interval distribution next node region and corresponding holding time can be that a unit interval or other times are long
The occupancy of degree.Wherein, under normal circumstances, it is only necessary to which a list is distributed in the next node region for first movement robot A1
The position time, but there may be the situations of special path conflict.For example, it is the second movement machine equally using aforesaid way
People A0 distribution nodes region and holding time, but there may be first movement robot A1 and the second mobile robot A0 same
The holding time of sample occupies the situation of same node region and when detecting such happen, and determines at this time
There is conflict or the risk bumped against in path planning, should be the second mobile robot A0 distribution nodes for finding resource contention again
Region ID and corresponding holding time, to be adjusted to the second mobile robot A0 path plannings, to avoid conflict.
As shown in Fig. 6 the example of the node resource table of one embodiment of the invention is that node resource table carries out dimensionality reduction
It is obtained as a result, it illustratively illustrates 0 time mobile machine for being located at No. 73 node regions of current time after processing
0 time movement for being located at No. 55 nodes of resource allocation conditions and current time of the node of target area 31 is gone in people A0 planning
Robot A1 plans the resource allocation conditions for going to No. 19 nodes of destination node.As can be seen from Figure 6 come, each node ID pair
All it is unique in the resource of some time, can be identified by Hash table, such as No. 73 section that holding time is 1
Point region and No. 73 node regions that holding time is 2 are exactly different resources.Also, between different mobile robots
The resource that (such as A0 and A1) is distributed does not have what is overlapped, that is, arbitrary the two in multiple mobile robot ID is provided in node
The same holding time under same node region ID is not corresponded in the table of source jointly.
S204, the multiple mobile robots of control are respectively according to corresponding to mobile robot ID respective in node resource table
Holding time occupies the node region of corresponding node region ID.
As an example, can be that server sends control command to mobile robot, mobile robot is receiving the control
After system order, when the node region information for being matched with node resource table and corresponding occupancy can be parsed from control command
Between information.Further, at Execution plan path after mobile robot, mobile robot is needed in the occupancy parsed
Between occupy corresponding node region.
It is emphasized that in this application, the biography of all mobile robots is coped with before system call mobile robot
Defeated delay is calibrated, and purpose during school is to ensure that the fiducial time of the fiducial time of mobile robot and system keep one
It causes and can synchronize and delay below calculates.In addition, when node resource distribution is established, discounting for network transmission
Delay, and in the case where network transmission delay is larger, may result in conflict management failure.For example, mobile robot
It is at the uniform velocity advanced with 1m/s, node size is 1 meter, and, using 1 second as basic time unit, the path planning of mobile robot is for we
“1->2->3->4”.So theoretically mobile robot the 0th second in No. 1 node region, the 1st second in No. 2 node regions, the 2nd second
In No. 3 node regions, the 3rd second in No. 4 node regions.But if when the position data received by server has delay,
But if having be delayed for 1 second, server can be caused to think the mobile robot at the 2nd second in No. 2 node regions so that even if mobile
Robot operation such as prediction can also be regarded as mobile failure by server, and be mistaken for the predicted with us the 2nd second
It is inconsistent in No. 3 nodes, further influence whether other mobile robots, such as another mobile robot calculated
Conflict is generated within 2 seconds between the data of No. 2 nodes, but is actually because node resource table caused by network delay fails.
Correspondingly, in embodiments of the present invention, when node resource table is established, just consider that the initial position institute of mobile robot is right
Network transmission is answered to be delayed, the interference that this factor calculates node resource meter is eliminated, has ensured the high precision of node resource table
Degree, reduces the probability clashed between robot.
But present inventor has found during the application is put into practice：Not only different mobile robots and clothes
Transmission delay between business device can be different, and for same mobile robot corresponding to the different moments in Execution plan path
Network transmission delay be also possible to can due to various reasons and cause with its in initial position network transmission delay differ,
Even difference is very big sometimes.In one case, it can cause the operation of practical mobile robot will not also can not be according to node
Resource table operates, and leads to the distribution failure of node resource table, is just had at this time to node resource indicator to mobile robot reality
The process of operation is made adjustment, to solve the problems, such as the distribution failure of node resource table.
In view of this, as Fig. 7 shows the method for collision management of the multiple mobile robot of another embodiment of the present invention, packet
It includes：
S701, the respective current location of the multiple mobile robots of acquisition and path planning, wherein path planning can be got around
Barrier and presumptive area in presumptive area include multiple node regions；
S702, the respective network transmission delay of multiple mobile robots is determined；
S703, node resource is established according to the delay of the current location of multiple mobile robots, path planning and network transmission
Record has the correspondence between mobile robot ID, node region ID and holding time three in table, wherein node resource table,
And arbitrary the two in multiple mobile robot ID does not correspond in the node resource table under same node region ID jointly
Same holding time；And
S704, the multiple mobile robots of control are respectively according to corresponding to mobile robot ID respective in node resource table
Holding time occupies the node region of corresponding node region ID.
S705, each comfortable network transmission delay performed when occupying node region of multiple mobile robots is determined in real time.
Method of determination about network transmission delay has been described above in foregoing embodiments, does not just repeat herein.Specifically,
Determining realization method can be the determining step for implementing network transmission delay according to predetermined period in real time.
S706, be delayed based on the network transmission that determines in real time, dynamic adjust in node resource table about mobile machine
Correspondence between people ID, node region ID and holding time three.
The description of embodiment as shown in Figure 1 is referred to about S701-S704, is not just repeated herein.And correspondingly, lead to
S705-S706 is crossed, is realized in mobile robot during execution route, real-time update determines that network transmission is delayed, and base
The resource allocation conditions of the node holding time in resource allocation table are updated in the network delay of real-time update, are thus ensured
The resource allocation conditions of resource allocation table and the practical consistency moved of mobile robot, improve established resource allocation table
Accuracy, reduce the probability clashed.
As shown in figure 8, the conflict managementsystem 80 of the multiple mobile robot of one embodiment of the invention includes：Initial information obtains
Unit 801 is taken, for obtaining the respective current location of multiple mobile robots and path planning, wherein the path planning can
The barrier and the presumptive area got around in presumptive area includes multiple node regions；Transmission delay determination unit 802,
For determining the respective network transmission delay of the multiple mobile robot；Node resource table establishes unit 803, for according to institute
Node resource table is established in current location, the path planning and the network transmission delay for stating multiple mobile robots, wherein
Record has the correspondence between mobile robot ID, node region ID and holding time three in the node resource table, with
And arbitrary the two in multiple mobile robot ID does not correspond to same node region ID jointly in the node resource table
Under same holding time；And control occupies unit 804, for controlling the multiple mobile robot respectively according to the section
Holding time in point resource table corresponding to respective mobile robot ID occupies the node region of corresponding node region ID.
In some embodiments, which further includes：Real-time update delay unit determines the multiple moving machine in real time
Each comfortable network transmission delay performed when occupying node region of device people；And dynamic resource adjustment unit, it is real for being based on
When determine the network transmission delay, dynamically adjust in the node resource table about mobile robot ID, node region
The correspondence between ID and holding time three.
In some embodiments, the node resource table is established unit 803 and is included：Unit distance determining module, is used for
First movement robot and the unit distance that the second mobile robot can be moved through within the unit interval are determined respectively；It occupies
Time distribution module, for according to the respective current location of the first movement robot and second robot, the net
Network transmission delay, the unit distance, the size of the path planning and the node region are the first movement machine
People distributes multiple first node regions and corresponding first holding time and for second mobile robot distribution multiple the
Two node regions and corresponding second holding time；Conflict judgment module, for when there are first node areas one of them described
Domain is with when second node region is identical one of them described, judging that first corresponding to one of first node region accounts for
It whether there is with the time with the second holding time corresponding to one of second node region and overlap；Conflict solving mould
Block, for if so, label is described to have the one of second node region overlapped for conflicting nodes region, and in institute
State in node resource table is the second mobile robot distribution node region ID and corresponding holding time again.
In some embodiments, the conflict-solving module is used in the node resource table be relative to the punching
Prominent previous node region additional allocation holding time of the node region on the path planning of second mobile robot, with
Extend residence time of second mobile robot in the previous node region, wherein, the residence time is not small
In its time by the conflicting nodes region distributed by the first movement robot.
In some embodiments, the initial information acquiring unit includes：Traffic order sending module, for each
The mobile robot sends traffic order, wherein the destination node region that the traffic order includes each mobile robot is believed
Breath；Path planning acquisition module, in response to the traffic order, path planning to be received from the multiple mobile robot,
Wherein described path planning according to respective destination node area information and passes through A* algorithm meters for each mobile robot
Determined by calculation.
The system of the embodiments of the present invention can be used for performing corresponding embodiment of the method in the present invention, and accordingly reach
The technique effect that the invention described above embodiment of the method is reached, which is not described herein again.
Can correlation function mould be realized by hardware processor (hardware processor) in the embodiment of the present invention
Block.
On the other hand, the embodiment of the present invention provides a kind of storage medium, is stored thereon with computer program, which is located
Manage the step of device performs the as above method for collision management of the multiple mobile robot performed by server.
The said goods can perform the method that the embodiment of the present application is provided, and has the corresponding function module of execution method and has
Beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present application is provided.
The optional embodiment of the embodiment of the present invention is described in detail above in association with attached drawing, still, the embodiment of the present invention is simultaneously
The detail being not limited in the above embodiment, can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various combinations of possible ways no longer separately illustrate.
It will be appreciated by those skilled in the art that all or part of the steps of the method in the foregoing embodiments are can to pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, is used including some instructions so that single
Piece machine, chip or processor (processor) perform all or part of step of each embodiment the method for the application.It is and preceding
The storage medium stated includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic disc or CD.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of method for collision management of multiple mobile robot, including：
The respective current location of multiple mobile robots and path planning are obtained, wherein the path planning can get around fate
Barrier and the presumptive area in domain include multiple node regions；
Determine the respective network transmission delay of the multiple mobile robot；
Node money is established according to the delay of the current location of the multiple mobile robot, the path planning and the network transmission
Source table, wherein record has pair between mobile robot ID, node region ID and holding time three in the node resource table
Should be related to and multiple mobile robot ID in both arbitrary do not correspond to same section jointly in the node resource table
Same holding time under point region ID；And
Control the multiple mobile robot respectively according to corresponding to respective mobile robot ID in the node resource table
Holding time occupies the node region of corresponding node region ID.
2. according to the method described in claim 1, it is characterized in that, the multiple mobile robot of the control respectively according to
Holding time in the node resource table corresponding to respective mobile robot ID occupies the node of corresponding node region ID
After region, this method further includes：
Each comfortable network transmission delay performed when occupying node region of the multiple mobile robot is determined in real time；And
Be delayed based on the network transmission that determines in real time, dynamically adjust in the node resource table about mobile robot
The correspondence between ID, node region ID and holding time three.
3. the according to the method described in claim 1, it is characterized in that, present bit according to the multiple mobile robot
It puts, the delay of the path planning and the network transmission is established node resource table and included：
First movement robot and the unit distance that the second mobile robot can be moved through within the unit interval are determined respectively；
According to the respective current location of the first movement robot and second robot, network transmission delay, institute
The size of unit distance, the path planning and the node region is stated, for first movement robot distribution multiple the
One node region and corresponding first holding time and for second mobile robot distribute multiple second node regions and
Corresponding second holding time；And
When there are first node region one of them described with second node region is identical one of them described when, judge it is described its
In the first holding time corresponding to a first node region and second corresponding to one of second node region
Holding time is with the presence or absence of coincidence；
If so, the label one of second node region that there is coincidence is conflicting nodes region, and described
It is the second mobile robot distribution node region ID and corresponding holding time again in node resource table.
4. according to the method described in claim 3, it is characterized in that, described is the second mobile robot distribution node again
Region ID and corresponding holding time include：
In the node resource table be relative to the conflicting nodes region second mobile robot path planning
On previous node region additional allocation holding time, to extend second mobile robot in the previous node area
Residence time in domain,
Wherein, the residence time is not less than that it passes through the conflicting nodes region by the first movement robot distributes
Time.
5. according to the method described in claim 1, it is characterized in that, described obtain multiple respective current locations of mobile robot
Include with path planning：
Traffic order is sent to each mobile robot, wherein the traffic order includes the target of each mobile robot
Node region information；
In response to the traffic order, path planning is received from the multiple mobile robot, wherein the path planning is each
A mobile robot according to respective destination node area information and pass through A* algorithms calculate determined by.
6. a kind of conflict managementsystem of multiple mobile robot, including：
Initial information acquiring unit, for obtaining the respective current location of multiple mobile robots and path planning, wherein described
Path planning can get around barrier in presumptive area and the presumptive area includes multiple node regions；
Transmission delay determination unit, for determining the respective network transmission delay of the multiple mobile robot；
Node resource table establishes unit, for current location, the path planning and the institute according to the multiple mobile robot
It states network transmission delay and establishes node resource table, wherein record has mobile robot ID, node region in the node resource table
Arbitrary the two in correspondence and multiple mobile robot ID between ID and holding time three is in the node
The same holding time under same node region ID is not corresponded in resource table jointly；And
Control occupies unit, for controlling the multiple mobile robot respectively according to respective movement in the node resource table
Holding time corresponding to robot ID occupies the node region of corresponding node region ID.
7. system according to claim 6, which is characterized in that the system further includes：
Real-time update delay unit determines each comfortable network performed when occupying node region of the multiple mobile robot in real time
Transmission delay；And
Dynamic resource adjustment unit for being delayed based on the network transmission determined in real time, dynamically adjusts the node money
In the table of source about the correspondence between mobile robot ID, node region ID and holding time three.
8. system according to claim 6, which is characterized in that the node resource table is established unit and included：
Unit distance determining module, for determining first movement robot and the second mobile robot energy within the unit interval respectively
The unit distance being enough moved through；
Holding time distribution module, for according to the first movement robot and the respective present bit of the second robot
Put, network transmission delay, the unit distance, the path planning and the node region size, be described the
One mobile robot distributes multiple first node regions and corresponding first holding time and is second mobile robot
Distribute multiple second node regions and corresponding second holding time；
Conflict judgment module, for when there are first node regions one of them described and one of them described second node region
When identical, the first holding time corresponding to one of first node region and one of second node are judged
The second holding time corresponding to region is with the presence or absence of coincidence；
Conflict-solving module, for if so, label is described to have the one of second node region overlapped for conflict
Node region, and again the second mobile robot distribution node region ID and to account for accordingly in the node resource table
Use the time.
9. system according to claim 8, which is characterized in that the conflict-solving module is used in the node resource table
In for previous node region volume relative to the conflicting nodes region on the path planning of second mobile robot
Outer distribution holding time, to extend residence time of second mobile robot in the previous node region, wherein,
The residence time is not less than its time by the conflicting nodes region distributed by the first movement robot.
10. system according to claim 6, which is characterized in that the initial information acquiring unit includes：
Traffic order sending module, for sending traffic order to each mobile robot, wherein the traffic order packet
Destination node area information containing each mobile robot；
Path planning acquisition module, in response to the traffic order, path planning to be received from the multiple mobile robot,
Wherein described path planning according to respective destination node area information and passes through A* algorithm meters for each mobile robot
Determined by calculation.
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| CN201810055310.1A CN108268037B (en) | 2018-01-19 | 2018-01-19 | Conflict management method and system for multiple mobile robots |
| PCT/CN2019/072266 WO2019141225A1 (en) | 2018-01-19 | 2019-01-18 | Conflict management method and system for multiple mobile robots |
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| CN201810055310.1A CN108268037B (en) | 2018-01-19 | 2018-01-19 | Conflict management method and system for multiple mobile robots |
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| CN108268037B (en) | 2021-05-07 |
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