CN109991977A - The paths planning method and device of robot - Google Patents
The paths planning method and device of robot Download PDFInfo
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- CN109991977A CN109991977A CN201910162350.0A CN201910162350A CN109991977A CN 109991977 A CN109991977 A CN 109991977A CN 201910162350 A CN201910162350 A CN 201910162350A CN 109991977 A CN109991977 A CN 109991977A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 238000004590 computer program Methods 0.000 claims description 19
- 238000003860 storage Methods 0.000 claims description 13
- 230000007717 exclusion Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 7
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- 238000005516 engineering process Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
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- 238000005204 segregation Methods 0.000 description 2
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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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The embodiment of the invention discloses a kind of paths planning method of robot and devices, this method comprises: receiving waiting task, the operating path of target robot is determined based on the beginning and end in the waiting task；The direction that its operating path is determined according to the direction of motion of the target robot, the direction based on the operating path carry out collision detection to the operating path of at least two target robots；When the operating path of at least two target robots has conflict, the operating path of at least two target robot is planned again according to preset path planning strategy.By the above method, path direction is accounted for when carrying out path planning to robot, the detection time of robot operation conflict and abundant path planning scheme can be reduced, improve the operational efficiency of system.
Description
Technical field
The present invention relates to the paths planning methods and device of navigation and control technology field more particularly to a kind of robot.
Background technique
With the development and progress of science and technology, intelligent robot using more and more extensive.Multi-robot system can be more preferable
Information and resource-sharing are realized in ground, have higher concurrency and robustness, can complete more complicated task, be answered
It uses intelligent production, exploring unknown environments, carry in the multiple fields such as cleaning, service industry, search search and rescue, telecommunication, tool
Standby good practical value.When multirobot work compound, how the operating path of planning for multi-robot to avoid conflict at
For everybody focus of attention.
Currently, the industry that logistics, storage etc. are related to article circulation gradually starts using multiple automated guided vehicles
(Automated Guided Vehicle, AGV) carries out work compound.With the increase of AGV quantity, it is easy to happen and such as touches
Hit, deadlock situations such as, once occur such situation will result directly in logistics turnover paralysis.
Traditional AGV scheduling system uses unidirectional path network topology, and the possibility of congestion, deadlock occurs in the system that can reduce
Property.But due to the fixation of path direction, increase AGV operating range, cause the flexibility of system and the robustness of troubleshooting
It is not high, and reduce the working efficiency of AGV.
Summary of the invention
The embodiment of the present invention provides the paths planning method and device of a kind of robot, can enrich the path rule of robot
Scribing line road, improves running efficiency of system.
A kind of paths planning method of robot, comprising:
Waiting task is received, the operation road of target robot is determined based on the beginning and end in the waiting task
Diameter；
The direction that its operating path is determined according to the direction of motion of the target robot, the side based on the operating path
Collision detection is carried out to the operating path at least two target robots；
When the operating path of at least two target robots has conflict, planned again according to preset path planning strategy
The operating path of at least two target robot.
Optionally, the reception waiting task in one of the embodiments, based on rising in the waiting task
Point and terminal determine the operating path of target robot, comprising:
Read the origin information and endpoint information in the waiting task；
The beginning and end that target robot is determined according to the origin information and endpoint information, from default map datum
Choose operating path of the preset path as the target robot Jing Guo the beginning and end.
Optionally, in one of the embodiments, the direction based on the operating path at least two target machines
The operating path of device people carries out collision detection, comprising:
The node that the operating path of at least two target robot is passed through is obtained, according to the node division path
Section；
Successively two endpoints of more each route segment and the direction of route segment；
When two endpoints at least two route segments occur are identical and contrary, it is judged as the fortune of target robot
There is conflict in walking along the street diameter.
Optionally, described when the operating path of at least two target robots has conflict in one of the embodiments,
When, plan the operating path of at least two target robot again according to preset path planning strategy, comprising:
Determine the conflict route segment of the operating path of at least two target robot；
The distance length for reaching the conflict route segment is calculated along the operating path of each target robot；
When the distance length is greater than preset length value, the operating path of the target robot is updated for described in arrival
The path of conflict route segment.
Optionally, in one of the embodiments, the method also includes:
Determine the conflict route segment of the operating path of at least two target robot；
The distance length for reaching the conflict route segment is calculated along the operating path of each target robot；
When the distance length is less than or equal to preset length value, is planned again for the target robot and exclude the punching
The operating path of prominent route segment.
Optionally, described plan again for the target robot excludes the conflict road in one of the embodiments,
The operating path of diameter section, comprising:
According to the beginning and end for the waiting task that the target robot needs to be implemented, selected from default map datum
Take out by the beginning and end and exclude the preset path of the conflict route segment, the fortune as the target robot
Walking along the street diameter.
Optionally, include: in one of the embodiments,
When target robot brings into operation, the target robot and its operating path are bound, to occupy
State operating path；
When the target robot leaves operating path, the operating path is discharged.
A kind of path planning apparatus of robot, comprising:
Path determination module is determined for receiving waiting task based on the beginning and end in the waiting task
The operating path of target robot；
Collision detection module, for determining the direction of its operating path, base according to the direction of motion of the target robot
In the direction of the operating path, the operating path at least two target robots carries out collision detection；
Path planning module, when there is conflict for the operating path when at least two target robots, according to default road
Diameter planning strategy plans the operating path of at least two target robot again.
A kind of terminal, including memory and processor store computer program, the computer journey in the memory
When sequence is executed by the processor, so that the step of processor executes above-mentioned method.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
The step of above-mentioned method is realized when row.
Implement the embodiment of the present invention, will have the following beneficial effects:
The paths planning method and device of above-mentioned robot are based on the waiting task by receiving waiting task
In beginning and end determine the operating path of target robot, its operation is determined according to the direction of motion of the target robot
The direction in path, the direction based on the operating path carry out collision detection to the operating path of at least two target robots,
When at least two target robots operating path exist conflict when, plan again according to preset path planning strategy described at least
The operating path of two target robots.By the above method, path direction is included in when carrying out path planning to robot
Consider, the detection time of robot operation conflict and abundant path planning scheme can be reduced, improves the operation effect of system
Rate.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Wherein:
Fig. 1 is the flow chart of the paths planning method of robot in one embodiment；
Fig. 2 is the flow chart of the paths planning method of robot in another embodiment；
Fig. 3 is the flow chart of the paths planning method of robot in another embodiment；
Fig. 4 is the flow chart of the paths planning method of robot in another embodiment；
Fig. 5 is the flow diagram of the paths planning method of AGV in one embodiment；
Fig. 6 is the running track schematic diagram of AGV in one embodiment；
Fig. 7 is the structural block diagram of the path planning apparatus of robot in one embodiment；
Fig. 8 is the schematic diagram of internal structure of terminal in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that limitation the application.It is appreciated that term " first " used in this application, " second "
Etc. can be used to describe various elements herein, but these elements should not be limited by these terms.These terms are only used to by first
A element and another element are distinguished.For example, in the case where not departing from scope of the present application, journey can be applied by first
Sequence is known as the second application program, and similarly, can by second into application program be the first application program.First application program and
Two application programs both application program, but it is not same application.
Fig. 1 is the flow chart of the paths planning method of robot in one embodiment.The road of robot in the present embodiment
Diameter planing method can be applied to logistics, storage sector, realizes robot alone or work compound is to complete to remove cargo
Fortune.Specifically, robot can be automated guided vehicle/automatic guided vehicle (Automated Guided Vehicle,
AGV), automated guided vehicle refers to magnetically or optically waiting homing guidances device equipped with electricity, can be along defined guide path
Traveling, the transport vehicle with safeguard protection and various transfer functions.Optionally, the quantity of robot can be one or more
A, the type of robot can be same type or different type.The paths planning method of robot provided in this embodiment, energy
The path planning route of enough abundant robot, improves running efficiency of system.As shown in Figure 1, the paths planning method packet of robot
Include 102~step 106 of following steps:
Step 102: receiving waiting task, target robot is determined based on the beginning and end in the waiting task
Operating path.
Wherein, waiting task refers to task of robot processing is waited in system, such as warehouse is medium to be handled
Cargo；Target robot can be understood as the robot that the waiting task can be performed in system.In waiting task comprising to
The beginning and end for transporting object, the operating path of target robot is determined according to the beginning and end of object to be transported, the fortune
Walking along the street diameter refers to target robot from the starting point of object to be transported to the walking path of task terminal.Optionally, based on wait locate
The operating path that beginning and end in reason task determines can have a plurality of, which can choose from fixed route.
Optionally, shortest path can be generated according to the starting point of waiting task, terminal.
Specifically, by reading origin information and endpoint information in the waiting task, according to the origin information
The beginning and end that target robot is determined with endpoint information is chosen from default map datum by the beginning and end
Operating path of the preset path as the target robot.
Step 104: determining the direction of its operating path according to the direction of motion of the target robot, be based on the operation
The direction in path carries out collision detection to the operating path of at least two target robots.
Collision detection is carried out to the operating path of target robot, whether detect on the operating path of the target robot has
Conflict point, conflict point can be understood as the operating path of other robots in the operating path and dispatcher-controlled territory of the target robot
The part of coincidence.Wherein each operating path can be multiple route segments according to the node division of process, can be by comparing every
To determine whether there is conflict in the endpoint and traffic direction of a route segment.
The direction of its operating path can be determined according to the direction of motion of target robot, specifically, target robot is real
When communicated with master control system, report real time position and posture information, such as target robot that can use TCP/IP communication
Mode is communicated with master control system.Further, system is based on the direction of operating path to the target machine in dispatcher-controlled territory
People carries out collision detection, it is to be understood that the quantity of the target robot in dispatcher-controlled territory is at least two.
If the operating path of at least two target robots has conflict in dispatcher-controlled territory, 106 are thened follow the steps.
Step 106: when the operating path of at least two target robots has conflict, according to preset path planning strategy
Again the operating path of at least two target robot is planned.
When the operating path of at least two target robots has conflict, again according to preset path planning strategy at this time
The operating path of at least two target robot is planned, specifically, determining the operation of at least two target robot
The conflict route segment in path calculates the distance for reaching the conflict route segment along the operating path of each target robot
Degree, judges that target robot is run to whether the distance length of the conflict route segment is greater than preset length value；If so, updating institute
The operating path for stating target robot is the path for reaching the conflict route segment；If it is not, then again for the target robot
Planning excludes the operating path of the conflict route segment.
The paths planning method of above-mentioned robot, by receiving waiting task, based on rising in the waiting task
Point and terminal determine the operating path of target robot, determine its operating path according to the direction of motion of the target robot
Direction, the direction based on the operating path carries out collision detection to the operating path of at least two target robots, when at least
When the operating path of two target robots has conflict, at least two mesh is planned according to preset path planning strategy again
The operating path of scalar robot.By the above method, path direction is accounted for when carrying out path planning to robot, energy
The detection time of robot operation conflict and abundant path planning scheme are enough reduced, the operational efficiency of system is improved.
As shown in Fig. 2, in one embodiment, the reception waiting task, based on rising in the waiting task
Point and terminal determine the operating path of target robot namely the further comprising the steps of 202~step 204 of step 102:
Step 202: reading the origin information and endpoint information in the waiting task.
Waiting task is distributed to target robot, can be the corresponding execution one to be processed of a target robot
Business, is also possible to multiple robot work compounds, executes waiting task jointly.It is understood that any can be used
The robot task distribution method that field uses to distribute task to target robot.
Further, the origin information and endpoint information in waiting task are read, origin information illustrates goods to be transported
The start position of object, endpoint information illustrate the final position of cargo to be transported.
Step 204: the beginning and end of target robot is determined according to the origin information and endpoint information, from defaultly
Operating path of the preset path as the target robot Jing Guo the beginning and end is chosen in diagram data.
Specifically, after the beginning and end for obtaining waiting task, it can be by segregation reasons mode to target machine
People carries out path planning, and the preset path Jing Guo the beginning and end is chosen from default map datum as the target machine
The operating path of device people.Optionally, shortest path can be generated according to the starting point of task, terminal, to reduce target robot
Runing time promotes working efficiency.
As shown in figure 3, in one embodiment, the direction based on the operating path is at least two target robots
Operating path carries out collision detection, includes the following steps 302~step 306:
Step 302: the node that the operating path of at least two target robot is passed through is obtained, according to the node
Divide route segment.
Specifically, multiple nodes are equipped in the operating path of target robot, it can be to operating path by the node
Route segment is divided, every two adjacent node can form a route segment, and optionally, each route segment can be straight line or song
Line.Optionally, the quantity of node can be set according to demand.
Step 304: successively two endpoints of more each route segment and the direction of route segment.
Specifically, route segment all in the operating path of target robot is obtained, by different target machine in dispatcher-controlled territory
Route segment between device people is compared, successively the direction of the two of more each route segment endpoint and route segment.For example, the
The operating path of one robot includes A route segment, B path section, C route segment, and the operating path of the second robot includes the path D
Section, E route segment, F route segment, system compare A route segment with D route segment, E route segment, F route segment respectively, then by the road B
Diameter section is compared with D route segment, E route segment, F route segment respectively, then by C route segment respectively with D route segment, E route segment, F
Route segment compares, and has the route segment to conflict to filter out the first robot with the second robot.
Step 306: when two endpoints at least two route segments occur are identical and contrary, being judged as target machine
There is conflict in the operating path of device people.
Specifically, path is by Bian Dingyi, while being determined by two points.If two endpoints of two route segments are identical, this
Two path segments are same path, the direction of motion of target robot are judged at this time, if the movement side of two target robots
To identical, then do not conflict；If two target robots the direction of motion on the contrary, if two target robots there is conflict.
The present embodiment accounts for the direction of operating path, during judging path with the presence or absence of conflict, if extremely
The direction of motion of few two target robots is identical, and current path can be run, so that target robot may be implemented front and back and follow
Operation, reduces the robot waiting time occupied because of road, improves the working efficiency of system.
As shown in figure 4, in one embodiment, when there is conflict in the operating path of at least two target robots, root
Plan the operating path of at least two target robot again according to preset path planning strategy namely step 106 include with
Lower step 402~step 408:
Step 402: determining the conflict route segment of the operating path of at least two target robot.
When the operating path of at least two target robots has conflict, need to plan road again to target robot
Diameter determines the conflict route segment of the operating path of few two target robots according to collision detection result at this time.Conflict route segment
It is identical for endpoint, the opposite route segment of path direction.
Step 404: the distance length for reaching the conflict route segment is calculated along the operating path of each target robot.
The distance length of the conflict route segment is reached by calculating, to judge necessity of the operation by current path,
If target robot, apart from long enough, controls target robot and runs to the conflict route segment apart from the conflict route segment；
If distance of the target robot apart from the conflict route segment is too short, removing has the route segment of conflict planning path again；It can be with
The waiting time for saving target robot, the operational efficiency of system can be increased；
Step 406: when the distance length is greater than preset length value, the operating path for updating the target robot is
Reach the path of the conflict route segment.
Step 408: being the target robot row of planning again when the distance length is less than or equal to preset length value
Except the operating path of the conflict route segment.
For example, judge that target robot is run to the conflict route segment path segment number to be undergone, if experience
Path segment number is greater than 2, then the operating path for updating the target robot is the path for running to conflict route segment；If experience
Path segment number is less than or equal to 2, then removes all conflict paths planning path again.
In one embodiment, step 408 includes: rising for the waiting task needed to be implemented according to the target robot
Point and terminal select by the beginning and end from default map datum and exclude the default of the conflict route segment
Path, the operating path as the target robot.
As shown in figure 5, for the flow diagram of the paths planning method of AGV in one embodiment, this method comprises:
Step 501: the operating path of offline path planning AGV.
Step 502: the real time position and posture information of remaining AGV are taken, is detected with the presence or absence of conflict between multiple AGV, if
There is conflict to then follow the steps 503；If Lothrus apterus thens follow the steps 506.
Step 503: checking whether the number of passes for reaching nearest conflict point is greater than 2, if so then execute step 505；If not
Then follow the steps 504.
Step 504: removing all conflict paths, and execute step 501 and carry out planning path again.
Step 505: the operating path of more AGV is the path for running to nearest conflict point.
Step 506: updating the occupancy situation of operating path, AGV and all paths to be run are bound, AGV is opened
Begin to run.
Step 507:AGV leaves the path of operation, and binding relationship is released, release way and path direction.
Step 508: judging whether to complete task, then follow the steps 501 if not；If so then execute step 509.
Step 509: setting AGV is in idle condition.
The paths planning method of above-mentioned AGV increases the dimension that path direction occupies on the basis of path allocation, occupying
Degree proposes the scheduling based on path direction distribution, can guarantee more AGV in the case where obstruction, collision does not occur, with compared with
High efficiency operation.
Fig. 6 is the running track schematic diagram of AGV in one embodiment, for example, Fig. 6 show 2 AGV in map
Running track, path in graphs be two-way transitable road.It, i.e., will be through specifically, AGV1 is run in figure when original state
Crossing to road is 7-6-3-2-1.Further, AGV2 brings into operation, and the path that segregation reasons come out is 5-4-3-6-9-10.Into
One step, system starts to calculate AGV2 to conflict with whether AGV1 has, and successively compares the starting point in path, terminal and by path
When direction, judge that 3-6 or 6-3 this paths can have conflict.Further, it calculates and reaches along the operating path of AGV2
Conflict path start node paths traversed item number, reaches conflict path and needs to be not more than 2 by two paths of 5-4-3, that
Then by 3-6, this paths removes the path for searching whether to cook up again from node 5 to node 10 from map, if
It cannot then wait, if it is possible to plan then repeated collisions detecting step.Further, AGV2, AGV2 are handed down in path by system
It brings into operation.
The paths planning method of above-mentioned robot accounts for path direction when carrying out path planning to robot,
The detection time of robot operation conflict and abundant path planning scheme can be reduced, the operational efficiency of system is improved.
It should be understood that although each step in above-mentioned attached drawing is successively shown according to the instruction of arrow, these
Step is not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps are held
There is no stringent sequences to limit for row, these steps can execute in other order.Moreover, at least part in attached drawing walks
It suddenly may include that perhaps these sub-steps of multiple stages or stage have been executed in synchronization to multiple sub-steps
At, but can execute at different times, the execution sequence in these sub-steps or stage, which is also not necessarily, successively to be carried out, and
It is that can be executed in turn or alternately at least part of the sub-step or stage of other steps or other steps.
As shown in fig. 7, in one embodiment, providing a kind of path planning apparatus of robot, which includes road
Diameter determining module 710, collision detection module 720, path planning module 730.
Path determination module 710, it is true based on the beginning and end in the waiting task for receiving waiting task
Set the goal the operating path of robot.
Collision detection module 720, for determining the direction of its operating path according to the direction of motion of the target robot,
Direction based on the operating path carries out collision detection to the operating path of at least two target robots.
Path planning module 730, when there is conflict for the operating path when at least two target robots, according to default
Path Planning plans the operating path of at least two target robot again.
The path planning apparatus of above-mentioned robot, by receiving waiting task, based on rising in the waiting task
Point and terminal determine the operating path of target robot, determine its operating path according to the direction of motion of the target robot
Direction, the direction based on the operating path carries out collision detection to the operating path of at least two target robots, when at least
When the operating path of two target robots has conflict, at least two mesh is planned according to preset path planning strategy again
The operating path of scalar robot.By above-mentioned apparatus, path direction is accounted for when carrying out path planning to robot, energy
The detection time of robot operation conflict and abundant path planning scheme are enough reduced, the operational efficiency of system is improved.
The specific of path planning apparatus about robot limits the path planning that may refer to above for robot
The restriction of method, details are not described herein.Modules in the path planning apparatus of above-mentioned robot can be fully or partially through
Software, hardware and combinations thereof are realized.Above-mentioned each module can be embedded in the form of hardware or independently of the place in computer equipment
It manages in device, can also be stored in a software form in the memory in computer equipment, in order to which processor calls execution or more
The corresponding operation of modules.
The realization of modules in the path planning apparatus of the robot provided in the embodiment of the present application can be computer
The form of program.The computer program can be run in terminal or server.The program module that the computer program is constituted can deposit
Storage is on the memory of terminal or server.When the computer program is executed by processor, realizes and retouched in the embodiment of the present application
The step of paths planning method of the robot stated.
Fig. 8 is the schematic diagram of internal structure of terminal in one embodiment.As shown in figure 8, the terminal includes total by system
Processor, memory and the communication module of line connection.Wherein, for the processor for providing calculating and control ability, support is entire
The operation of terminal.Memory for storing data, program etc., at least one computer program is stored on memory, the computer
Program can be executed by processor, to realize the path planning side of the robot suitable for terminal provided in the embodiment of the present application
Method.Memory may include non-volatile memory medium and built-in storage.Non-volatile memory medium is stored with operating system and meter
Calculation machine program.The computer program can be performed by processor, for realizing a kind of machine provided by following each embodiment
The paths planning method of device people.Built-in storage provides high speed for the operating system computer program in non-volatile memory medium and delays
The running environment deposited.Communication module can be 4G communication module, WiFi communication module or COFDM communication module etc., for
External communications platform is communicated.The terminal can be automated guided vehicle.
It will be understood by those skilled in the art that structure shown in Fig. 8, only part relevant to application scheme is tied
The block diagram of structure, does not constitute the restriction for the terminal being applied thereon to application scheme, and specific terminal may include than figure
Shown in more or fewer components, perhaps combine certain components or with different component layouts.
The embodiment of the present application also provides a kind of computer readable storage mediums.One or more is executable comprising computer
The non-volatile computer readable storage medium storing program for executing of instruction, when the computer executable instructions are executed by one or more processors
When, so that the processor executes the paths planning method of the robot as described in the various embodiments described above.
The embodiment of the present application also provides a kind of computer program products.A kind of computer program product comprising instruction,
When run on a computer, so that computer executes the path planning side of robot described in the various embodiments described above
Method.
In the above-described embodiments, can it is all or part of by software, hardware, firmware or any combination thereof come real
It is existing.When being realized using software program, can entirely or partly realize in the form of a computer program product.The computer
Program product includes one or more computer instructions.When loading on computers and executing the computer program instructions, entirely
Portion is partly generated according to process or function described in the embodiment of the present invention.The computer can be general purpose computer, specially
With computer, computer network or other programmable devices.The computer instruction can store in computer-readable storage
In medium, or from a computer readable storage medium to another computer readable storage medium transmit.The computer
Readable storage medium storing program for executing can be any usable medium or include one or more usable medium collection that computer can access
At the data storage devices such as server, data center.The usable medium can be magnetic medium, (for example, floppy disk, hard disk,
Tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid State Disk (SSD)) etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (10)
1. a kind of paths planning method of robot characterized by comprising
Waiting task is received, the operating path of target robot is determined based on the beginning and end in the waiting task；
The direction that its operating path is determined according to the direction of motion of the target robot, the direction pair based on the operating path
The operating path of at least two target robots carries out collision detection；
When at least two target robots operating path exist conflict when, planned again according to preset path planning strategy described in
The operating path of at least two target robots.
2. the method according to claim 1, wherein the reception waiting task, is based on described to be processed
Beginning and end in business determines the operating path of target robot, comprising:
Read the origin information and endpoint information in the waiting task；
The beginning and end that target robot is determined according to the origin information and endpoint information is chosen from default map datum
Operating path of the preset path as the target robot by the beginning and end.
3. the method according to claim 1, wherein the direction based on the operating path is at least two
The operating path of target robot carries out collision detection, comprising:
The node that the operating path of at least two target robot is passed through is obtained, according to the node division route segment；
Successively two endpoints of more each route segment and the direction of route segment；
When two endpoints at least two route segments occur are identical and contrary, it is judged as the operation road of target robot
There is conflict in diameter.
4. according to the method described in claim 3, it is characterized in that, described when the operating path of at least two target robots is deposited
In conflict, the operating path of at least two target robot is planned again according to preset path planning strategy, comprising:
Determine the conflict route segment of the operating path of at least two target robot；
The distance length for reaching the conflict route segment is calculated along the operating path of each target robot；
When the distance length is greater than preset length value, the operating path of the target robot is updated to reach the conflict
The path of route segment.
5. according to the method described in claim 4, it is characterized in that, the method also includes:
Determine the conflict route segment of the operating path of at least two target robot；
The distance length for reaching the conflict route segment is calculated along the operating path of each target robot；
When the distance length is less than or equal to preset length value, is planned again for the target robot and exclude the conflict road
The operating path of diameter section.
6. according to the method described in claim 5, it is characterized in that, described plan described in exclusion again for the target robot
The operating path of conflict route segment, comprising:
According to the beginning and end for the waiting task that the target robot needs to be implemented, selected from default map datum
Operation road by the beginning and end and the preset path of the exclusion conflict route segment, as the target robot
Diameter.
7. method according to any one of claims 1 to 6 characterized by comprising
When target robot brings into operation, the target robot and its operating path are bound, to occupy the fortune
Walking along the street diameter；
When the target robot leaves operating path, the operating path is discharged.
8. a kind of path planning apparatus of robot characterized by comprising
Path determination module determines target based on the beginning and end in the waiting task for receiving waiting task
The operating path of robot；
Collision detection module is based on institute for determining the direction of its operating path according to the direction of motion of the target robot
The direction for stating operating path carries out collision detection to the operating path of at least two target robots；
Path planning module is advised when there is conflict for the operating path when at least two target robots according to preset path
It plans and slightly plans the operating path of at least two target robot again.
9. a kind of terminal, which is characterized in that including memory and processor, computer program, institute are stored in the memory
When stating computer program and being executed by the processor, so that the processor is executed as described in any one of claims 1 to 7
The step of method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method as described in any one of claims 1 to 7 is realized when being executed by processor.
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