CN112506198A - Robot scheduling method, device, equipment and medium - Google Patents
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Abstract
The embodiment of the disclosure relates to a robot scheduling method, a robot scheduling device, a robot scheduling apparatus and a robot scheduling medium, wherein the method comprises the following steps: acquiring a first planned path of a first robot; comparing the first planned path with a second planned path of the running second robots to determine an overlapped path, wherein the number of the second robots is at least one; and controlling the first robot to operate based on the first planned path, the occupation state of the overlapped path and the operation state of the second robot. By adopting the technical scheme, the robot can be scheduled to run on special roads such as a bidirectional single lane and the like through the occupation state of the overlapped path in the planned path of the robot and the running state of other robots running simultaneously, so that the simultaneous scheduling of a plurality of robots is realized, and the order and the efficiency of the plurality of robots passing are improved while the occurrence of deadlock is effectively avoided.
Description
Technical Field
The present disclosure relates to the field of robot control technologies, and in particular, to a method, an apparatus, a device, and a medium for scheduling a robot.
Background
Along with the continuous improvement of the automation and the intelligent degree of the domestic factory, the application of the mobile robot is more and more extensive, the application scale of the mobile robot is gradually increased, and the application environment of the mobile robot is more and more complex. With the increase of the number of robots and the complexity of the working environment, it is important to ensure that the mobile robot system executes tasks orderly and efficiently.
Although the existing mobile robot traffic control system solves the traffic control problem of the intersection and avoids the collision of the mobile robots, the prior art has the defects that when a plurality of mobile robots simultaneously enter the intersection, especially for some complex bidirectional single-lane passing intersections containing extreme paths such as isolated points, broken roads and the like, deadlock is easily caused and the efficiency of executing tasks by the robots is low when the robots are scheduled to enter the paths.
Disclosure of Invention
In order to solve the technical problems described above or at least partially solve the technical problems, the present disclosure provides a scheduling method, apparatus, device, and medium for a robot.
The embodiment of the disclosure provides a robot scheduling method, which includes:
acquiring a first planned path of a first robot;
comparing the first planned path with a second planned path of running second robots to determine an overlapped path, wherein the number of the second robots is at least one;
and controlling the first robot to run based on the first planned path, the occupation state of the overlapped path and the running state of the second robot.
Optionally, before controlling the first robot to run based on the first planned path, the occupation state of the overlapping path, and the running state of the second robot, the method further includes:
determining a previous station of the overlapping path or a first station in the overlapping path as a waiting station.
Optionally, controlling the first robot to operate based on the first planned path, the occupation state of the overlapping path, and the operation state of the second robot, includes:
controlling the first robot to run to the waiting station and pause according to the first planned path;
and if the situation that the passing condition is met is determined based on the occupation state of the overlapped path and the running state of the second robot, controlling the first robot to leave the waiting station and continue running according to the first planned path until the first robot runs to the terminal.
Optionally, the number of the overlapping paths is at least two, and the method further includes:
and updating the waiting stations according to the running sequence of each overlapped path in the first planned path, and sequentially acquiring the occupation states of each overlapped path after the first robot is controlled to run to the updated waiting stations and pause, wherein the occupation states comprise an idle state, a shared state and a private state.
Optionally, determining that a passing condition is satisfied based on the occupancy state of the overlapping path and the operating state of the second robot includes:
and if the occupation state of the overlapped path is the idle state, or the occupation state of the overlapped path is the sharing state and the running directions of the first robot and the second robot occupying the overlapped path are the same, determining that a passing condition is met.
Optionally, after controlling the first robot to run to the waiting station and pause according to the first planned path, the method further includes:
and if the occupation state of the overlapping path is the private state, or the occupation state of the overlapping path is the sharing state and the running directions of the first robot and the second robot occupying the overlapping path are different, determining that the passing condition is not met, and controlling the first robot to continue to pause until the passing condition is met.
Optionally, before controlling the first robot to leave the waiting station and continue to operate according to the first planned path, the method further includes:
setting an occupancy state of the overlapping path and a remaining path of the first planned path after the overlapping path to a private state or a shared state occupied by the first robot.
Optionally, the first planned path and the second planned path both include a special road, and the special road is a bidirectional single lane.
The embodiment of the present disclosure further provides a scheduling apparatus for a robot, the apparatus including:
the path acquisition module is used for acquiring a first planned path of the first robot;
the path comparison module is used for comparing the first planned path with a second planned path of a second robot which is running to determine an overlapped path, wherein the number of the second robots is at least one;
and the robot scheduling module is used for controlling the first robot to run based on the first planned path, the occupation state of the overlapped path and the running state of the second robot.
Optionally, the apparatus further includes a station waiting module, specifically configured to: controlling the first robot to run before controlling the first robot to run based on the first planned path, the occupancy state of the overlapping path, and the running state of the second robot,
determining a previous station of the overlapping path or a first station in the overlapping path as a waiting station.
Optionally, the robot scheduling module includes:
a suspension unit, specifically configured to control the first robot to run to the waiting station and suspend according to the first planned path;
and the operation unit is used for controlling the first robot to leave the waiting station and continue to operate according to the first planned path until the first robot operates to the terminal point if the first robot meets the passing condition based on the occupation state of the overlapped path and the operation state of the second robot.
Optionally, the number of the overlapping paths is at least two, and the robot scheduling module further includes a state obtaining unit, specifically configured to:
and updating the waiting stations according to the running sequence of each overlapped path in the first planned path, and sequentially acquiring the occupation states of each overlapped path after the first robot is controlled to run to the updated waiting stations and pause, wherein the occupation states comprise an idle state, a shared state and a private state.
Optionally, the operation unit is specifically configured to:
and if the occupation state of the overlapped path is the idle state, or the occupation state of the overlapped path is the sharing state and the running directions of the first robot and the second robot occupying the overlapped path are the same, determining that a passing condition is met.
Optionally, the apparatus further includes a resume pause unit, specifically configured to: controlling the first robot to run to the waiting station according to the first planned path and after the first robot is paused,
and if the occupation state of the overlapping path is a private state, or the occupation state of the overlapping path is a shared state and the running directions of the first robot and the second robot occupying the overlapping path are different, determining that the passing condition is not met, and controlling the first robot to continue to pause until the passing condition is met.
Optionally, the apparatus further includes a path occupation module, specifically configured to: before controlling the first robot to leave the waiting station and continue to run according to the first planned path,
setting an occupancy state of the overlapping path and a remaining path of the first planned path after the overlapping path to a private state or a shared state occupied by the first robot.
Optionally, the first planned path and the second planned path both include a special road, and the special road is a bidirectional single lane.
An embodiment of the present disclosure further provides an electronic device, which includes: a processor; a memory for storing the processor-executable instructions; the processor is used for reading the executable instructions from the memory and executing the instructions to realize the robot scheduling method provided by the embodiment of the disclosure.
The embodiment of the present disclosure also provides a computer-readable storage medium, which stores a computer program for executing the scheduling method of the robot provided by the embodiment of the present disclosure.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages: according to the scheduling scheme of the robot, the first planned path of the first robot is obtained, the first planned path is compared with the second planned path of the second robot which is running, the overlapped path is determined, the number of the second robots is at least one, and the first robot is controlled to run based on the first planned path, the occupation state of the overlapped path and the running state of the second robot. By adopting the technical scheme, the robot can be scheduled to run on special roads such as a bidirectional single lane and the like through the occupation state of the overlapped path in the planned path of the robot and the running state of other robots running simultaneously, so that the simultaneous scheduling of a plurality of robots is realized, and the order and the efficiency of the plurality of robots passing are improved while the occurrence of deadlock is effectively avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a scheduling method for a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a robot scheduling system according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of another scheduling method for a robot according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a robot scheduling provided by an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of another robot scheduling provided by embodiments of the present disclosure;
fig. 6 is a schematic structural diagram of a scheduling apparatus of a robot according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
The existing mobile robot traffic control system can solve the traffic control problem of the intersection, avoids the collision of the mobile robots, but aims at the situation that a plurality of mobile robots simultaneously enter the intersection, especially aims at some complex bidirectional single-lane passing intersections containing extreme paths such as isolated points, broken roads and the like, and the existing technology determines whether to enter the intersection or not by inquiring the occupied state of a station when the plurality of robots are scheduled to enter the paths, so that the deadlock phenomenon is easily caused; or, a single robot is scheduled to enter the intersection, and other robots wait outside the intersection, so that the efficiency of the robot in executing tasks is reduced, and the overall performance of the scheduling system is slowed down. In order to solve the above-mentioned defects, the embodiments of the present disclosure provide a scheduling method for a robot.
Fig. 1 is a flowchart illustrating a scheduling method for a robot according to an embodiment of the present disclosure, where the method may be performed by a scheduling apparatus for a robot, where the apparatus may be implemented by software and/or hardware, and may be generally integrated in an electronic device. As shown in fig. 1, the method includes:
The robot may be a mobile robot capable of operating based on a planned path to complete a certain task, and the specific type of the robot is not limited in the embodiment of the present disclosure. In the embodiment of the disclosure, the first planned path may include a special road, the special road may be understood as a road including extreme paths such as isolated points and a broken road, the special road may be a bidirectional single lane, the bidirectional single lane may be a lane through which a robot in only one direction can pass through one path at the same time, but both directions may support the robot to pass through, the isolated point may be a point where only one bidirectional single lane can reach, and the broken road may be a bidirectional single lane directly connected to the isolated point. The embodiment of the disclosure can realize the scheduling of the robot under the special road.
In the embodiment of the present disclosure, path planning and scheduling control of a robot may be implemented by a robot scheduling system, for example, fig. 2 is a schematic structural diagram of the robot scheduling system provided in the embodiment of the present disclosure, where the robot scheduling system may include a path planning module and a traffic control module, the path planning module is configured to plan a walking path of the robot based on a task issued to obtain a planned path of the robot, and the traffic control module is configured to track and adjust the walking path of the robot and an occupation state of the path in real time according to the planned path, so as to achieve a purpose of orderly scheduling work of the robot. The first planned path is a walking path preset for the first robot by the path planning module.
Specifically, before the first robot runs, the path planning module may load the robot map first, and calculate the shortest path from the current point to the end point as the first planned path according to the task issued to the first robot. The traffic control module may obtain a first planned path of the path planning module.
And 102, comparing the first planned path with a second planned path of the running second robots to determine an overlapped path, wherein the number of the second robots is at least one.
The second robot may be another robot currently operating, and the number of the second robots may be plural. The second planned path may be a walking path preset by the path planning module for the second robot, and in the embodiment of the disclosure, the second planned path also includes a special road. That is, the number of the second robots currently operating on the special road may be plural, and the first robot is one that is not currently operating. The overlapping path may be a path in which the first robot and the at least one second robot overlap each other, and the number of the overlapping paths may be plural.
Specifically, the first planned path is compared with the non-passing path in the second planned path of the second robot, so that an overlapped path can be obtained. Since the first planned path and the second planned path may each include at least two sites, one overlapping path may include at least two overlapping sites.
And 103, controlling the first robot to run based on the first planned path, the occupation state of the overlapped path and the running state of the second robot.
The occupation state may represent attribution of occupation right to a path, and specifically may include an idle state, a shared state, and a private state, where the idle state may represent that the path is not occupied by the robot, the shared state may represent that a general path is occupied by the robot, and the occupation right of the general path may be shared in the same direction as the walking direction of the robot, and the private state may represent that the path is occupied by the robot when the path is a special road, for example, a broken road, and once one robot is occupied, the remaining robots cannot share the path.
Before controlling the first robot to run based on the first planned path, the occupation state of the overlapping path, and the running state of the second robot, the method may further include: the previous station of the overlapping path or the first station in the overlapping path is determined as the waiting station. The waiting station is a station at which the robot needs to pause to wait for the scheduling instruction, and because the overlapping path is possibly occupied, the waiting station is set to pause the robot so as to judge whether the overlapping path can pass or not, and when the overlapping path can pass, the robot leaves the waiting station to continue to operate.
Controlling the first robot to operate based on the first planned path, the occupancy state of the overlapping path, and the operating state of the second robot may include: controlling the first robot to run to a waiting station and pause according to the first planned path; and if the traffic condition is determined to be met based on the occupation state of the overlapped path and the running state of the second robot, controlling the first robot to leave the waiting station and continue running according to the first planned path until the first robot runs to the terminal.
In the embodiment of the present disclosure, the number of overlapping paths may be one, or may be two or more. When the number of the overlapping paths is plural, the scheduling method of the robot may further include: and updating the waiting stations according to the running sequence of the overlapped paths in the first planned path, and sequentially acquiring the occupation states of the overlapped paths after the first robot is controlled to run to the updated waiting stations and pause. Since there may be a plurality of waiting stations when the number of overlapping paths is multiple, each overlapping path may be provided with one waiting station correspondingly. And controlling the first robot to run to a corresponding waiting station and pause for each overlapped path, acquiring the occupation state of the overlapped path, judging whether the passing condition is met or not based on the occupation state of the overlapped path and the running state of the second robot, and controlling the first robot to leave the waiting station of the overlapped path and continue to run according to the first planned path when the passing condition is met. Optionally, if two or more overlapping paths have a secondary overlapping path, the occupation state of the secondary overlapping path is determined only once, and the secondary overlapping path does not need to be determined repeatedly in the following process.
Wherein the passing condition is used for determining whether the robot can normally pass in the overlapped path. Determining that the traffic condition is satisfied based on the occupancy state of the overlapping path and the operating state of the second robot may include: and if the occupation state of the overlapped path is an idle state, or the occupation state of the overlapped path is a sharing state and the running directions of the first robot and the second robot occupying the overlapped path are the same, determining that the passing condition is met. After the passing condition is determined to be met, the first robot can be controlled to leave the waiting station and operate according to the overlapped path, and the remaining path after the overlapped path in the first planned path is generally not occupied by the second robot, so that the first robot can be controlled to continue to operate according to the remaining path until the terminal point is reached. Optionally, if a second robot occupies the remaining path during the operation of the first robot, the waiting station may be updated, the last station of the overlapping path is used as a new waiting station, and when the remaining path is determined to satisfy the passing condition, the first robot is controlled to operate according to the remaining path until the end point is reached.
In this embodiment of the disclosure, after controlling the first robot to run to the waiting station and pause according to the first planned path, the method may further include: and if the occupation state of the overlapping path is a private state, or the occupation state of the overlapping path is a shared state and the running directions of the first robot and the second robot occupying the overlapping path are different, determining that the passing condition is not met, and controlling the first robot to continuously pause until the passing condition is met. That is, when the passing condition is not satisfied, the first robot may be controlled to continue to pause and continue to determine whether the passing condition is satisfied, and the operation is continued until after the passing condition is satisfied.
The scheduling scheme of the robot in the embodiment of the disclosure can optimize a traffic control module in a robot scheduling system, and realize dynamic scheduling of a plurality of mobile robots to enter a two-way single-lane passing intersection containing extreme paths such as isolated points, broken roads and the like, and simultaneously execute tasks.
According to the scheduling scheme of the robot, the first planned path of the first robot on the special road is obtained, the first planned path is compared with the second planned path of the second robot running on the special road, the overlapped path is determined, the number of the second robots is at least one, and the first robot is controlled to run based on the first planned path, the occupation state of the overlapped path and the running state of the second robot. By adopting the technical scheme, the robot can be scheduled to run on special roads such as a bidirectional single lane and the like through the occupation state of the overlapped path in the planned path of the robot and the running state of other robots running simultaneously, so that the simultaneous scheduling of a plurality of robots is realized, and the order and the efficiency of the plurality of robots passing are improved while the occurrence of deadlock is effectively avoided.
In some embodiments, before controlling the first robot to leave the waiting station and continue to run according to the first planned path, the method may further include: and setting the occupation state of the overlapped path and the residual path after the overlapped path in the first planning path as a private state or a shared state occupied by the first robot.
In the embodiment of the present disclosure, before controlling the first robot to operate, the occupation right of the overlapping path and the remaining path after the overlapping path in the first planned path may be obtained in advance, that is, the occupation state of the path is set to be a private state or a shared state occupied by the first robot, and the occupation right of the passed path is released. By adopting the mechanism, the robot can detect the position information of the robot and the occupation state of the subsequent path before executing the next step, can lock the subsequent path in advance and update the occupation state of the passed path when preparing to execute the next step, and particularly can endow the robot with the occupation state of a special path when entering a bidirectional single-lane intersection containing extreme paths such as isolated points, broken roads and the like, so that the occurrence of deadlock of a traffic control module is avoided, and the orderliness and the high efficiency of the robot passing the bidirectional single-lane intersection are improved.
Fig. 3 is a schematic flow chart of another robot scheduling method according to an embodiment of the present disclosure, and the present embodiment further optimizes the robot scheduling method based on the foregoing embodiment. As shown in fig. 3, the method includes:
Wherein the number of the second robots is at least one.
Since the first station in the overlapping path may be the first station of the first planned path, the first station may be set as a waiting station when there is no previous station in the overlapping path.
And step 204, controlling the first robot to run to a waiting station and pause according to the first planned path.
And step 205, sequentially acquiring the occupation states of the overlapped paths according to the running sequence of the overlapped paths in the first planned path.
The number of the overlapping paths is at least two, and the occupied state comprises an idle state, a shared state and a private state.
Specifically, if the occupation state of the overlapping path is an idle state, or the occupation state of the overlapping path is a shared state and the running directions of the first robot and the second robot occupying the overlapping path are the same, it is determined that the passing condition is satisfied, and step 207 is executed; if the occupancy state of the overlapping path is a private state, or the occupancy state of the overlapping path is a shared state and the traveling directions of the first robot and the second robot occupying the overlapping path are different, it is determined that the passing condition is not satisfied, and step 208 is executed.
And step 207, controlling the first robot to leave the waiting station and continue to operate according to the first planned path until the first robot operates to the end point.
In this disclosure, before controlling the first robot to leave the waiting station and continue to operate according to the first planned path, the method further includes:
and setting the occupation state of the overlapped path and the residual path after the overlapped path in the first planning path as a private state or a shared state occupied by the first robot.
And step 208, controlling the first robot to continue to pause.
If it is determined that the passing condition is not satisfied based on the occupancy state of the overlapping path and the operating state of the second robot, the first robot may be controlled to continue to pause at the current waiting station, and then the execution step 206 may be returned to until the first robot leaves the waiting station to continue to operate after the passing condition is satisfied.
The robot scheduling scheme provided by the embodiment of the present disclosure is specifically described below by two specific examples.
Exemplarily, fig. 4 is a schematic diagram of a robot scheduling provided by an embodiment of the present disclosure, and fig. 4 shows a scene schematic diagram of a plurality of robots entering a bidirectional single lane intersection, where L1-L2, L4-L5, L6-a1, L6-A8, L7-a7, L7-a2, L8-A6, L8-A3, L9-A5, and L9-a4 are all head breaks. The robot 1 receives tasks from the current position A5 to L5, the planned path is A5-L9-L8-L7-L6-L3-L4-L5, the robot 2 receives tasks from the current position L2 to A2, the planned path is L2-L3-L6-L7-A2, the robot 3 receives tasks from the current position L1 to A3, and the planned path is L1-L2-L3-L6-L7-L8-A3. The overlapping path of the robot No. 1 and the robot No. 2 is L3-L6-L7, the overlapping path of the robot No. 2 and the robot No. 3 is L2-L3-L6-L7, and the overlapping path of the robot No. 1 and the robot No. 3 is L3-L6-L7-L8. Based on the longest overlapping path, the waiting station inserted in the planned path of robot No. 1 is L9, the waiting station inserted in the planned path of robot No. 2 is L2, and the waiting station inserted in the planned path of robot No. 3 is L1.
When the robot is ready to run, the robot No. 1 acquires the occupation right of the A5-L9 path and gives the path private state; the robot No. 2 acquires the occupation right of the L2-L3 path and gives the path sharing state; the robot No. 3 acquires the occupation right of the L1-L2 path and gives the path segment a private state. The specific operation process can be as follows: robot No. 1 arrives at L9, robot No. 2 arrives at L3, and robot No. 3 arrives at L2; the waiting stations of the robots of No. 1, No. 2 and No. 3 are updated to be L9, L3 and L2 respectively; the robot No. 2 and the robot No. 3 run firstly, and share the path occupation right of L3-L6-L7 in the same-direction running, and the robot No. 3 additionally shares the path occupation right of L7-L8; the robot No. 1 and the robot No. 3 run in the same direction, cannot occupy L9-L8, and continue to wait at L9; under the condition of keeping a safe distance, the No. 2 robot and the No. 3 robot enter points A2 and A3 in sequence, and the right of the occupied passed path is released; after the No. 1 robot enters the A3 from the No. 3 robot, the L9-L8-L7-L6-L3-L4-L5 path occupation rights are sequentially acquired, and the robot drives to the L5 to complete the task.
It can be understood that, for the robot No. 1, after the pause from the operation of a5 to the operation of L9, since the occupied state of the overlapping path L8-L7-L6-L3 is the shared state and the operation direction of the robot No. 3 occupying the overlapping path is opposite to the operation direction of the robot No. 1, it is determined that the robot No. 1 passing condition is not satisfied, and the waiting at L9 is continued until the occupied state of the overlapping path L8-L7-L6-L3 is the idle state, and the operation is continued according to the overlapping path L8-L7-L6-L3 and the subsequent L3-L4-L5 until the operation reaches the end point L5.
Exemplarily, fig. 5 is a schematic diagram of another robot scheduling provided by the embodiment of the present disclosure, and fig. 5 shows a scene schematic diagram of robot head-breaking passage, where L1-L2, L4-L5, L6-a1, L6-A8, L7-a7, L7-a2, L8-A6, L8-A3, L9-A5, and L9-a4 are head-breaking passages. The robot No. 1 receives tasks from the current position A7 to A8, the planned path is A7-L7-L6-A8, the robot No. 2 receives the first task from the current position L3 to A8, the planned path is L3-L6-A8, 2 seconds are waited, the second task is executed, and the planned path is A8-L6-A1 from A8 to A1. The path L6-a8 is overlapped between the robot No. 1 and the robot No. 2, the waiting station is L7 inserted in the planned path of the robot No. 1, and the waiting station is L3 inserted in the planned path of the robot No. 2.
When the robot is ready to run, the robot No. 1 acquires the A7-L7 path occupation right and gives a path private state; the robot No. 2 acquires the path occupation right from L3 to L6 and gives a path sharing state. The specific operation process can be as follows: robot No. 1 arrives at L7, robot No. 2 arrives at L6; the robot No. 2 acquires the path occupation right on the overlapping path L6-A8 and gives a private state; the No. 1 robot is inserted into a waiting station L7 and waits for acquiring the occupation right of the overlapping path L6-A8; no. 2 reaches A8, continues to occupy the path of L6-A8, executes a second task A8-L6-A1, already enjoys the occupation right of the path of L6-A8, continues to execute the task to A1, releases the occupation right of the path of L6-A8, and completes the task; the robot No. 1 successively acquires the L7-L6-A8 path occupation right on a waiting station L7, and completes the moving tasks of A7-A8.
In the embodiment of the disclosure, for the robot entering the two-way single-lane passing intersection including the extreme paths such as the isolated point and the broken road, the robot is scheduled to pass by distinguishing different occupation states of the paths, so that the occurrence of deadlock is effectively avoided, and the passing orderliness of the robot is ensured; aiming at robots traveling in the same direction on a common path, the robots can share the occupied state of the path, each small step of the robot task is executed step by step, the safe distance is kept between the robots and a front vehicle, the multiple robots are dispatched to enter a bidirectional single lane intersection at the same time without collision, and therefore the efficiency of task execution is improved.
According to the scheduling scheme of the robot provided by the embodiment of the disclosure, a first planned path of a first robot on a special road is obtained, the first planned path is compared with a second planned path of a second robot running on the special road, an overlapped path is determined, a previous station of the overlapped path or a first station in the overlapped path is determined as a waiting station, the first robot is controlled to run to the waiting station and pause according to the first planned path, the occupation states of the overlapped paths are sequentially obtained according to the running sequence of the overlapped paths in the first planned path, and if the situation that the traffic conditions are met is determined based on the occupation states of the overlapped paths and the running state of the second robot, the first robot is controlled to run according to the overlapped path and the first planned path until the terminal is reached. By adopting the technical scheme, the robot can be scheduled to run on special roads such as a bidirectional single lane and the like through the occupation state of the overlapped path in the planned path of the robot and the running state of other robots running simultaneously, so that the simultaneous scheduling of a plurality of robots is realized, and the order and the efficiency of the plurality of robots passing are improved while the occurrence of deadlock is effectively avoided.
Fig. 6 is a schematic structural diagram of a scheduling apparatus of a robot according to an embodiment of the present disclosure, where the scheduling apparatus may be implemented by software and/or hardware, and may be generally integrated in an electronic device. As shown in fig. 6, the apparatus includes:
a path obtaining module 301, configured to obtain a first planned path of a first robot;
a path comparison module 302, configured to compare the first planned path with a second planned path of a second robot that is running, and determine an overlapping path, where the number of the second robots is at least one;
and a robot scheduling module 303, configured to control the first robot to run based on the first planned path, the occupation state of the overlapping path, and the running state of the second robot.
According to the scheduling scheme of the robot, the first planned path of the first robot is obtained, the first planned path is compared with the second planned path of the second robot which is running, the overlapped path is determined, the number of the second robots is at least one, and the first robot is controlled to run based on the first planned path, the occupation state of the overlapped path and the running state of the second robot. By adopting the technical scheme, the robot can be scheduled to run on special roads such as a bidirectional single lane and the like through the occupation state of the overlapped path in the planned path of the robot and the running state of other robots running simultaneously, so that the simultaneous scheduling of a plurality of robots is realized, and the order and the efficiency of the plurality of robots passing are improved while the occurrence of deadlock is effectively avoided.
Optionally, the apparatus further includes a station waiting module, specifically configured to: controlling the first robot to run before controlling the first robot to run based on the first planned path, the occupancy state of the overlapping path, and the running state of the second robot,
determining a previous station of the overlapping path or a first station in the overlapping path as a waiting station.
Optionally, the robot scheduling module 303 includes:
a suspension unit, specifically configured to control the first robot to run to the waiting station and suspend according to the first planned path;
and the operation unit is used for controlling the first robot to leave the waiting station and continue to operate according to the first planned path until the first robot operates to the terminal point if the first robot meets the passing condition based on the occupation state of the overlapped path and the operation state of the second robot.
Optionally, the number of the overlapping paths is at least two, and the robot scheduling module 303 further includes a state obtaining unit, specifically configured to:
and updating the waiting stations according to the running sequence of each overlapped path in the first planned path, and sequentially acquiring the occupation states of each overlapped path after the first robot is controlled to run to the updated waiting stations and pause, wherein the occupation states comprise an idle state, a shared state and a private state.
Optionally, the operation unit is specifically configured to:
and if the occupation state of the overlapped path is the idle state, or the occupation state of the overlapped path is the sharing state and the running directions of the first robot and the second robot occupying the overlapped path are the same, determining that a passing condition is met.
Optionally, the apparatus further includes a resume pause unit, specifically configured to: controlling the first robot to run to the waiting station according to the first planned path and after the first robot is paused,
and if the occupation state of the overlapping path is a private state, or the occupation state of the overlapping path is a shared state and the running directions of the first robot and the second robot occupying the overlapping path are different, determining that the passing condition is not met, and controlling the first robot to continue to pause until the passing condition is met.
Optionally, the apparatus further includes a path occupation module, specifically configured to: before controlling the first robot to leave the waiting station and continue to run according to the first planned path,
setting an occupancy state of the overlapping path and a remaining path of the first planned path after the overlapping path to a private state or a shared state occupied by the first robot.
Optionally, the first planned path and the second planned path both include a special road, and the special road is a bidirectional single lane.
The robot scheduling device provided by the embodiment of the disclosure can execute the robot scheduling method provided by any embodiment of the disclosure, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 7, the electronic device 400 includes one or more processors 401 and memory 402.
The processor 401 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.
In one example, the electronic device 400 may further include: an input device 403 and an output device 404, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 403 may also include, for example, a keyboard, a mouse, and the like.
The output device 404 may output various information to the outside, including the determined distance information, direction information, and the like. The output devices 404 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 400 relevant to the present disclosure are shown in fig. 7, omitting components such as buses, input/output interfaces, and the like. In addition, electronic device 400 may include any other suitable components depending on the particular application.
In addition to the above methods and apparatus, embodiments of the present disclosure may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the scheduling method of a robot provided by embodiments of the present disclosure.
The computer program product may write program code for carrying out operations for embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to execute the scheduling method of a robot provided by the embodiments of the present disclosure.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A method for scheduling a robot, comprising:
acquiring a first planned path of a first robot;
comparing the first planned path with a second planned path of running second robots to determine an overlapped path, wherein the number of the second robots is at least one;
and controlling the first robot to run based on the first planned path, the occupation state of the overlapped path and the running state of the second robot.
2. The method of claim 1, wherein prior to controlling the first robot to operate based on the first planned path, the occupancy status of the overlapping path, and the operating status of the second robot, further comprising:
determining a previous station of the overlapping path or a first station in the overlapping path as a waiting station.
3. The method of claim 2, wherein controlling the first robot to operate based on the first planned path, the occupancy state of the overlapping path, and the operational state of the second robot comprises:
controlling the first robot to run to the waiting station and pause according to the first planned path;
and if the situation that the passing condition is met is determined based on the occupation state of the overlapped path and the running state of the second robot, controlling the first robot to leave the waiting station and continue running according to the first planned path until the first robot runs to the terminal.
4. The method of claim 3, wherein the number of overlapping paths is at least two, further comprising:
and updating the waiting stations according to the running sequence of each overlapped path in the first planned path, and sequentially acquiring the occupation states of each overlapped path after the first robot is controlled to run to the updated waiting stations and pause, wherein the occupation states comprise an idle state, a shared state and a private state.
5. The method of claim 4, wherein determining that a traffic condition is satisfied based on the occupancy state of the overlapping path and the operational state of the second robot comprises:
and if the occupation state of the overlapped path is the idle state, or the occupation state of the overlapped path is the sharing state and the running directions of the first robot and the second robot occupying the overlapped path are the same, determining that a passing condition is met.
6. The method of claim 4, wherein after controlling the first robot to travel to the waiting site and pause according to the first planned path, further comprising:
and if the occupation state of the overlapping path is the private state, or the occupation state of the overlapping path is the sharing state and the running directions of the first robot and the second robot occupying the overlapping path are different, determining that the passing condition is not met, and controlling the first robot to continue to pause until the passing condition is met.
7. The method of claim 3, wherein before controlling the first robot to leave the waiting site and continue to operate according to the first planned path, further comprising:
setting an occupancy state of the overlapping path and a remaining path of the first planned path after the overlapping path to a private state or a shared state occupied by the first robot.
8. The method according to any one of claims 1-7, characterized in that the first planned path and the second planned path each comprise a special road, which is a two-way single lane.
9. A robot scheduling apparatus, comprising:
the path acquisition module is used for acquiring a first planned path of the first robot;
the path comparison module is used for comparing the first planned path with a second planned path of a second robot which is running to determine an overlapped path, wherein the number of the second robots is at least one;
and the robot scheduling module is used for controlling the first robot to run based on the first planned path, the occupation state of the overlapped path and the running state of the second robot.
10. An electronic device, characterized in that the electronic device comprises:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instructions from the memory and executing the instructions to realize the robot scheduling method of any one of the above claims 1-8.
11. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the method of scheduling of a robot according to any of the above claims 1-8.
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