Conflict management method and system for multiple mobile robots

A mobile robot and conflict management technology, applied in the field of robotics, can solve problems such as robot running path conflicts, inability to propose solutions, inability to complete tasks, etc.

Inactive Publication Date: 2018-07-10
GUANGDONG MIDEA INTELLIGENT ROBOTICS CO LTD
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Problems solved by technology

[0004] However, the inventors of the present application found that there are at least the following defects in the above-mentioned prior art during the practice of the present application: First, although the distributed method is simple in operation, strong in real-time and flexible, it is often prone to local extremes due to the occurrence of local extremes It is impossible to complete the task completely; secondly, the centralized management method can execute the task more accurately, but it is very easy to cause conflicts in the running path of the robot. Usually, it is necessary to find the optimal solution, but the amount of calculation is large and the real-time performance is poor. Unable to come up with a better solution

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  • Conflict management method and system for multiple mobile robots
  • Conflict management method and system for multiple mobile robots
  • Conflict management method and system for multiple mobile robots

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Embodiment Construction

[0040] The specific implementation manners of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described here are only used to illustrate and explain the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.

[0041] Such as figure 1 As shown, multiple obstacles B1, B2, etc., multiple mobile robots A0, A1, etc., and multiple node areas N1 are marked in the map of the dense area implementing the conflict management method for multiple mobile robots according to an embodiment of the present invention , N2, etc. Wherein, the dense area can be predetermined according to needs, for example, it can refer to the area in the warehouse, the multiple mobile robots A0, A1 can refer to multiple logistics robots, and through the mobile robots A0, A1 Running mobile can carry goods, but when multipl...

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Abstract

The invention provides a conflict management method and system for multiple mobile robots and belongs to the robot field. The conflict management method of the multiple mobile robots includes the following steps that: the current positions and planned paths of the of the mobile robots are acquired; node regions adjacent to the positions of the mobile robots are allocated to the mobile robots, wherein the mobile robots can pass the node regions; and when a second node region allocated for the second mobile robot and a node region allocated to the first mobile robot are superposed, the superposed node regions are marked as conflict node regions in conflict states, and it is determined that planned paths between the first mobile robot and the second mobile robot conflict with each other. According to the method of the invention, before the plurality of mobile robots move in the next step, the node regions are allocated, and conflict is judged and detected according to the allocated node regions, and therefore, the management of the conflict of the mobile robots can be facilitated.

Description

technical field [0001] The invention relates to the field of robots, in particular to a conflict management method and system for multiple mobile robots. Background technique [0002] Deploying multiple mobile robots in a dense area (such as a logistics warehouse area) and using these mobile robots to complete tasks such as handling goods to replace manual labor is the current research focus in the field of the Internet of Things. [0003] In order to avoid collisions between multiple mobile robots in dense areas during operation, the following two different processing schemes are generally adopted at present: First, the robots have good conflict resolution capabilities through the current local environment information of the robots ; The second is centralized management conflict resolution, which mainly eliminates conflicts by segmenting the robot's motion path. [0004] However, the inventors of the present application found that there are at least the following defects i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418G01C21/20
CPCG05B19/4189G01C21/206G05D1/0289G05D2201/0216
Inventor 刘清
Owner GUANGDONG MIDEA INTELLIGENT ROBOTICS CO LTD
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