A method and device for preventing robot collision

Abstract

The invention discloses a method and a device for preventing robot collisions, and relates to the technical field of computers. A specific implementation of the method includes: generating a set of reference points from the starting point to the target point through path planning, and obtaining the identification of the interference area corresponding to the reference point of the set of reference points; according to the identification of the interference area corresponding to the reference point, the set of reference points Carry out splitting, and set the interference area identification for the multiple sub-routes obtained from the splitting; lock the corresponding interference area according to the interference area identification of the sub-routes, and issue routing instructions after the locking is successful, so that the robot enters the interference area; among them, the interference The area is obtained by dividing the reference points according to the distribution of the reference points in the target area. The method divides the interference area in advance, and sets the interference area identification for the sub-routing, so as to lock the corresponding interference area according to the interference area identification of the sub-routing, so as to ensure that only one robot can enter the interference area, and avoid robot collision.

Description

technical field [0001] The invention relates to the field of computers, in particular to a method and device for preventing robot collisions. Background technique [0002] After receiving the task sent by the upstream system, the robot control system will perform path planning to obtain the reference point set passed from the starting point to the target point; the reference point set is sent to the robot, and each reference point set of the reference point set The point is set with a reference point number, and the robot analyzes the reference point number to obtain the position information of the corresponding reference point, and then moves to the target point along the trajectory corresponding to the reference point set. Wherein, the robot is, for example, a transportation robot (unmanned forklift), a sweeping robot, and the like. [0003] When there are more than one robot in the target area, the anti-collision effect between the robots will have a great impact on whet...

AI Technical Summary

Problems solved by technology

[0005] (1) The anti-collision mechanism at the hardware level relies on the detector. For the situation where the detector cannot detect the surrounding robots in time, such as a robot driving in the opposite direction at an intersection, the detector cannot detect the opposing robot in time, resulting in a sudden collision stop;

[0006] (2) The anti-collision mechanism at the software level requires locking and releasing each reference point that the robot walks, which will cause the robot to drive slowly and affect the efficiency of task execution; Entering multiple robots prevents the robot that entered first from being able to back out

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