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A deadlock detection method for multi-robots in a control area

A deadlock detection and multi-robot technology, applied in the field of robotics, can solve problems such as scheduling failures and high computational complexity, and achieve the effect of avoiding deadlocks and maximizing system operating efficiency

Active Publication Date: 2022-06-24
HANGZHOU LANXIN TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] However, the computational complexity of the optimization method based on the time window is very large. Moreover, this method is a static method, and its effectiveness can only be guaranteed if all robots operate according to the plan. However, due to the large randomness of the multiple mobile robot system itself The occurrence of some random events will lead to the complete failure of the original scheduling plan

Method used

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  • A deadlock detection method for multi-robots in a control area
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  • A deadlock detection method for multi-robots in a control area

Examples

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Embodiment 1

[0058] like figure 1 As shown in the figure, the embodiment of the present invention provides a deadlock detection method for multiple robots in a control area. The execution subject of the method in this embodiment may be the control device of all mobile robots in the control area. The following steps are corresponding to the second embodiment. The steps of deadlock detection; its specific implementation method includes the following steps:

[0059] S10. The control device receives a path node application request sent by any mobile robot, and determines whether the path node in the path node application request is in a preset control area; if so, execute step S20, otherwise, execute according to the existing method .

[0060] S20. When determining that the path node is in the control area, the control device obtains the node sets of all path nodes in the control area, obtains the robot sets of all mobile robots in the current time period of the control area, and the robot A...

Embodiment 2

[0071] The method of this embodiment is to trigger the scheduling system to implement deadlock detection in the specified control area when any mobile robot applies to move to a certain path node in the specified control area. That is, when the scheduling system receives an application request for a path node in the control area from any mobile robot, it traverses the possible moving states of all mobile robots in the control area. For example, the traversal process can use depth-first search. If all mobile robots traversed to the control area can successfully leave the control area, it is determined that the control area is not deadlocked, and the scheduling system allows the mobile robots to occupy the requested path node to move; otherwise, if there is still movement until the end of the traversal If the robot cannot leave the control area, it is determined that the control area is in a deadlock state, and the scheduling system rejects the application request that the path n...

Embodiment 3

[0103] This embodiment combines image 3 The regulation method of a regulatory region shown is described in detail, image 3 A schematic diagram of a deadlock detection method for three mobile robots in the control area is shown.

[0104] like image 3 As shown, the scheduling system to which the three mobile robots belong has a total of 9 nodes. Located at node 1, it goes through the path nodes 1, 3, 4, 7, 9, to the destination node 9, located at node 8, which goes through the path nodes 8, 7, 3, 4, 6, to the destination node 6, Located at node 5, it goes to target node 2 through path nodes 5, 4, 7, 3, 2, and nodes 3, 4, and 7 in this network form a ring, which is a typical potential deadlock area. In the present embodiment, the method of the present embodiment is illustrated by a scheduling system running evolution process:

[0105] The first time to apply for a path node, the robot Apply for path node 3, step S1 determines that 3 belongs to the potential deadlock...

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Abstract

The invention relates to a deadlock detection method for multiple robots in a control area, comprising: a control device receives a path node application request sent by any mobile robot, and judges whether the path node in the path node application request is in a preset control area When the control device determines that the path node is in the control area, it obtains the associated parameter set; based on the parameter set, the control device uses a deadlock detection strategy to perform deadlock detection on the control area, and judges that each movement of the robot set Whether the robot can leave the control area; when the control device determines that each mobile robot in the robot set can move out of the control area, it will feedback whether to agree to the response of the route node application request according to the route node application request. The method of the invention can realize the maximization of system resource scheduling and improve the operating efficiency of the system.

Description

technical field [0001] The invention relates to the technical field of robotics, in particular to a deadlock detection method for multiple robots in a control area. Background technique [0002] At present, in the application scenarios of mobile robots such as warehouses, there are often multiple or dozens of robots working together. Due to the limited space of the operation area, similar to the transportation network, the operation network of multiple mobile robots will also have local area congestion, In the case of traffic deadlock, traffic deadlock is the most serious type of traffic management problem faced by the multi-mobile robot dispatching system. Once it occurs, it often requires manual intervention to solve it, which will seriously affect the efficiency of transportation. In principle, the deadlock problem is that two or more robots apply to occupy the resources (paths or points) occupied by other robots, and wait for each other to release the resources of the ot...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 周玄昊
Owner HANGZHOU LANXIN TECH CO LTD
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