A method and device for dynamic planning of operation paths based on multiple mobile robots

Abstract

The present invention discloses a method and device for dynamically planning an operation path based on multiple mobile robots, wherein the method includes: obtaining the current motion trend information and current position information corresponding to each mobile robot in a given operation area; predicting the predicted position information of the next moment at a preset next moment based on the current motion trend information and current position information of each mobile robot; obtaining the next moment motion trend information of the preset next moment of each mobile robot; calculating the interval distance between two adjacent mobile robots; performing collision risk prediction processing based on the interval distance between two adjacent mobile robots and the motion trend information at the next moment; and performing dynamic operation path planning processing on two adjacent mobile robots based on the collision risk prediction result. In the specific implementation process of the present invention, multiple mobile robots are enabled to operate in the operation area and can effectively avoid the risk of collision between them.

Description

Technical Field

[0001] The present invention relates to the technical field of safe collaborative control among multiple mobile robots, and in particular to a method and device for dynamically planning an operation path based on multiple mobile robots. Background Art

[0002] As robot technology gradually matures, robots are used in traditional warehousing and handling and other fields to replace manual labor. This requires the simultaneous presence of multiple mobile robots in the same operating area, and these multiple mobile robots usually need to perform warehousing and handling and other related operations at the same time; this requires ensuring the safety of multiple mobile robots when operating in the same operating area. In the prior art, it is generally achieved by using visual sensors or infrared distance sensors. When using visual sensors, complex visual conversion calculations are required, and the movement trends between mobile robots cannot be predicted in advance. Therefore, it is impossible to dynamically plan and control the operating paths of two adjacent mobile robots in advance, and there is still a risk of collision between multiple mobile robots during operation. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides a method and device for dynamically planning an operation path based on multiple mobile robots, so that multiple mobile robots can operate in an operation area and effectively avoid the risk of collision between them.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a method for dynamic planning of operation paths based on multiple mobile robots, the method comprising:

[0005] Obtaining current motion trend information and current position information corresponding to each mobile robot in a given operating area, wherein the current motion trend information includes current motion speed information and current motion direction information;

[0006] Predicting the predicted position information of each mobile robot at the next preset moment based on the current motion trend information and current position information of each mobile robot;

[0007] Obtaining the preset next moment movement trend information of each mobile robot;

[0008] Calculate the distance between two adjacent mobile robots based on the predicted position information of each mobile robot at the next moment;

[0009] The collision risk prediction process is performed based on the interval distance between two adjacent mobile robots and the motion trend information at the next moment;

[0010] Based on the collision risk prediction result, dynamic planning of operation paths is performed on two adjacent mobile robots.

[0011] Optionally, the obtaining of the current motion trend information and current position information of each mobile robot in a given operating area includes:

[0012] Obtaining current position information based on real-time positioning data of each mobile robot in a given operating area;

[0013] The corresponding current motion trend information in a given working area is obtained based on the reading method in the built-in control system of each mobile robot.

[0014] Optionally, the predicting of the predicted position information of each mobile robot at the next preset moment based on the current motion trend information and current position information of each mobile robot includes:

[0015] Based on the current movement speed information in the current movement trend information of each mobile robot, a preset movement distance calculation for the next moment is performed to obtain the movement distance for the next moment;

[0016] Based on the movement distance at the next moment and the current position information corresponding to each mobile robot, a preset next moment position information prediction process is performed to obtain the next moment predicted position information of each mobile robot.

[0017] Optionally, the predicting process of the preset position information at the next moment based on the movement distance at the next moment and the current position information corresponding to each mobile robot includes:

[0018] Based on the movement distance and current position information corresponding to each mobile robot at the next moment, the current movement direction information in the current movement trend information is used to perform a preset prediction process for the position information at the next moment.

[0019] Optionally, the obtaining of the preset next moment motion trend information of each mobile robot includes:

[0020] The preset next moment motion trend information of each mobile robot is obtained based on the way in which the built-in control system of each mobile robot reads.

[0021] Optionally, the calculating the interval distance between two adjacent mobile robots based on the predicted position information of each mobile robot at the next moment includes:

[0022] Obtaining the next moment predicted position information of two adjacent mobile robots between each mobile robot;

[0023] The interval distance calculation process between two adjacent mobile robots is performed based on the next-moment predicted position information of the two adjacent mobile robots.

[0024] Optionally, the collision risk prediction process based on the interval distance between two adjacent mobile robots and the motion trend information at the next moment includes:

[0025] Determine whether the interval between two adjacent mobile robots is less than a preset safety distance;

[0026] If not, it is determined that there is no collision risk between the two adjacent mobile robots;

[0027] If yes, then the relative motion trend information between the two adjacent mobile robots is obtained by using the next moment motion direction information in the next moment motion trend information of the two adjacent mobile robots;

[0028] Collision risk prediction is performed based on the relative motion trend information between two adjacent mobile robots.

[0029] Optionally, the collision risk prediction process based on the relative motion trend information between two adjacent mobile robots includes:

[0030] When the relative motion trend information between two adjacent mobile robots is a trend of moving toward each other or a trend of maintaining motion, it is predicted that there is a collision risk between the two adjacent robots;

[0031] When the relative motion trend information between two adjacent mobile robots is in a reverse motion area, it is predicted that there is no collision risk between the two adjacent robots.

[0032] Optionally, the performing dynamic planning of operation paths for two adjacent mobile robots based on the collision risk prediction result includes:

[0033] When the collision risk prediction result predicts that there is a collision risk between two adjacent robots, the two adjacent mobile robots are controlled to change the next moment movement direction information in the next moment movement trend information to perform dynamic operation path planning processing.

[0034] In addition, an embodiment of the present invention also provides a device for dynamically planning an operation path based on multiple mobile robots, the device comprising:

[0035] The first acquisition module is used to obtain the current motion trend information and current position information of each mobile robot in a given working area, wherein the current motion trend information includes current motion speed information and current motion direction information;

[0036] Position prediction module: used to predict the next moment predicted position information of each mobile robot based on the current motion trend information and current position information of each mobile robot at the preset next moment;

[0037] The second acquisition module is used to obtain the next moment motion trend information of each mobile robot at the preset next moment;

[0038] Calculation module: used to calculate the interval distance between two adjacent mobile robots based on the predicted position information of each mobile robot at the next moment;

[0039] Collision risk prediction module: used to predict the collision risk based on the interval distance between two adjacent mobile robots and the movement trend information at the next moment;

[0040] Dynamic planning module: used to perform dynamic planning processing on the operation path of two adjacent mobile robots based on the collision risk prediction result.

[0041] In the specific implementation process of the present invention, the collision risk prediction process is realized by predicting the position information of two adjacent mobile robots among multiple mobile robots at the next moment, and the predicted position information at the next moment and the motion trend information at the next moment are used to realize the collision risk prediction process, and the operation path of the two adjacent mobile robots is dynamically planned according to the collision risk prediction result; multiple mobile robots are realized to operate in the operation area, and the risk of collision between each other can be effectively avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 is a flow chart of a method for dynamic planning of operation paths based on multiple mobile robots in an embodiment of the present invention;

[0044] Figure 2 It is a schematic diagram of the structural composition of a working path dynamic planning device based on multiple mobile robots in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Embodiment 1

[0047] See also Figure 1 , Figure 1 It is a flowchart of a method for dynamic planning of operation paths based on multiple mobile robots in an embodiment of the present invention.

[0048] like Figure 1 As shown, a method for dynamic planning of operation paths based on multiple mobile robots, the method comprising:

[0049] S11: obtaining current motion trend information and current position information corresponding to each mobile robot in a given working area, wherein the current motion trend information includes current motion speed information and current motion direction information;

[0050] In the specific implementation process of the present invention, the current motion trend information and current position information of each mobile robot in a given working area are obtained, including: obtaining the current position information based on the real-time positioning data of each mobile robot in the given working area; and obtaining the corresponding current motion trend information in the given working area based on the reading method in the built-in control system of each mobile robot.

[0051] Specifically, the mobile robot is equipped with odometers, speed sensors, direction sensors and other sensors. Each mobile robot can collect data through these sensors and obtain the current position information in real time within a given working area. The corresponding current motion trend information within the given working area can be read through the built-in control system of these mobile robots. The current motion trend information mainly includes the current motion speed information and the current motion direction information.

[0052] S12: predicting the next moment predicted position information of each mobile robot at a preset next moment based on the current motion trend information and current position information of each mobile robot;

[0053] In the specific implementation process of the present invention, the predicted position information of each mobile robot at the preset next moment is predicted based on the current motion trend information and current position information of each mobile robot, including: calculating the motion distance of the preset next moment based on the current motion speed information in the current motion trend information of each mobile robot to obtain the motion distance of the next moment; predicting the position information of the preset next moment based on the motion distance and current position information corresponding to the next moment of each mobile robot to obtain the predicted position information of each mobile robot at the next moment.

[0054] Furthermore, the preset prediction processing of the position information at the next moment based on the movement distance at the next moment and the current position information corresponding to each mobile robot includes: based on the movement distance at the next moment and the current position information corresponding to each mobile robot, using the current movement direction information in the current movement trend information to perform the preset prediction processing of the position information at the next moment.

[0055] Specifically, the preset movement distance at the next moment is calculated through the current movement speed information in the current movement trend information of each mobile robot. Knowing the movement time and assuming that the movement speed within the movement time is the current cloud speed information, the movement distance can be calculated through the movement speed and movement time. After obtaining the movement distance corresponding to each mobile robot at the next moment, the current position information is used to perform prediction processing on the preset position information in different time and space, and the predicted position information of each mobile robot at the next moment can be obtained.

[0056] That is, according to the movement distance and current position information corresponding to each mobile robot at the next moment, the current movement direction information in the current movement trend information corresponding to each mobile robot is used to perform prediction processing on the preset position information at the next moment, so as to obtain the predicted position information of each mobile robot at the next moment.

[0057] S13: Obtaining the next moment movement trend information of each mobile robot at the next moment preset;

[0058] In the specific implementation process of the present invention, the obtaining of the preset next moment motion trend information of each mobile robot includes: obtaining the preset next moment motion trend information of each mobile robot based on reading by the built-in control system of each mobile robot.

[0059] Specifically, the preset next moment movement trend information of each mobile robot is obtained by reading it through the built-in control system of each mobile robot.

[0060] S14: calculating the interval distance between two adjacent mobile robots based on the predicted position information of each mobile robot at the next moment;

[0061] In the specific implementation process of the present invention, the calculation of the interval distance between two adjacent mobile robots based on the next moment predicted position information of each mobile robot includes: obtaining the next moment predicted position information of two adjacent mobile robots between each mobile robot; and calculating the interval distance between two adjacent mobile robots based on the next moment predicted position information of the two adjacent mobile robots.

[0062] Specifically, the predicted position information of two adjacent mobile robots at the next moment between the mobile robots is obtained; and then the predicted position information of the two adjacent mobile robots at the next moment is used to calculate the interval distance between the two adjacent mobile robots.

[0063] S15: performing collision risk prediction based on the interval distance between two adjacent mobile robots and the motion trend information at the next moment;

[0064] In the specific implementation process of the present invention, the collision risk prediction processing based on the interval distance between two adjacent mobile robots and the motion trend information at the next moment includes: judging whether the interval distance between the two adjacent mobile robots is less than a preset safety distance; if not, judging that there is no collision risk between the two adjacent mobile robots; if so, obtaining the relative motion trend information between the two adjacent mobile robots using the next moment motion direction information in the next moment motion trend information of the two adjacent mobile robots; and performing collision risk prediction processing based on the relative motion trend information between the two adjacent mobile robots.

[0065] Furthermore, the collision risk prediction processing based on the relative motion trend information between two adjacent mobile robots includes: when the relative motion trend information between the two adjacent mobile robots is a trend of moving towards each other or a trend of maintaining motion, predicting that there is a collision risk between the two adjacent robots; when the relative motion trend information between the two adjacent mobile robots is a back-to-back motion area, predicting that there is no collision risk between the two adjacent robots.

[0066] Specifically, by judging whether the interval distance between two adjacent mobile robots is less than a preset safety distance, if it is not less than, it is judged that there is no collision risk between the two adjacent mobile robots; if it is less than, it is necessary to use the next moment motion direction information in the next moment motion trend information of the two adjacent mobile robots to obtain the relative motion trend information between the two adjacent mobile robots; and perform collision risk prediction processing based on the relative motion trend information between the two adjacent mobile robots.

[0067] That is, when the relative motion trend information between two adjacent mobile robots is a moving trend towards each other or a maintaining motion trend, it is predicted that there is a collision risk between the two adjacent robots; when the relative motion trend information between two adjacent mobile robots is a moving area away from each other, it is predicted that there is no collision risk between the two adjacent robots.

[0068] S16: Performing dynamic planning of operation paths for two adjacent mobile robots based on the collision risk prediction result.

[0069] In the specific implementation process of the present invention, the dynamic planning of the working path of two adjacent mobile robots based on the collision risk prediction result includes: when the collision risk prediction result predicts that there is a collision risk between the two adjacent robots, the two adjacent mobile robots are controlled to change the next moment movement direction information in the next moment movement trend information to perform dynamic planning of the working path.

[0070] Specifically, when the collision risk prediction result predicts that there is a collision risk between two adjacent robots, it is necessary to control the two adjacent mobile robots to change the next moment movement direction information in the next moment movement trend information to realize dynamic planning of the operation path.

[0071] In the specific implementation process of the present invention, the collision risk prediction process is realized by predicting the position information of two adjacent mobile robots among multiple mobile robots at the next moment, and the predicted position information at the next moment and the motion trend information at the next moment are used to realize the collision risk prediction process, and the operation path of the two adjacent mobile robots is dynamically planned according to the collision risk prediction result; multiple mobile robots are realized to operate in the operation area, and the risk of collision between each other can be effectively avoided.

[0072] Embodiment 2

[0073] See also Figure 2 , Figure 2 It is a schematic diagram of the structural composition of a working path dynamic planning device based on multiple mobile robots in an embodiment of the present invention.

[0074] like Figure 2As shown, a working path dynamic planning device based on multiple mobile robots, the device comprises:

[0075] The first obtaining module 21 is used to obtain the current motion trend information and current position information of each mobile robot in a given working area, wherein the current motion trend information includes current motion speed information and current motion direction information;

[0076] In the specific implementation process of the present invention, the current motion trend information and current position information of each mobile robot in a given working area are obtained, including: obtaining the current position information based on the real-time positioning data of each mobile robot in the given working area; and obtaining the corresponding current motion trend information in the given working area based on the reading method in the built-in control system of each mobile robot.

[0077] Specifically, the mobile robot is equipped with odometers, speed sensors, direction sensors and other sensors. Each mobile robot can collect data through these sensors and obtain the current position information in real time within a given working area. The corresponding current motion trend information within the given working area can be read through the built-in control system of these mobile robots. The current motion trend information mainly includes the current motion speed information and the current motion direction information.

[0078] Position prediction module 22: used to predict the next moment predicted position information of each mobile robot at a preset next moment based on the current motion trend information and current position information of each mobile robot;

[0079] In the specific implementation process of the present invention, the predicted position information of each mobile robot at the preset next moment is predicted based on the current motion trend information and current position information of each mobile robot, including: calculating the motion distance of the preset next moment based on the current motion speed information in the current motion trend information of each mobile robot to obtain the motion distance of the next moment; predicting the position information of the preset next moment based on the motion distance and current position information corresponding to the next moment of each mobile robot to obtain the predicted position information of each mobile robot at the next moment.

[0080] Furthermore, the preset prediction processing of the position information at the next moment based on the movement distance at the next moment and the current position information corresponding to each mobile robot includes: based on the movement distance at the next moment and the current position information corresponding to each mobile robot, using the current movement direction information in the current movement trend information to perform the preset prediction processing of the position information at the next moment.

[0081] Specifically, the preset movement distance at the next moment is calculated through the current movement speed information in the current movement trend information of each mobile robot. Knowing the movement time and assuming that the movement speed within the movement time is the current cloud speed information, the movement distance can be calculated through the movement speed and movement time. After obtaining the movement distance corresponding to each mobile robot at the next moment, the current position information is used to perform prediction processing on the preset position information in different time and space, and the predicted position information of each mobile robot at the next moment can be obtained.

[0082] That is, according to the movement distance and current position information corresponding to each mobile robot at the next moment, the current movement direction information in the current movement trend information corresponding to each mobile robot is used to perform prediction processing on the preset position information at the next moment, so as to obtain the predicted position information of each mobile robot at the next moment.

[0083] The second obtaining module 23 is used to obtain the next moment movement trend information of each mobile robot at the preset next moment;

[0084] In the specific implementation process of the present invention, the obtaining of the preset next moment motion trend information of each mobile robot includes: obtaining the preset next moment motion trend information of each mobile robot based on reading by the built-in control system of each mobile robot.

[0085] Specifically, the preset next moment movement trend information of each mobile robot is obtained by reading it through the built-in control system of each mobile robot.

[0086] Calculation module 24: used for calculating the interval distance between two adjacent mobile robots based on the predicted position information of each mobile robot at the next moment;

[0087] In the specific implementation process of the present invention, the calculation of the interval distance between two adjacent mobile robots based on the next moment predicted position information of each mobile robot includes: obtaining the next moment predicted position information of two adjacent mobile robots between each mobile robot; and calculating the interval distance between two adjacent mobile robots based on the next moment predicted position information of the two adjacent mobile robots.

[0088] Specifically, by obtaining the next moment predicted position information of two adjacent mobile robots between each mobile robot; then using the next moment predicted position information of the two adjacent mobile robots to calculate the interval distance between the two adjacent mobile robots

[0089] Collision risk prediction module 25: used for performing collision risk prediction processing based on the interval distance between two adjacent mobile robots and the motion trend information at the next moment;

[0090] In the specific implementation process of the present invention, the collision risk prediction processing based on the interval distance between two adjacent mobile robots and the motion trend information at the next moment includes: judging whether the interval distance between the two adjacent mobile robots is less than a preset safety distance; if not, judging that there is no collision risk between the two adjacent mobile robots; if so, obtaining the relative motion trend information between the two adjacent mobile robots using the next moment motion direction information in the next moment motion trend information of the two adjacent mobile robots; and performing collision risk prediction processing based on the relative motion trend information between the two adjacent mobile robots.

[0091] Furthermore, the collision risk prediction processing based on the relative motion trend information between two adjacent mobile robots includes: when the relative motion trend information between the two adjacent mobile robots is a trend of moving towards each other or a trend of maintaining motion, predicting that there is a collision risk between the two adjacent robots; when the relative motion trend information between the two adjacent mobile robots is a back-to-back motion area, predicting that there is no collision risk between the two adjacent robots.

[0092] Specifically, by judging whether the interval distance between two adjacent mobile robots is less than a preset safety distance, if it is not less than, it is judged that there is no collision risk between the two adjacent mobile robots; if it is less than, it is necessary to use the next moment motion direction information in the next moment motion trend information of the two adjacent mobile robots to obtain the relative motion trend information between the two adjacent mobile robots; and perform collision risk prediction processing based on the relative motion trend information between the two adjacent mobile robots.

[0093] That is, when the relative motion trend information between two adjacent mobile robots is a moving trend towards each other or a maintaining motion trend, it is predicted that there is a collision risk between the two adjacent robots; when the relative motion trend information between two adjacent mobile robots is a moving area away from each other, it is predicted that there is no collision risk between the two adjacent robots.

[0094] Dynamic planning module 26: used for dynamically planning the operation paths of two adjacent mobile robots based on the collision risk prediction result.

[0095] In the specific implementation process of the present invention, the dynamic planning of the working path of two adjacent mobile robots based on the collision risk prediction result includes: when the collision risk prediction result predicts that there is a collision risk between the two adjacent robots, the two adjacent mobile robots are controlled to change the next moment movement direction information in the next moment movement trend information to perform dynamic planning of the working path.

[0096] Specifically, when the collision risk prediction result predicts that there is a collision risk between two adjacent robots, it is necessary to control the two adjacent mobile robots to change the next moment movement direction information in the next moment movement trend information to realize dynamic planning of the operation path.

[0097] In the specific implementation process of the present invention, the collision risk prediction process is realized by predicting the position information of two adjacent mobile robots among multiple mobile robots at the next moment, and the predicted position information at the next moment and the motion trend information at the next moment are used to realize the collision risk prediction process, and the operation path of the two adjacent mobile robots is dynamically planned according to the collision risk prediction result; multiple mobile robots are realized to operate in the operation area, and the risk of collision between each other can be effectively avoided.

[0098] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0099] In addition, the above is a detailed introduction to a method and device for dynamic planning of operation paths based on multiple mobile robots provided in an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for dynamic planning of operation paths based on multiple mobile robots, characterized in that: The method comprises: Obtaining current motion trend information and current position information corresponding to each mobile robot in a given operating area, wherein the current motion trend information includes current motion speed information and current motion direction information; Predicting the predicted position information of each mobile robot at the next preset moment based on the current motion trend information and current position information of each mobile robot; Obtaining the preset next moment motion trend information of each mobile robot; Calculate the distance between two adjacent mobile robots based on the predicted position information of each mobile robot at the next moment; The collision risk prediction process is performed based on the interval distance between two adjacent mobile robots and the motion trend information at the next moment; Performing dynamic planning of operation paths for two adjacent mobile robots based on the collision risk prediction result; The obtaining of the current motion trend information and current position information of each mobile robot in a given operation area includes: Obtaining current position information based on real-time positioning data of each mobile robot in a given operating area; Obtaining the corresponding current motion trend information in a given working area based on the reading method in the built-in control system of each mobile robot; The predicting of the next moment predicted position information of each mobile robot at a preset next moment based on the current motion trend information and current position information of each mobile robot includes: Based on the current movement speed information in the current movement trend information of each mobile robot, a preset movement distance calculation for the next moment is performed to obtain the movement distance for the next moment; Based on the movement distance at the next moment and the current position information corresponding to each mobile robot, a preset next moment position information prediction process is performed to obtain the next moment predicted position information of each mobile robot; The preset next moment position information prediction processing based on the next moment movement distance and current position information corresponding to each mobile robot includes: Based on the movement distance and current position information corresponding to each mobile robot at the next moment, the current movement direction information in the current movement trend information is used to perform a preset prediction process for the position information at the next moment.

2. The method for dynamic operation path planning according to claim 1, characterized in that: The step of obtaining the preset next moment movement trend information of each mobile robot comprises: The preset next moment motion trend information of each mobile robot is obtained based on the way in which the built-in control system of each mobile robot reads.

3. The method for dynamic operation path planning according to claim 1, characterized in that: The calculating the interval distance between two adjacent mobile robots based on the predicted position information of each mobile robot at the next moment includes: Obtaining the next moment predicted position information of two adjacent mobile robots between each mobile robot; The interval distance calculation process between two adjacent mobile robots is performed based on the next-moment predicted position information of the two adjacent mobile robots.

4. The method for dynamic operation path planning according to claim 1, characterized in that: The collision risk prediction process based on the interval distance between two adjacent mobile robots and the motion trend information at the next moment includes: Determine whether the interval between two adjacent mobile robots is less than a preset safety distance; If not, it is determined that there is no collision risk between the two adjacent mobile robots; If yes, then the relative motion trend information between the two adjacent mobile robots is obtained by using the next moment motion direction information in the next moment motion trend information of the two adjacent mobile robots; Collision risk prediction is performed based on the relative motion trend information between two adjacent mobile robots.

5. The method for dynamic operation path planning according to claim 4, characterized in that: The collision risk prediction process based on the relative motion trend information between two adjacent mobile robots includes: When the relative motion trend information between two adjacent mobile robots is a trend of moving toward each other or a trend of maintaining motion, it is predicted that there is a collision risk between the two adjacent robots; When the relative motion trend information between two adjacent mobile robots is in a reverse motion area, it is predicted that there is no collision risk between the two adjacent robots.

6. The method for dynamic operation path planning according to claim 1, characterized in that: The dynamically planning the operation paths of the two adjacent mobile robots based on the collision risk prediction result includes: When the collision risk prediction result predicts that there is a collision risk between two adjacent robots, the two adjacent mobile robots are controlled to change the next moment movement direction information in the next moment movement trend information to perform dynamic operation path planning processing.

7. A dynamic operation path planning device based on multiple mobile robots, characterized in that: The device comprises: The first acquisition module is used to obtain the current motion trend information and current position information of each mobile robot in a given working area, wherein the current motion trend information includes current motion speed information and current motion direction information; Position prediction module: used to predict the next moment predicted position information of each mobile robot based on the current motion trend information and current position information of each mobile robot at the preset next moment; The second acquisition module is used to obtain the next moment motion trend information of each mobile robot at the preset next moment; Calculation module: used to calculate the interval distance between two adjacent mobile robots based on the predicted position information of each mobile robot at the next moment; Collision risk prediction module: used to predict the collision risk based on the interval distance between two adjacent mobile robots and the movement trend information at the next moment; Dynamic planning module: used for dynamically planning the operation paths of two adjacent mobile robots based on the collision risk prediction result; The obtaining of the current motion trend information and current position information of each mobile robot in a given operation area includes: Obtaining current position information based on real-time positioning data of each mobile robot in a given operating area; Obtaining the corresponding current motion trend information in a given working area based on the reading method in the built-in control system of each mobile robot; The predicting of the next moment predicted position information of each mobile robot at a preset next moment based on the current motion trend information and current position information of each mobile robot includes: Based on the current movement speed information in the current movement trend information of each mobile robot, a preset movement distance calculation for the next moment is performed to obtain the movement distance for the next moment; Based on the movement distance at the next moment and the current position information corresponding to each mobile robot, a preset next moment position information prediction process is performed to obtain the next moment predicted position information of each mobile robot; The preset next moment position information prediction processing based on the next moment movement distance and current position information corresponding to each mobile robot includes: Based on the movement distance and current position information corresponding to each mobile robot at the next moment, the current movement direction information in the current movement trend information is used to perform a preset prediction process for the position information at the next moment.

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