Multi-type robot path planning method, device, equipment and storage medium

Abstract

The application relates to a multi-type robot path planning method, device and equipment and a storage medium, wherein the method comprises the following steps: constructing a submap corresponding to each type of robot; calculating mutual exclusion routes between each submap based on the size of each type of robot to obtain a collision set; and when a deadlock occurs, preferentially driving a master robot in the robots according to the collision set and the current position and target position of the robot to obtain the path planning of each type of robot. Through the application, the size of each type of robot can be combined to obtain a collision set between submaps, and then the path of all robots can be globally planned according to the collision set and by preferentially driving the master robot when a deadlock occurs, so that the collision and deadlock are avoided, and the problem of affecting the moving efficiency of the robot caused by the deadlock and collision between the robots is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a multi-type robot path planning method and device, equipment and a storage medium. BACKGROUND

[0002] With the gradual development of intelligentization and informationization in manufacturing and logistics industry, modern warehouses complete tasks such as goods sorting and carrying through mobile robots, and the degree of automation has been greatly improved. Among them, AGV (Automated Guided Vehicle) is often used to automatically travel along the planned path to achieve transportation.

[0003] According to the requirements of actual application, different types of mobile robots will work together along their respective planned paths. Since a single robot cannot perceive the position of other moving robots, the current path planning method for a single robot cannot effectively avoid the occurrence of deadlock and collision with other moving robots. If deadlock and collision occur, manual configuration is required to solve the problem, which affects the moving efficiency of the robot.

[0004] At present, there is no effective solution to the problem of affecting the moving efficiency of the robot due to deadlock and collision between robots in the related art. SUMMARY

[0005] A multi-type robot path planning method, device, equipment and storage medium are provided in the embodiment to solve the problem of affecting the moving efficiency of the robot due to deadlock and collision between robots in the related art.

[0006] In a first aspect, a multi-type robot path planning method is provided in the embodiment, comprising:

[0007] Constructing a sub-map corresponding to each type of robot;

[0008] Based on the size of each type of robot, calculating mutual exclusive routes between each sub-map to obtain a collision set;

[0009] According to the collision set and the current position and target position of the robot, when deadlock occurs, a master robot in the robot is given priority to travel, and the path planning of each type of robot is obtained.

[0010] In some embodiments, the construction of a sub-map corresponding to each type of robot comprises:

[0011] By defining the nodes and routes traveled by each type of robot, a corresponding sub-map is constructed;

[0012] The sub-maps include the nodes and the routes.

[0013] In some embodiments, the calculating of the mutually exclusive routes between each of the sub-maps based on the sizes of the robots of each type to obtain a collision set comprises:

[0014] The calculating of the mutually exclusive routes based on the sizes of the robots, wherein the first robot is a master robot in the robots and the second robot is a slave robot in the robots, comprises:

[0015] The obtaining of the mutually exclusive routes of each of the routes in each of the sub-maps to obtain the collision set.

[0016] In some embodiments, the obtaining of the path planning of each type of the robots based on the current positions and target positions of the robots and the collision set, and the priority of the master robot in the robots in the case of deadlock comprises:

[0017] The obtaining of the complete path sequence and the currently drivable path of the robots based on the current positions and target positions of the robots.

[0018] The returning of the applicable path from the currently drivable path based on the collision set.

[0019] The obtaining of the path planning based on the complete path sequence and the applicable path, and the priority of the master robot in the robots in the case of deadlock.

[0020] In some embodiments, the obtaining of the complete path sequence and the currently drivable path of the robots based on the current positions and target positions of the robots comprises:

[0021] The obtaining of the current position of the robots based on the driving route and angle of the robots.

[0022] The obtaining of the complete path sequence and the currently drivable path of the robots based on the current positions and target positions of the robots at a preset periodic timing.

[0023] In some embodiments, the returning of the applicable path from the currently drivable path based on the collision set further comprises:

[0024] The presetting of an upper limit of the occupied path length of the robots to obtain an occupied path upper limit.

[0025] The returning of the applicable path from the currently drivable path based on the condition that the robots meet the occupied path upper limit.

[0026] In some embodiments, the sub-maps corresponding to the robots of different types are layer maps.

[0027] In a second aspect, a multi-type robot path planning apparatus is provided in the embodiments, which comprises a map construction module, a collision detection module and a path planning module.

[0028] The map construction module is configured to construct sub-maps corresponding to robots of different types.

[0029] The collision detection module is configured to calculate mutual exclusive routes between each of the sub-maps based on sizes of the robots of different types, to obtain a collision set.

[0030] The path planning module is configured to, according to the collision set and current positions and target positions of the robots, preferentially drive a master robot among the robots when a deadlock occurs, to obtain path planning of the robots of different types.

[0031] In a third aspect, a computer device is provided in the embodiments, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the multi-type robot path planning method of the first aspect when executing the computer program.

[0032] In a fourth aspect, a storage medium is provided in the embodiments, which stores a computer program executable by a processor to implement the multi-type robot path planning method of the first aspect.

[0033] Compared with the related art, the multi-type robot path planning method, apparatus, device and storage medium provided in the embodiments can construct sub-maps corresponding to robots of different types, calculate mutual exclusive routes between each of the sub-maps based on sizes of the robots of different types, to obtain a collision set, and according to the collision set and current positions and target positions of the robots, preferentially drive a master robot among the robots when a deadlock occurs, to obtain path planning of the robots of different types, which can obtain a collision set between sub-maps in combination with sizes of the robots of different types, and then perform global planning on paths of all the robots according to the collision set and preferentially driving the master robot when a deadlock occurs, to avoid collision and deadlock, and solve the problem of affecting robot moving efficiency due to deadlock and collision between robots.

[0034] The details of one or more embodiments of the present application are presented in the following drawings and description to make other features, objects and advantages of the present application more clear and easy to understand. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0036] Figure 1 Fig. 1 is a hardware structure diagram of a terminal of a multi-type robot path planning method in an embodiment;

[0037] Figure 2 Fig. 2 is a route schematic diagram of a robot collision in the related art;

[0038] Figure 3 Fig. 3 is a route schematic diagram of a robot deadlock in the related art;

[0039] Figure 4 Fig. 4 is a flowchart of a multi-type robot path planning method in an embodiment;

[0040] Figure 5 Fig. 5 is a flowchart of a multi-type robot path planning method in a preferred embodiment;

[0041] Figure 6 Fig. 6 is a structure block diagram of a multi-type robot path planning device in an embodiment.

[0042] In the drawings: 102, processor; 104, memory; 106, transmission device; 108, input and output device; 10, map construction module; 20, collision detection module; 30, path planning module. DETAILED DESCRIPTION

[0043] In order to more clearly understand the purpose, technical scheme and advantages of the present application, the present application is described and explained below in conjunction with the drawings and embodiments.

[0044] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the same meaning as those commonly understood by a person of ordinary skill in the art to which the present application belongs. The terms "one", "a", "an", "the", "these", and similar terms in the present application do not indicate quantity of limitation, and they can be singular or plural. The terms "include", "contain", "have", and any variants thereof in the present application are intended to cover non-exclusive inclusion; for example, a process, method, and system, product or device containing a series of steps or modules (units) are not limited to the listed steps or modules (units), but can include steps or modules (units) not listed, or can include other steps or modules (units) inherent to the process, method, product or device. The terms "connect", "connected", "couple" and similar terms in the present application are not limited to physical or mechanical connection, but can include electrical connection, whether direct or indirect. The term "multiple" in the present application refers to two or more. The term "and / or" describes the association between the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. Generally, the character " / " represents an "or" relationship between the associated objects. The terms "first", "second", "third" and the like in the present application are only used to distinguish similar objects, and do not represent a specific order of the objects.

[0045] The method embodiments provided in the present embodiment can be executed in a terminal, a computer or a similar computing device. For example, the method embodiments are executed on a terminal, Figure 1 is a hardware structure block diagram of the terminal of the multi-type robot path planning method of the present embodiment. As shown in Figure 1 , the terminal can include one or more (only one is shown in Figure 1 ) processor 102 and memory 104 for storing data, wherein the processor 102 can include but not limited to processing devices such as microprocessor MCU or programmable logic device FPGA. The above terminal can also include a transmission device 106 for communication function and an input and output device 108. Those skilled in the art can understand that Figure 1 The structure shown is only schematic, which does not limit the structure of the above terminal. For example, the terminal can include more or less components than those shown in Figure 1 , or have a different configuration from that shown in Figure 1 .

[0046] The memory 104 can be used to store computer programs, for example, software programs of application software and modules, such as the computer program corresponding to the multi-type robot path planning method in the embodiment. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, that is, implements the method described above. The memory 104 can include a high-speed random access memory, and can also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include a memory remotely arranged with respect to the processor 102, which can be connected to the terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0047] The transmission device 106 is used to receive or send data via a network. The above-mentioned network includes a wireless network provided by a communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (NIC) which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module which is used to communicate with the Internet in a wireless manner.

[0048] With the gradual development of intelligentization and informationization of manufacturing and logistics industries, modern warehouses complete tasks such as goods sorting and carrying through mobile robots, and the degree of automation has been greatly improved. AGV (Automated Guided Vehicle) is often used to automatically travel along the planned path to achieve transportation.

[0049] According to the requirements of actual application, different types of mobile robots will work together along their respective planned paths. Since a single robot cannot perceive the position of other moving robots, the current path planning method for a single robot cannot effectively avoid the occurrence of deadlock and collision with other moving robots. If deadlock and collision occur, manual configuration is required to solve the problem, which affects the moving efficiency of the robot.

[0050] Figure 2 And Figure 3respectively are the route diagrams of the collision and deadlock of the robots in the related art, a plurality of mobile robots walk in the respective routes and independently perform their tasks, the existing traffic control method mostly uses the node or grid resource allocation method, whether the node can be applied is judged according to whether the node is occupied, but the physical sizes of different types of robots are different, even if the node is idle, but considering the size of other robots on the adjacent route, collision may actually occur. As shown in Figure 2 , the robot A driving route is from 13 to 14, the robot B driving route is from 15 to 16, although the routes of the robot A and the robot B are both idle, but when the robot A and the robot B oppositely drive on the adjacent routes between the route 6 to 12 and the route 1 to 2, considering the actual sizes of the robot A and the robot B, collision may occur. According to the possible collision situation, the mutually exclusive routes can be defined in advance to avoid robot collision, but the deadlock between the robots may also occur, as shown in Figure 3 , the robot A drives on the route 1 to 2, the robot B drives on the route 5 to 6, but since the route 2 to 3 is mutually exclusive with the route 6 to 7, the robot A and the robot B will stop and wait for the other to leave, so the deadlock between the robots occurs.

[0051] In order to solve the above problems, in the following embodiments, a multi-type robot path planning method, device, equipment and storage medium are provided, which can obtain a collision set between sub-maps in combination with the sizes of various types of robots, and then perform global planning on the paths of all robots according to the collision set and the priority of master robots in deadlock to avoid collision and deadlock.

[0052] In the present embodiment, a multi-type robot path planning method is provided, Figure 4 is a flowchart of the method of the present embodiment, as shown in the figure, the method comprises the following steps: Figure 4

[0053] Step S410, constructing a sub-map corresponding to each type of robot.

[0054] Specifically, according to the requirements of actual application, different types of mobile robots will work cooperatively along their respective planned paths. The corresponding sub-maps for different types of robots are constructed, and the sizes of various types of robots are defined, wherein the sub-map corresponding to the robot can adopt a layer map, so that each type of robot only needs to identify the sub-map of the corresponding layer when driving.

[0055] Step S420, calculating the mutually exclusive routes between each sub-map based on the sizes of various types of robots to obtain a collision set.

[0056] ​Specifically, according to the size of each type of robot, the routes on which other robots colliding with the robot are located are calculated in each layer sub-map when the robot travels on the routes, and further, the mutually exclusive routes between all sub-maps are obtained, and the collision set is obtained by comprehensively obtaining all mutually exclusive routes.

[0057] In step S430, according to the collision set and the current position and target position of the robot, the master robot in the priority traveling robot is given priority when a deadlock occurs, and the path planning of each type of robot is obtained.

[0058] Specifically, in the global map, the complete path sequence of each robot is obtained in real time by a search algorithm according to the current position and target position of the robot, and then the complete path sequence obtained by the search algorithm is judged to be applied or not in combination with the collision set, and when a deadlock occurs, the master robot in the priority traveling robot is given priority through regulation, and finally the path planning is obtained.

[0059] The above steps construct corresponding layer sub-maps for different types of robots, and then obtain mutually exclusive routes between all routes in each sub-map based on the physical size of each type of robot, obtain the collision set, and according to the collision set and the current position and target position of the robot, in combination with the regulation strategy when a deadlock occurs, the global path planning for all robots can be performed, while considering the physical size of the robot to avoid collision and the regulation strategy when a deadlock occurs to avoid deadlock of the robot, without manually configuring to solve the deadlock and collision faults, effectively improving the moving efficiency of the robot, and solving the problem of affecting the moving efficiency of the robot caused by the deadlock and collision between robots.

[0060] In some embodiments, the above constructing the sub-maps corresponding to each type of robot includes:

[0061] The node and route traveled by each type of robot are defined to construct the corresponding sub-map, and the sub-map includes nodes and routes.

[0062] Specifically, each sub-map can be a topological map, and the topological map is composed of nodes and routes, and the sub-map corresponding to each type of robot is constructed by defining the nodes and routes used by each type of robot.

[0063] Further, in each sub-map, the route is the smallest traveling unit of the robot.

[0064] In this embodiment, the corresponding layer sub-maps are constructed for different types of robots, so that each type of robot only needs to identify the sub-map of the corresponding layer when traveling, thereby improving the traveling efficiency of the robot.

[0065] In some embodiments, the collision set is obtained by calculating the mutually exclusive routes between each sub-map based on the size of each type of robot, including the steps of:

[0066] The mutually exclusive routes are calculated based on the size of the robot, which are the routes that collide when the first robot travels on the route of the corresponding sub-map and the second robot travels on the route of the corresponding sub-map. The first robot is the master robot in the robot, and the second robot is the slave robot in the robot. The mutually exclusive routes of each route in each sub-map are obtained to obtain the collision set.

[0067] Specifically, the robot is usually not a regular shape, and its physical size specifically includes left half width, right half width, front half length, and rear half length. Taking the first robot as the master robot in the robot and the second robot as the slave robot in the robot, the mutually exclusive routes between the first robot corresponding sub-map and the second robot corresponding sub-map are calculated, which are the routes that collide when the first robot travels on the route of the corresponding sub-map and the second robot travels on the route of the corresponding sub-map. In this way, the mutually exclusive routes of each route in each sub-map are integrated to obtain the collision set.

[0068] Further, since the route is the smallest driving unit of the robot in each sub-map, the mutually exclusive routes of each route can be obtained by calculating the mutually exclusive points of all discrete points on the route. For example, a route is discretized into 200 discrete points, the coordinates of each discrete point can be obtained, and whether the robot collides with the surrounding adjacent routes (also discretized into discrete points) at each discrete point is calculated respectively. As long as one discrete point collides, it is a set of mutually exclusive routes.

[0069] Further, the final generated collision set can include route ID, robot type, and collided route ID and collided robot type.

[0070] By calculating the collision set of each route with all other routes in the global map according to the size of the robot in each layer sub-map in this embodiment, the mutually exclusive routes in the map do not need to be manually configured, which can reduce the errors and omissions of manual configuration, and effectively avoid collisions between robots.

[0071] In some embodiments, the path planning of each type of robot is obtained by prioritizing the master robot in the robot when a deadlock occurs based on the current position and target position of the robot and the collision set, including the following steps:

[0072] In step S431, the complete path sequence and the current drivable path of the robot are obtained based on the current position and target position of the robot.

[0073] According to the current positions and target positions of all robots, a global search algorithm is used to obtain a complete path sequence and a current drivable path of all robots according to congestion of the robots in the global map. The complete path sequence of the robots is a complete path sequence from the current positions to the target positions of the robots, but it does not mean that each route in the complete path sequence can be applied and driven by the robots at this time. The current drivable path is a path sequence that can be pre-occupied by each robot after each search algorithm, and the current drivable path is a part of the complete path sequence, which is used to prevent deadlock caused by multiple robots for occupying routes. For example, the complete path sequence of a robot A is 2, 3, 4, 5, 6, and 7, and the complete path sequence of a robot B is 8, 6, 5, 4, 3, and 1, wherein the robots A and B pass through routes 3, 4, 5, and 6 in opposite directions, and thus one robot A needs to pass through first. Accordingly, the drivable path of the robot A is 2, 3, 4, 5, 6, and 7, and the drivable path of the robot B is 8.

[0074] Further, a current position of the robot is obtained according to a driving route and an angle of the robot. The complete path sequence and the current drivable path of the robot are obtained at a preset period based on the current position and the target position of the robot.

[0075] The driving route of the robot includes a current route of the robot in the corresponding sub-map and a specific position of the robot on the current route (a percentage of a distance traveled relative to a start node of the route to a length of the route). The angle of the robot refers to an included angle between a head of the robot and the current driving route in a counterclockwise direction. The current position of the robot is obtained according to the current route, the specific position on the current route, and the angle of the robot. The optimal path of the robot to the target position is adjusted in real time according to congestion of the robot by using a global search algorithm. The complete path sequence and the current drivable path of all robots are returned at a preset period.

[0076] Preferably, the preset period can be set to 5 s, and the complete path sequence and the current drivable path of all robots are calculated and returned by the global search algorithm every 5 s.

[0077] In step S432, the applicable path is returned from the current drivable path based on the collision set.

[0078] Specifically, whether the returned current drivable path will cause a collision is further judged based on the collision set. If a collision will occur, it means that the path cannot be applied. The master robot in the priority driving robot is regulated, and the slave robot in the robot is approved to drive after the master robot passes through the mutual exclusion route.

[0079] For example, the complete path sequence of the robot A is 2, 3, 4, 5, 6, and 7, and the complete path sequence of the robot B is 8, 6, 5, 4, 3, and 1, wherein the robots A and B pass through routes 3, 4, 5, and 6 in opposite directions, and thus one robot A needs to pass through first. Accordingly, the drivable path of the robot A is 2, 3, 4, 5, 6, and 7, and the drivable path of the robot B is 8. Figure 2Taking the route diagram of robot collision as an example, routes 6 to 12 and routes 1 to 2 are mutually exclusive. Based on the collision set, when robot A requests to pass through route 1 to 2, it must first check whether routes 6 to 7, routes 7 to 8, and routes 8 to 12 have been occupied by robot B. If they have been occupied, robot A's request is rejected. At this time, robot A enters a waiting state until robot B leaves route 6 to 12, at which point robot A can apply for route 1 to 2 and pass through the route.

[0080] Furthermore, a maximum path length that the robot can occupy is pre-set to obtain the maximum path length; based on the robot meeting the maximum path length requirement, a requestable path is returned from the currently drivable paths.

[0081] The purpose of setting a pre-defined path occupancy limit is to prevent a robot from occupying too much path length and obstructing the movement of other robots. A preferred setting is a path occupancy limit of 5 meters. When a robot has reached its path occupancy limit, even if the route is traversable, it will not be temporarily allocated to that robot, and therefore, that route cannot be requested at that time.

[0082] Step S433: Based on the complete path sequence and available paths, and in the event of a deadlock, prioritize the main robot among the traveling robots to obtain the path plan.

[0083] Specifically, based on the complete path sequence returned by the global pathfinding algorithm and the available paths obtained from the collision set, combined with the control strategy in case of deadlock, the path planning for all robots is obtained. Note that the master robot among the robots is not unique.

[0084] by Figure 3 Taking the route diagram of the deadlock between the robots as an example, when robot A travels to route 13 to 9, its target position is route 10 to 14. When robot B travels to route 15 to 11, its target position is route 12 to 16. At this time, according to the global path search algorithm, the complete path sequence of robot A is 13, 9, 1, 2, 3, 4, 10, 14, and the complete path sequence of robot B is 15, 11, 5, 6, 7, 8, 12, 16. As robot A is the master robot and robot B is the slave robot, robot A will travel first. The travel path of robot A is 13, 9, 1, 2, 3, 4, 10, 14, and the travel path of robot B is 15, 11. Therefore, robot B waits in place until robot A completely leaves the area before robot B can enter.

[0085] By acquiring the current position and target position of the robot in this embodiment, the complete path sequence and the current drivable path of each robot are acquired in real time according to the global search algorithm, and the path planning is performed on all robots in combination with the collision set and the control strategy when a deadlock occurs, so that the global planning efficiency is more optimal, the collision and deadlock between robots are avoided, and manual configuration of the collision set and solution of the deadlock are not required, thereby effectively improving the moving efficiency of the robot.

[0086] The embodiment will be described and illustrated below through preferred embodiments.

[0087] Figure 5 The flowchart of the multi-type robot path planning method of the preferred embodiment is shown in FIG. 1, which includes the following steps: Figure 5

[0088] In step S510, a node and a route for each type of robot are defined, and a corresponding graph layer sub-map is constructed; the sub-map includes the node and the route.

[0089] In step S520, based on the size of the robot, the route on which the first robot driving on the corresponding sub-map collides with the second robot driving on the corresponding sub-map is calculated, and the mutually exclusive route is obtained; the first robot is the master robot in the robot; and the second robot is the slave robot in the robot.

[0090] In step S530, the mutually exclusive route of each route in each sub-map is obtained, and the collision set is obtained.

[0091] In step S540, the current position of the robot is obtained according to the driving route and angle of the robot.

[0092] In step S550, based on the current position and target position of the robot, the complete path sequence and the current drivable path of the robot are acquired in a preset period.

[0093] In step S560, based on the collision set and the pre-set upper limit of the occupied path, the applicable path is returned from the current drivable path.

[0094] In step S570, according to the complete path sequence and the applicable path, and when a deadlock occurs, the master robot in the robot is preferentially driven, and the path planning is obtained.

[0095] It should be noted that the steps shown in the above flowchart or the flowchart of the accompanying drawings can be executed in a computer system such as a group of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0096] ​A multi-type robot path planning apparatus is also provided in the embodiment, which is used to implement the above-mentioned embodiments and preferred embodiments and will not be described again. The terms "module", "unit", "sub-unit" and the like used below can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, implementation of hardware or a combination of software and hardware is also possible and contemplated.

[0097] Figure 6 is a structural block diagram of the multi-type robot path planning apparatus of the embodiment, as shown in the figure, the apparatus comprises a map construction module 10, a collision detection module 20 and a path planning module 30. Figure 6

[0098] The map construction module 10 is used to construct a sub-map corresponding to each type of robot.

[0099] The collision detection module 20 is used to calculate mutual exclusive routes between each sub-map based on the size of each type of robot to obtain a collision set.

[0100] The path planning module 30 is used to prioritize a master robot in the robots to travel according to the collision set and the current position and target position of the robot when a deadlock occurs to obtain path planning of each type of robot.

[0101] Through the apparatus provided in the embodiment, corresponding layer sub-maps are constructed for different types of robots, mutual exclusive routes between all routes in each sub-map are obtained based on the physical size of each type of robot to obtain a collision set, and according to the collision set and the current position and target position of the robot, a regulation strategy when a deadlock occurs is combined to perform global path planning for all robots, while considering the physical size of the robot to avoid collision and the regulation strategy when a deadlock occurs to avoid a deadlock of the robot, without manually configuring to solve faults such as deadlock and collision, effectively improving the moving efficiency of the robot and solving the problem of affecting the moving efficiency of the robot due to a deadlock and collision between robots.

[0102] It should be noted that each of the above modules can be a functional module or a program module, which can be implemented by software or hardware. For the modules implemented by hardware, each of the above modules can be located in the same processor; or each of the above modules can also be located in different processors in any combination.

[0103] A computer device is also provided in the embodiment, which comprises a memory and a processor, the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any one of the above method embodiments. ​

[0104] Optionally, the computer device described above can further comprise a transmission device connected with the processor and an input and output device connected with the processor.

[0105] It should be noted that the specific examples in the embodiment can refer to the examples described in the above embodiments and optional implementation manners, and will not be described herein.

[0106] In addition, in combination with the multi-type robot path planning method provided in the above embodiments, a storage medium can also be provided to implement the multi-type robot path planning method in the embodiment. The storage medium has a computer program stored thereon; the computer program is executed by a processor to implement any one of the multi-type robot path planning methods in the above embodiments.

[0107] It should be understood that the specific embodiments described herein are intended to explain the application, but not to limit it. According to the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0108] Obviously, the drawings are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar situations without creative labor. In addition, it can be understood that although the work done in the development process may be complex and long, some design, manufacture or production changes made by those skilled in the art according to the technical content disclosed in the present application are only routine technical means and should not be regarded as insufficient disclosure of the present application.

[0109] The term "embodiment" in the present application means that the specific features, structures or characteristics described in combination with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean independence or alternative to other embodiments. Those skilled in the art can clearly or implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0110] The above-described embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of patent protection. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A multi-type robot path planning method, characterized by, The application relates to a method for planning a path of a robot, and belongs to the field of robot path planning. The method comprises the following steps: constructing a sub-map corresponding to each type of robot; the sub-map corresponding to each type of robot adopts a layer map; calculating mutual exclusion routes between each sub-map based on the size of each type of robot to obtain a collision set; when a deadlock occurs, preferentially driving a master robot among the robots based on the collision set and the current position and target position of the robot to obtain path planning of each type of robot. The method for planning a path of a robot comprises the following steps: calculating mutual exclusion routes between each sub-map based on the size of each type of robot to obtain a collision set, which comprises the following steps: calculating, in each layer sub-map, routes on which other robots collide with a robot when the robot drives on the routes based on the size of each type of robot to obtain mutual exclusion routes between all sub-maps, and comprehensively obtaining a collision set from all mutual exclusion routes; when a deadlock occurs, preferentially driving a master robot among the robots based on the collision set and the current position and target position of the robot to obtain path planning of each type of robot, which comprises the following steps: obtaining a complete path sequence and a current drivable path of all robots based on a congestion condition of the robots in a global map by using a global search algorithm according to the current position and target position of all robots; the complete path sequence of the robots is a complete path sequence from a current position to a target position of the robots; and the current drivable path is a path sequence that can be pre-occupied by each robot after each search algorithm; 2. The multi-type robot path planning method of claim 1, wherein, returning an applicable path from the current drivable path based on the collision set; obtaining the path planning by preferentially driving a master robot among the robots based on the complete path sequence and the applicable path when a deadlock occurs. The method for planning a path of a robot comprises the following steps: 3.The multi-type robot path planning method of claim 1, wherein, constructing a corresponding sub-map by defining nodes and routes driven by each type of robot; the sub-map comprises the nodes and the routes. The method for planning a path of a robot comprises the following steps:

4. The multi-type robot path planning method of claim 1, wherein, calculating, based on the size of the robot, routes on which a first robot drives in a route of a corresponding sub-map and on which a second robot drives in a route of the corresponding sub-map to collide, to obtain the mutual exclusion routes; the first robot is a master robot among the robots; and the second robot is a slave robot among the robots; obtaining the mutual exclusion routes of each route in each sub-map to obtain the collision set. The method for planning a path of a robot comprises the following steps: 5.The multi-type robot path planning method of claim 1, wherein, obtaining the current position of the robot based on a driving route and an angle of the robot; obtaining the complete path sequence and the current drivable path of the robot at a preset period based on the current position and the target position of the robot. The method for planning a path of a robot further comprises the following steps: previously setting an upper limit of an occupied path length of the robot to obtain an upper limit of an occupied path. Return an applicable path from the current drivable path based on the case that the robot meets the upper limit of the occupation path.

6. A multi-type robot path planning apparatus, characterized by, Comprise: a map construction module, a collision detection module and a path planning module; the map construction module is used to construct sub-maps corresponding to robots of different types; the sub-maps corresponding to the robots of different types adopt layer maps; the collision detection module is used to calculate mutual exclusion routes between each of the sub-maps based on the sizes of the robots of different types, and obtain a collision set; the path planning module is used to, according to the collision set and the current position and target position of the robots, preferentially drive a master robot among the robots when a deadlock occurs, and obtain path planning of the robots of different types; the calculation of the mutual exclusion routes between each of the sub-maps based on the sizes of the robots of different types and the obtaining of the collision set comprise: according to the sizes of the robots of different types, calculate, in each layer sub-map, routes on which a robot collides with other robots when the robot travels, obtain mutual exclusion routes between all sub-maps, and comprehensively obtain a collision set from all mutual exclusion routes; according to the collision set and the current position and target position of the robots, preferentially drive a master robot among the robots when a deadlock occurs, and obtain path planning of the robots of different types, comprising: according to the current position and target position of all robots, obtain a complete path sequence of the robots and a current drivable path of the robots through a global search algorithm according to a global map; the complete path sequence of the robots is a complete path sequence from the current position to the target position of the robots; the current drivable path is a path sequence that each robot can pre-occupy after each search algorithm; based on the collision set, return an applicable path from the current drivable path; according to the complete path sequence and the applicable path, and when a deadlock occurs, preferentially drive a master robot among the robots, and obtain the path planning. 7.A computer device, comprising a memory and a processor, and characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to execute the multi-type robot path planning method of any one of claims 1 to 5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the multi-type robot path planning method of any one of claims 1 to 5.

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