A robot motion path collaborative planning method and system, and storage medium

Abstract

The present invention provides a robot motion path collaborative planning method and system, and storage medium, wherein the method steps include: the scheduling system plans the robot task path and the corresponding required safety space A; the robot identifies the target point according to the task path, plans the actual path to the target point, and when it is judged that the safety space A meets the space requirements of the actual path, replies to the scheduling system and executes the task path, otherwise proposes the safety space B required for the corresponding actual path to the scheduling system; when the scheduling system judges that the safety space B does not conflict with the safety space C of other robots, the robot is allowed to execute the actual path, otherwise the current robot task is canceled. In this way, the robot and the scheduling system can collaboratively plan the path safety area, and solve the problem of abnormal blocking and collision between robots.

Description

Technical Field

[0001] The present invention relates to a robot motion path planning technology, and in particular to a method and system and a storage medium for collaboratively planning a motion path between a scheduling system and a robot. Background Art

[0002] In the traditional unmanned freight robot dispatching system, the premise is that the robot will strictly follow the planned path navigation, such as CBS based on conflict resolution, PBS based on priority, or scheduling system based on deep learning. However, if the robot does not run according to the path issued by the dispatcher, it is easy to cause abnormal obstruction between robots, or even safety accidents such as collision between two vehicles.

[0003] Taking a freight robot as an example, if the current target point of the robot is obtained through its own sensor recognition, and the robot picks up the goods by autonomously planning a path, if there are other robots adjacent to the target point, the traditional scheduling system will not consider the problem that when the robot deviates from the route when picking up the goods, it will be blocked by other nearby robots and report an error. This situation will affect the efficiency of multi-vehicle scheduling. What's more serious is that when the robot picks up the goods, due to the blind spot of the sensor, it may also cause collisions between robots, thereby causing safety accidents.

[0004] In addition, in some scenarios, when the robot travels outside the dispatching route to avoid obstacles, it will also need to autonomously plan a return path in the process of returning to the set route. However, the traditional dispatching system solution cannot consider whether the autonomously planned path will collide with other robots. Summary of the invention

[0005] To this end, the main purpose of the present invention is to provide a robot motion path collaborative planning method and system, and storage medium, so that the robot and the scheduling system can collaboratively plan a path safety area to solve the problems of abnormal obstruction and collision between robots.

[0006] In order to achieve the above object, according to one aspect of the present invention, a robot motion path collaborative planning method is provided, the steps comprising:

[0007] The scheduling system plans the robot's task path and the corresponding required safety space A;

[0008] The robot identifies the target point according to the task path, plans the actual path to the target point, and responds to the scheduling system and executes the task path when it determines that the safe space A meets the space requirements of the actual path. Otherwise, it proposes the safe space B required for the actual path to the scheduling system.

[0009] When the scheduling system determines that the safety space B does not conflict with the safety space C of other robots, the robot is allowed to execute the actual path, otherwise the current robot task is canceled;

[0010] The safety spaces A and C are established based on the robot's full-scale body size, and B is established based on the robot's reference body size. The reference body size is smaller than the full-scale body size, and the bounding box representing the robot's own size refers to the overall motion space required for the robot to actually travel along the planned route.

[0011] In a possible preferred implementation, the planning step of the safe space A includes:

[0012] Establish a bounding box a according to the robot's body size; discretize the task path into multiple points at preset intervals; calculate the contour polygon when the center of the bounding box a is located at each discrete point, and use each polygon set as the safe space A.

[0013] In a possible preferred implementation, the planning step of the safe space A includes:

[0014] Establish a bounding box a according to the robot's body size; discretize the task path into multiple points at preset intervals; calculate the contour polygon when the center of the bounding box a is located at each discrete point; scan all polygons and take the minimum convex hull as the safe space A.

[0015] In a possible preferred implementation, the step of determining whether the safety space A meets the space requirement of the actual path includes:

[0016] Establish a bounding box b according to the reference body size of the robot; discretize the actual path into multiple points at the same preset interval as the task path; calculate the contour polygon when the center of the bounding box b is located at each discrete point, and use each polygon set as the safe space B;

[0017] According to the order of discrete points on the actual path and the task path, when it is judged that each polygon in the safety space B is surrounded by each polygon in the safety space A, it is considered that the safety space A meets the space requirements of the actual path.

[0018] In a possible preferred implementation, the step of determining whether the safety space A meets the space requirement of the actual path includes:

[0019] Establish a bounding box b according to the reference body size of the robot; discretize the actual path into multiple points at preset intervals; calculate the contour polygon when the center of the bounding box b is located at each discrete point, scan all polygons and take the minimum convex hull as the safe space B;

[0020] When it is determined that all vertices in the safe space B are within the safe space A, it is considered that the safe space A meets the space requirements of the actual path.

[0021] In a possible preferred embodiment, the step of determining whether the safety space B conflicts with the safety space C of other robots includes:

[0022] Through the separating axis theorem, it is determined in turn whether each polygon in the safety space B overlaps with each polygon in the safety space C. If so, it is considered a conflict.

[0023] In a possible preferred embodiment, the step of determining whether the safety space B conflicts with the safety space C of other robots includes:

[0024] The separating axis theorem is used to detect whether the convex polygons corresponding to the convex hulls of the safety space B and each safety space C overlap. If so, it is considered a conflict.

[0025] In a possible preferred embodiment, the robot motion path collaborative planning method further comprises the following steps:

[0026] When the scheduling system plans the robot's in-situ rotation task, it establishes a bounding box d according to the robot's body size. According to the steering and rotation angles, it takes the rotation trajectory of the farthest vertex on the rotation side of the bounding box d, and establishes a fan-shaped polygonal safety space D with the positioning center of the bounding box d as the center of the circle.

[0027] According to the task of rotating in situ, the robot establishes a bounding box d1 at the current position with reference to the vehicle body size. According to the steering and rotation angles, the robot takes the rotation trajectory of the farthest vertex on the rotation side of the bounding box d1, and establishes a fan-shaped polygonal safety space D1 with the positioning center of the bounding box d1 as the center of the circle.

[0028] When the robot determines that the safe space D1 is within the safe space D, it considers that the safe space D meets the space requirements for rotation in place, and replies to the scheduling system for execution. Otherwise, it proposes the safe space D1 to the scheduling system.

[0029] When the shortest distance from the center of the safety space D1 to the safety space C of other robots is less than the sector radius of the safety space D1, it is considered that there is a conflict, otherwise the robot is allowed to execute.

[0030] In a possible preferred embodiment, the robot motion path collaborative planning method further comprises the following steps:

[0031] According to the in-situ rotation task issued by the scheduling system, the robot establishes a bounding box d1 at the current position with reference to the vehicle body size. Based on the steering and rotation angles, the robot takes the rotation trajectory of the farthest vertex on the rotation side of the bounding box d1, takes the positioning center of the bounding box d1 as the center of the circle, establishes a fan-shaped polygonal safety space D1, and proposes it to the scheduling system.

[0032] When the scheduling system detects that the shortest distance from the center of the safety space D1 to the safety space C of other robots is less than the sector radius of the safety space D1, it is considered that there is a conflict, otherwise the robot is allowed to execute.

[0033] In a possible preferred embodiment, the robot motion path collaborative planning method further comprises the following steps:

[0034] When the robot avoids obstacles, it autonomously plans the return path and proposes the safety space E required for the corresponding return path to the scheduling system. When the scheduling system determines that the safety space E does not conflict with the safety space C of other robots, the robot is allowed to execute the return path, otherwise the current robot is stopped.

[0035] In order to achieve the above-mentioned purpose, corresponding to the above-mentioned method example, according to another aspect of the present invention, a robot motion path collaborative planning system is also provided, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the system implements the steps of the robot motion path collaborative planning method as described in any one of the above items.

[0036] In order to achieve the above-mentioned purpose, corresponding to the above-mentioned method example, according to another aspect of the present invention, a computer-readable storage medium is further provided, wherein the computer-readable storage medium stores a computer program, wherein when the computer program is executed, the steps of the robot motion path collaborative planning method as described in any of the above items are implemented.

[0037] Through the robot motion path collaborative planning method and system, and storage medium provided by the present invention, the bounding box representing the size of the robot itself is cleverly used to establish a safe space, so as to convert the traditional planned route into the motion space required for the robot to actually drive, thereby laying the foundation for the feasibility of the precise collaborative review of the scheduling task between the robot and the scheduling system. At the same time, the present solution is also designed to allow the robot to independently plan the path and safe space while obeying the scheduling of the scheduling system, and to independently propose to the scheduling system when the review of the scheduling task is not feasible, thereby ensuring that the robot and the scheduling system can mutually collaborate to verify the reliability of the planned path, ensuring that the planned path is more in line with the on-site conditions, thereby ensuring the safety and reliability of the robot when performing tasks, and solving safety problems such as abnormal blocking and collision that are prone to occur due to the lack of coordination between the transmission scheduling system and the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0039] Figure 1 A schematic diagram of the steps of the robot motion path collaborative planning method of the present invention;

[0040] Figure 2 It is a schematic diagram of the operation logic of the scheduling system side in the robot motion path collaborative planning method of the present invention;

[0041] Figure 3 A schematic diagram of the robot side operation logic in the robot motion path collaborative planning method of the present invention;

[0042] Figures 4 to 6 Schematic diagram of three logical processes when the scheduling system and the robot collaboratively verify the planned path in the robot motion path collaborative planning method of the present invention;

[0043] Figure 7 A schematic diagram showing that, in the robot motion path collaborative planning method of the present invention, the safety space corresponding to the actual path autonomously planned by the robot overlaps with other unmanned vehicle robots and may collide with them;

[0044] Figure 8 It is a schematic diagram of discrete points corresponding to the actual path autonomously planned by the robot in the robot motion path collaborative planning method of the present invention;

[0045] Fig. 9 It is a schematic diagram of the corresponding fan-shaped polygonal safety space when the robot rotates in situ in the robot motion path collaborative planning method of the present invention;

[0046] Fig.10 It is a schematic diagram of the overlap of the corresponding safety space with other unmanned vehicle robots when the robot autonomously plans the return route in the robot motion path collaborative planning method of the present invention;

[0047] Fig.11 It is a structural schematic diagram of the robot motion path collaborative planning system of the present invention. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the technical solution of the present invention, the specific technical solution of the present invention will be clearly and completely described in conjunction with the embodiments below to help those skilled in the art further understand the present invention. Obviously, the embodiments described in this case are only embodiments of a part of the present invention, not all of the embodiments. It should be pointed out that for those of ordinary skill in the art, the embodiments in this application and the features in the embodiments can be combined with each other without departing from the concept of the present invention and without conflicting with each other. Based on the embodiments in the present invention, all other embodiments obtained without creative work by those of ordinary skill in the art should belong to the disclosure and protection scope of the present invention.

[0049] In addition, the terms "first", "second", "S100", "S200", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the features used in this way can be interchanged where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those described here. At the same time, the stages recorded in each step are not mandatory to be implemented in the same step. It should be understood that the implementation order of the contents in each step stage can be adjusted and interchanged without violating the inventive concept, so that the step embodiments of the present invention described here can be implemented in an order other than those described here. In addition, the terms "including" and "having" and any of their variations in the present invention are intended to cover non-exclusive inclusions. Unless otherwise clearly specified and limited, the terms "set", "layout", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this case can be understood according to specific circumstances and in combination with the prior art.

[0050] In order to enable the robot and the dispatching system to collaboratively plan a safe path area to solve the problem of abnormal blocking and collision between robots, such as Figures 1 to 6 As shown, the present invention provides a robot motion path collaborative planning method, and its exemplary steps include:

[0051] Step S100: The scheduling system plans the robot's task path and the corresponding required safety space A.

[0052] In step S200, the robot identifies the target point according to the task path, plans the actual path to the target point, and responds to the scheduling system and executes the task path when it determines that the safe space A meets the spatial requirements of the actual path. Otherwise, it proposes the safe space B required for the actual path to the scheduling system.

[0053] Step S300: When the scheduling system determines that the safety space B does not conflict with the safety space C of other robots, the robot is allowed to execute the actual path, otherwise the current robot task is canceled.

[0054] Specifically, see Figure 2 As shown, in an optional implementation manner, the planning steps of the safety space A include:

[0055] Step S110 establishes a bounding box a according to the robot's enlarged body size; discretizes the task path into multiple points at preset intervals; calculates the contour polygon when the center of the bounding box a is located at each discrete point, and uses each polygon set as the safe space A.

[0056] For example, if Figure 8 As shown, assuming that the scheduling system currently plans a scheduling task for the robot AGV-1, and lets the AGV-1 parked at point 2 go to point 1 to identify and pick up the goods. At this time, considering that the robot positioning has errors and the navigation also has deviations, the actual width of the robot body can be increased from 0.6 to 1.0, and the distance from the rear of the vehicle to the robot positioning center is actually 0.5, which can also be appropriately increased to 1.0, and the distance from the front of the vehicle to the robot positioning center is actually 1.0, which can also be appropriately increased to 1.5. This is used as the size of the vehicle body to establish the bounding box a.

[0057] Then the planned task path is discretized into multiple points at intervals of 0.02, and the polygon of the contour of the robot positioning center at each discrete point is calculated. At this time, the set of all these polygons is regarded as the safe space A.

[0058] Correspondingly, in step S200, the exemplary steps of determining whether the safety space A meets the space requirement of the actual path include:

[0059] Step S210 establishes a bounding box b according to the reference body size of the robot; discretizes the actual path into multiple points at the same preset interval as the task path; calculates the contour polygon when the center of the bounding box b is located at each discrete point, and uses each polygon set as the safe space B.

[0060] Among them, the establishment method of the safety space B is similar to that of the safety space A in step S110. The difference is that the bounding box b is established using the reference body size, and the reference body size is preferably determined according to the actual width of the robot body and the actual distance between the rear and front of the vehicle and the robot positioning center. Of course, it can also be appropriately relaxed, but at least the reference body size is smaller than the expanded body size as a whole.

[0061] Step S220 determines whether each polygon in the safety space B is surrounded by each polygon in the safety space A according to the order of the discrete points on the actual path and the task path. If yes, it is considered that the safety space A meets the spatial requirements of the actual path. If no, it means that the actual path planned by the robot autonomously will deviate from the task path planned by the scheduling system. At this time, if the robot performs the scheduling task, there will be uncontrollable factors, such as collisions and vehicle collisions. More importantly, this means that the actual scene is different from what the scheduling system recognizes, and this difference is one of the main factors causing accidents. The robot's inspection of the scheduling task in this case can provide a more accurate basis for the subsequent decision-making of the scheduling system.

[0062] More importantly, in this case, not only is the robot designed to inspect the task, but the robot is also allowed to actively propose its own planned safe space B to the scheduling system. This means that the scheduling system and the robot are no longer just responsible for issuing orders and providing feedback. Instead, the robot and the scheduling system can participate in the final decision-making of the task execution and exchange their own decision-making results, thus forming a collaborative decision-making relationship.

[0063] Therefore, when the robot completes the inspection of the tasks assigned by the scheduling system, for tasks with conflicts, the robot will propose the safety space B required for the actual path to the scheduling system so that the scheduling system can make the final decision.

[0064] To this end, the exemplary steps of determining whether the safety space B conflicts with the safety space C of other robots in step S300 include:

[0065] Step S310 uses the Separating Axis Theorem to determine whether each polygon in the safe space B set overlaps with each polygon in each safe space C. If so, it is considered a conflict. The construction method of the safe space C in this example can refer to the above safe space A example.

[0066] On the other hand, see Figure 2 As shown, in another optional implementation, the planning steps of the safety space A include:

[0067] Step S110' establishes a bounding box a according to the robot's body size; discretizes the task path into multiple points at preset intervals; calculates the contour polygon when the center of the bounding box a is located at each discrete point; scans all polygons and takes the minimum convex hull as the safe space A.

[0068] For example, if Figure 7As shown, assuming that the scheduling system currently plans a scheduling task for the robot AGV-1, and lets the AGV-1 parked at point 2 go to point 1 to identify and pick up the goods. At this time, considering that the robot positioning has errors and the navigation also has deviations, the actual width of the robot body can be increased from 0.6 to 1.0, and the distance from the rear of the vehicle to the robot positioning center is actually 0.5, which can also be appropriately increased to 1.0, and the distance from the front of the vehicle to the robot positioning center is actually 1.0, which can also be appropriately increased to 1.5. This is used as the size of the vehicle body to establish the bounding box a.

[0069] The planned task path is then discretized into multiple points at intervals of 0.02, and the polygon of the robot's contour when the positioning center is at each discrete point is calculated. Then, the minimum convex hull of all polygons is obtained through the Graham scanning method, and the convex polygon can be obtained as the safety space A.

[0070] Correspondingly, in step S200, the step of determining whether the safety space A meets the space requirement of the actual path includes:

[0071] Step S210' establishes a bounding box b according to the reference body size of the robot; discretizes the actual path into multiple points at preset intervals; calculates the contour polygon when the center of the bounding box b is located at each discrete point, scans all polygons and takes the minimum convex hull as the safety space B, where the reference body size is smaller than the volume body size.

[0072] Among them, the establishment method of the safety space B is similar to that of the safety space A in step S110'. The difference is that the bounding box b is established using the reference body size, and the reference body size is preferably determined according to the actual width of the robot body and the actual distance between the rear and front of the vehicle and the robot positioning center. Of course, it can also be appropriately relaxed, but at least the reference body size is smaller than the expanded body size as a whole.

[0073] When it is determined in step S220 ′ that all vertices in the safety space B are within the safety space A, it is considered that the safety space A meets the space requirement of the actual path.

[0074] For example, this example preferably uses the ray method. Suppose a ray is emitted from a vertex P in the safety space B to any direction. At this time, the number of intersections between the ray and the convex hull polygon safety space A is calculated. If the number is an odd number, the vertex P is inside the safety space A. By traversing all the vertices of the safety space B in this way, it can be determined whether the safety space B is in the safety space A, thereby inferring whether the safety space A meets the spatial requirements of the actual path.

[0075] This completes the robot's inspection of the scheduling task. If the inspection fails, the robot can also recommend safe space B to provide a more accurate basis for the subsequent scheduling system's decision.

[0076] To this end, the exemplary steps of determining whether the safety space B conflicts with the safety space C of other robots in step S300 include:

[0077] Step S310' detects whether the convex polygons corresponding to the convex hulls of the safety spaces B and each safety space C overlap by using the separating axis theorem. If so, it is considered a conflict. Subsequently, the current robot task can be stopped first, and other robots can be allowed to pass before making a decision, or a new path can be replanned to repeat the above example process. In this example, the construction method of the safety space C can refer to the above safety space A example.

[0078] Furthermore, in some special scheduling tasks, the scheduling system requires the robot to rotate in place. Therefore, in order to avoid collision with adjacent robots during the rotation process, such as Fig. 9 As shown, in an optional example, the robot motion path collaborative planning method further includes the following steps:

[0079] Step S400: When the scheduling system plans the robot's in-situ rotation task, a bounding box d is established according to the robot's body size. According to the steering and rotation angles, the rotation trajectory of the farthest vertex on the rotation side of the bounding box d is taken, and a fan-shaped polygonal safety space D is established with the positioning center of the bounding box d as the center of the circle.

[0080] In step S500, the robot establishes a bounding box d1 at the current position based on the in-situ rotation task with reference to the vehicle body size. Based on the steering and rotation angles, the robot takes the rotation trajectory of the farthest vertex on the rotation side of the bounding box d1, and establishes a fan-shaped polygonal safety space D1 with the positioning center of the bounding box d1 as the center of the circle.

[0081] Step S600: When the robot determines that the safety space D1 is within the safety space D (such as using the ray method), it considers that the safety space D meets the space requirements for rotation in place, and replies to the scheduling system for execution; otherwise, it proposes the safety space D1 to the scheduling system.

[0082] In step S700, when it is determined that the shortest distance from the center of the safety space D1 to the safety space C of other robots is less than the sector radius of the safety space D1, it is considered that there is a conflict, otherwise the robot is allowed to execute.

[0083] Furthermore, in order to prevent the robot from colliding with an adjacent robot during the execution of a rotation task, in another optional example, the robot motion path collaborative planning method further includes the following steps:

[0084] Step S400': According to the rotation task in situ issued by the scheduling system, the robot establishes a bounding box d1 at the current position with reference to the vehicle body size, takes the rotation trajectory of the farthest vertex on the rotation side of the bounding box d1 according to the steering and rotation angles, establishes a fan-shaped polygonal safety space D1 with the positioning center of the bounding box d1 as the center of the circle, and proposes it to the scheduling system.

[0085] Step S500 ′: When the scheduling system detects that the shortest distance from the center of the safety space D1 to the safety space C of other robots is less than the sector radius of the safety space D1 , it is considered that there is a conflict, otherwise the robot is allowed to execute.

[0086] Furthermore, when the robot is executing the task assigned by the scheduling system, when it encounters obstacles or scenes that need to be avoided, it will deviate from the original task path and autonomously plan a return path to avoid obstacles in order to return to the original task path. Therefore, there are uncontrollable factors, such as Fig.10 As shown, there is a problem of collision with other robots performing tasks on the regression path. Therefore, the steps of the robot motion path collaborative planning method described in this example also include:

[0087] In step S800, when the robot avoids obstacles, it plans the regression path autonomously and proposes the safety space E required for the regression path to the scheduling system. When the scheduling system determines that the safety space E does not conflict with the safety space C of other robots, the robot is allowed to execute the regression path, otherwise the current robot is stopped.

[0088] Specifically, the safety space E can be constructed with reference to the several example methods of the above-mentioned safety space B, and the impulse judgment of the safety space E and the safety space C can also be implemented with reference to the above-mentioned steps S310 / S310'. This is understandable to those skilled in the art in combination with the above-mentioned embodiments, and thus will not be repeated here.

[0089] On the other hand, corresponding to the above method example, Fig.11 As shown, the present invention also provides a robot motion path collaborative planning system, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the system implements the steps of the robot motion path collaborative planning method as described in any one of the above items.

[0090] It can be understood that, in one example, the robot motion path collaborative planning system can be integrated into the scheduling system of the above example and implemented to issue instructions according to the above method example to require each robot to respond, thereby implementing path collaborative planning.

[0091] On the other hand, corresponding to the above method examples, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein when the computer program is executed, the steps of the robot motion path collaborative planning method as described in any of the above items are implemented.

[0092] In summary, the robot motion path collaborative planning method, system, and storage medium provided by the present invention cleverly utilize the bounding box representing the size of the robot itself to establish a safe space, so as to convert the traditional planned route into the motion space required for the robot to actually drive, thereby laying the foundation for the feasibility of the precise collaborative review of the scheduling task between the robot and the scheduling system. At the same time, the present solution is also designed to allow the robot to independently plan the path and safe space while obeying the scheduling of the scheduling system, and to independently propose to the scheduling system when the review of the scheduling task is not feasible, thereby ensuring that the robot and the scheduling system can mutually collaborate to verify the reliability of the planned path, ensuring that the planned path is more in line with the on-site conditions, thereby ensuring the safety and reliability of the robot when performing tasks, and solving safety problems such as abnormal blocking and collision that are prone to occur due to the lack of coordination between the transmission scheduling system and the robot.

[0093] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is only limited by the claims and their full scope and equivalents. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0094] Those skilled in the art can understand that, in addition to implementing the system, device, unit and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be regarded as structures within the hardware component; the modules for implementing various functions can also be regarded as both software programs for implementing the method and structures within the hardware component.

[0095] In addition, all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program codes.

[0096] In addition, various implementation modes of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed by the embodiments of the present invention.

Claims

1. A robot motion path collaborative planning method, the steps comprising: The scheduling system plans the robot's task path and the corresponding required safety space A; The robot identifies the target point according to the task path, plans the actual path to the target point, and responds to the scheduling system and executes the task path when it determines that the safe space A meets the space requirements of the actual path. Otherwise, it proposes the safe space B required for the actual path to the scheduling system. When the scheduling system determines that the safety space B does not conflict with the safety space C of other robots, the robot is allowed to execute the actual path, otherwise the current robot task is canceled; The safety spaces A and C are established based on the robot's full-scale body size, and B is established based on the robot's reference body size. The reference body size is smaller than the full-scale body size, and the bounding box representing the robot's own size refers to the overall motion space required for the robot to actually travel along the planned route.

2. The robot motion path collaborative planning method according to claim 1, wherein the planning step of the safety space A comprises: Establish a bounding box a according to the robot's body size; Discretize the task path into multiple points at preset intervals; Calculate the contour polygon when the center of the bounding box a is located at each discrete point, and use each polygon set as the safe space A.

3. The robot motion path collaborative planning method according to claim 1, wherein the planning step of the safety space A comprises: Establish a bounding box a according to the robot's body size; Discretize the task path into multiple points at preset intervals; Calculate the contour polygon when the center of the bounding box a is located at each discrete point; scan all polygons and take the minimum convex hull as the safe space A.

4. The robot motion path collaborative planning method according to claim 2, wherein the step of determining whether the safety space A meets the space requirements of the actual path comprises: Establish a bounding box b based on the robot's reference body size; Discretize the actual path into multiple points at the same preset intervals as the task path; Calculate the contour polygon when the center of the bounding box b is located at each discrete point, and use each polygon set as the safe space B; According to the order of discrete points on the actual path and the task path, when it is judged that each polygon in the safety space B is surrounded by each polygon in the safety space A, it is considered that the safety space A meets the space requirements of the actual path.

5. The robot motion path collaborative planning method according to claim 3, wherein the step of judging whether the safety space A meets the space requirements of the actual path comprises: Establish a bounding box b based on the robot's reference body size; Discretize the actual path into multiple points according to preset intervals; Calculate the contour polygon when the center of the bounding box b is located at each discrete point, scan all polygons and take the minimum convex hull as the safe space B; When it is determined that all vertices in the safe space B are within the safe space A, it is considered that the safe space A meets the space requirements of the actual path.

6. The robot motion path collaborative planning method according to claim 4, wherein the step of determining whether the safety space B conflicts with the safety space C of other robots comprises: Through the separating axis theorem, it is determined in turn whether each polygon in the safety space B overlaps with each polygon in the safety space C. If so, it is considered a conflict.

7. The robot motion path collaborative planning method according to claim 5, wherein the step of determining whether the safety space B conflicts with the safety space C of other robots comprises: The separating axis theorem is used to detect whether the convex polygons corresponding to the convex hulls of the safety space B and each safety space C overlap. If so, it is considered a conflict.

8. The robot motion path collaborative planning method according to claim 1, wherein the steps further include: When the scheduling system plans the robot's in-situ rotation task, it establishes a bounding box d according to the robot's body size. According to the steering and rotation angles, it takes the rotation trajectory of the farthest vertex on the rotation side of the bounding box d, and establishes a fan-shaped polygonal safety space D with the positioning center of the bounding box d as the center of the circle. According to the task of rotating in situ, the robot establishes a bounding box d1 at the current position with reference to the vehicle body size. According to the steering and rotation angles, the robot takes the rotation trajectory of the farthest vertex on the rotation side of the bounding box d1, and establishes a fan-shaped polygonal safety space D1 with the positioning center of the bounding box d1 as the center of the circle. When the robot determines that the safe space D1 is within the safe space D, it considers that the safe space D meets the space requirements for rotation in place, and replies to the scheduling system for execution. Otherwise, it proposes the safe space D1 to the scheduling system. When the shortest distance from the center of the safety space D1 to the safety space C of other robots is less than the sector radius of the safety space D1, it is considered that there is a conflict, otherwise the robot is allowed to execute.

9. The robot motion path collaborative planning method according to claim 1, wherein the steps further include: According to the in-situ rotation task issued by the scheduling system, the robot establishes a bounding box d1 at the current position with reference to the vehicle body size. Based on the steering and rotation angles, the robot takes the rotation trajectory of the farthest vertex on the rotation side of the bounding box d1, takes the positioning center of the bounding box d1 as the center of the circle, establishes a fan-shaped polygonal safety space D1, and proposes it to the scheduling system. When the scheduling system detects that the shortest distance from the center of the safety space D1 to the safety space C of other robots is less than the sector radius of the safety space D1, it is considered that there is a conflict, otherwise the robot is allowed to execute.

10. The robot motion path collaborative planning method according to claim 1, wherein the steps further include: When the robot avoids obstacles, it autonomously plans the return path and proposes the safety space E required for the corresponding return path to the scheduling system. When the scheduling system determines that the safety space E does not conflict with the safety space C of other robots, the robot is allowed to execute the return path, otherwise the current robot is stopped.

11. A robot motion path collaborative planning system, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the system implements the steps of the robot motion path collaborative planning method as described in any one of claims 1 to 9.

12. A computer-readable storage medium storing a computer program, wherein when the computer program is executed, the steps of the robot motion path collaborative planning method according to any one of claims 1 to 9 are implemented.

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