Deadlock processing method and device based on mobile robot and computer storage medium

Abstract

The invention provides a deadlock processing method based on a mobile robot, a deadlock processing device based on the mobile robot and a computer storage medium. The deadlock processing method comprises the following steps: acquiring planned path points of a plurality of mobile robots; generating dangerous path information of each mobile robot based on all the planned path points; constructing a dangerous path network directed graph based on all dangerous path information; searching a current deadlock based on the dangerous path network directed graph; and controlling the target mobile robot to avoid according to the current deadlock. According to the deadlock processing method based on the mobile robot, the deadlock ring of the whole dangerous path network is analyzed by using the constructed dangerous path network directed graph, more different types of deadlocks can be analyzed, the problem that the annular deadlock cannot be unlocked due to some annular deadlocks which cannot be recognized is solved, and the deadlock processing efficiency is improved. Therefore, the deadlock unlocking efficiency is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of robot path planning, and in particular to a deadlock processing method based on a mobile robot, a deadlock processing device based on a mobile robot, and a computer storage medium. Background Art

[0002] With the continuous improvement of industrial automation procedures, robots (such as handling robots) are being used more and more widely. They are mainly used in logistics, clothing, e-commerce, retail, manufacturing, medicine and other industries. They are responsible for handling work in smart warehouses or manufacturing workshops, and are playing an increasingly important role in improving system efficiency and saving manpower.

[0003] Depending on the specific application scenario, the scale of robots ranges from dozens to hundreds or even thousands. In a large-scale AGV (Automated Guided Vehicle) system, when the moving paths of multiple robots are intertwined and complex, it is very easy to cause robot path deadlock.

[0004] However, the current deadlock resolution scheme arbitrarily selects one of the vehicles as the initialization vehicle in the initial stage of deadlock identification and deadlock resolution. In the deadlock identification stage, since the route blocked by the vehicle is a network structure, it is easy to miss some deadlock situations in the links involving multiple vehicles blocking, resulting in insufficient subsequent deadlock resolution and affecting the deadlock resolution efficiency. Summary of the invention

[0005] In order to solve the above technical problems, the present application proposes a deadlock processing method based on a mobile robot, a deadlock processing device based on a mobile robot, and a computer storage medium.

[0006] In order to solve the above technical problems, the present application proposes a deadlock processing method based on a mobile robot, and the deadlock processing method includes:

[0007] Obtaining planned path points of several mobile robots;

[0008] Generate dangerous path information for each mobile robot based on all planned path points;

[0009] Based on all the dangerous path information, a dangerous path network directed graph is constructed;

[0010] Searching for the current deadlock based on the dangerous path network directed graph;

[0011] The target mobile robot is controlled to avoid the deadlock according to the current deadlock.

[0012] In order to solve the above-mentioned technical problems, the present application also proposes a deadlock processing device based on a mobile robot, wherein the deadlock processing device based on a mobile robot comprises a memory and a processor coupled to the memory; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the deadlock processing method based on the mobile robot as described above.

[0013] In order to solve the above technical problems, the present application also proposes a computer storage medium, which is used to store program data. When the program data is executed by a computer, it is used to implement the above deadlock processing method based on a mobile robot.

[0014] Compared with the prior art, the beneficial effects of the present application are: a deadlock processing device based on a mobile robot obtains the planned path points of several mobile robots; based on all the planned path points, dangerous path information of each mobile robot is generated; based on all the dangerous path information, a dangerous path network directed graph is constructed; based on the dangerous path network directed graph, the current deadlock is searched; and the target mobile robot is controlled to avoid according to the current deadlock. Through the above-mentioned deadlock processing method based on a mobile robot, the deadlock loop of the entire dangerous path network is analyzed using the constructed dangerous path network directed graph, which can analyze more different types of deadlocks, solve the problem of being unable to unlock circular deadlocks caused by some unrecognizable circular deadlocks, and thus greatly improve the deadlock unlocking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] in:

[0017] Figure 1 It is a flowchart of an embodiment of a deadlock processing method based on a mobile robot provided by the present application;

[0018] Figure 2 It is a schematic diagram of the overall process of the deadlock processing method based on the mobile robot provided by the present application;

[0019] Figure 3 yes Figure 1 The specific flow chart of step S13 of the deadlock handling method shown;

[0020] Figure 4 It is a flowchart of the dangerous path generation solution provided by this application;

[0021] Figure 5 The dangerous path network provided by this application is directed Figure 1 A schematic diagram of an embodiment;

[0022] Figure 6 yes Figure 1 The specific flow chart of step S14 of the deadlock handling method shown;

[0023] Figure 7 It is a structural schematic diagram of an embodiment of a deadlock processing device based on a mobile robot provided by the present application;

[0024] Figure 8 It is a structural diagram of an embodiment of a computer storage medium provided by the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Please refer to Figure 1 and Figure 2 , Figure 1 is a flow chart of an embodiment of a deadlock processing method based on a mobile robot provided by the present application, Figure 2 It is a schematic diagram of the overall process of the deadlock handling method based on the mobile robot provided in this application.

[0028] The deadlock processing method based on a mobile robot of the present application is applied to a deadlock processing device based on a mobile robot, wherein the deadlock processing device based on a mobile robot of the present application can be a server, or a terminal device, or a system in which a server and a terminal device cooperate with each other. Accordingly, the various parts included in the deadlock processing device based on a mobile robot, such as various units, sub-units, modules, and sub-modules, can all be set in the server, or all be set in the terminal device, or can be set in the server and the terminal device respectively.

[0029] Furthermore, the above-mentioned server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server is software, it can be implemented as multiple software or software modules, such as software or software modules used to provide distributed servers, or it can be implemented as a single software or software module, which is not specifically limited here.

[0030] Specifically, the mobile robot-based deadlock processing device of the present application may be a processing unit or processor in any mobile robot, or may be a processing platform that remotely controls all mobile robots, etc.

[0031] It should be noted that the mobile robot involved in this application is specifically a robot system with mobile functions composed of mechanisms such as sensors, remote control operators and automatic controllers. It can replace people to perform operations in dangerous or harsh environments, and has greater mobility and flexibility than ordinary robots. It is divided into ground, air, surface and underwater mobile robots, and its mobile mechanisms include wheeled, tracked, footed, hybrid, special and other types. In the following embodiments, an AGV car is used as an example to introduce the deadlock processing method of this application, but it does not limit the specific type of mobile robot.

[0032] like Figure 1 As shown, the specific steps are as follows:

[0033] Step S11: Obtaining planned path points of several mobile robots.

[0034] In the embodiment of the present application, the deadlock processing device obtains the planned route of each AGV, including a number of planned path points, wherein each planned path point includes a specific location point and an estimated time to arrive at the location point. For the path planning scheme, the deadlock processing device can perform path planning for each AGV according to the current path planning algorithm to obtain the planned path points of each AGV. The deadlock processing device can also directly extract the planned route of each AGV from the storage medium.

[0035] Step S12: Based on all planned path points, generate dangerous path information for each mobile robot.

[0036] In the embodiments of the present application, Figure 2 As shown, the deadlock processing device performs safety detection on the planned path points of each AGV vehicle and whether the planned route is available.

[0037] Specifically, during safety testing, the deadlock processing device needs to consider the planned routes of all AGVs and analyze the risk of collision between each AGV and other AGVs or other loads. If there is a risk of collision, the dangerous path information (DangerPath) of each AGV is generated based on the path points where the conflict may occur, the corresponding map nodes on the topological map, and the vehicles or loads that conflict with it.

[0038] Step S13: construct a dangerous path network directed graph based on all dangerous path information.

[0039] In the embodiment of the present application, the deadlock processing device sends the planned routes of all the vehicles in the dispatching system for safety inspection. Figure 2 As shown, the deadlock processing device determines whether the dangerous path information of all cars is empty. If so, it proves that there is no conflict between all cars in the dispatching system. At this time, it can return to the safety detection step and continue to monitor the real-time paths of all cars.

[0040] If the dangerous path information of any car is not empty, it proves that at least one car in the dispatching system cannot issue the path normally, that is, there is a deadlock situation. At this time, subsequent deadlock analysis and processing logic are required to enter step S14.

[0041] Furthermore, the deadlock types of the present application include but are not limited to: deadlock pairs and deadlock loops. Since the dangerous path network directed graph is constructed in the embodiment of the present application, the deadlock processing device can directly search for the above two types of deadlocks in the dangerous path network directed graph.

[0042] Please refer to Figure 3 and Figure 4 , Figure 3 yes Figure 1 The specific flow chart of step S13 of the deadlock handling method shown is as follows, Figure 4 It is a flowchart of the dangerous path generation solution provided by this application.

[0043] like Figure 3 As shown, the specific steps are as follows:

[0044] Step S131: Setting a first network node based on the mobile robot corresponding to each dangerous path information.

[0045] In the embodiment of the present application, the deadlock processing device constructs a dangerous path network according to the dangerous path information generated in step S12. Figure 4 As shown, for each dangerous path information, a corresponding car is selected to set the first network node, such as car A.

[0046] Step S132: searching for other mobile robots that block the mobile robot according to the dangerous path information, and setting a second network node based on the other mobile robots.

[0047] In the embodiment of the present application, the deadlock processing device determines whether there are other cars blocking car A according to the dangerous path information of car A. If so, the second network node is set according to other cars, such as car E.

[0048] Step S133: Generate a network edge from the first network node to the second network node.

[0049] In an embodiment of the present application, the deadlock processing device generates a network edge from the first network node to the second network node, and uses the arrow direction of the network edge to represent the blocking relationship of the carts, such as generating a directed edge from cart E to cart A.

[0050] Step S134: traverse all dangerous path information and construct a dangerous path network directed graph based on all network nodes and their network edges.

[0051] In the embodiment of the present application, the deadlock processing device repeatedly executes the dangerous path information of each vehicle. Figure 4 The dangerous path generation scheme is used to merge all repeated network nodes and overlap network edges. For example, the dangerous path network directed graph includes a directed edge from car E to car A, and a directed edge from car A to car E, thus obtaining a bidirectional edge between car E and car A. For details, please refer to Figure 5 , Figure 5 The dangerous path network provided by this application is directed Figure 1 Schematic diagram of an embodiment.

[0052] exist Figure 5 The dangerous path network directed graph shown includes network node A, network node B, network node C, network node D, network node E, and network node F. A bidirectional edge is set between network node A and network node E, network node A has a directed edge pointing to network node B, network node B has a directed edge pointing to network node C, network node F has a directed edge pointing to network node C, network node C has a directed edge pointing to network node D, and a bidirectional edge is set between network node D and network node E.

[0053] Step S14: Search the current deadlock based on the dangerous path network directed graph.

[0054] In the embodiment of the present application, the deadlock processing device searches for the currently existing deadlock through the dangerous path network directed graph constructed in step S13.

[0055] As mentioned above, deadlock includes different types of deadlock, such as deadlock pair and deadlock loop. Figure 6 , Figure 6 yes Figure 1 The specific flow chart of step S14 of the deadlock handling method is shown.

[0056] like Figure 6 As shown, the specific steps are as follows:

[0057] Step S141: Based on the dangerous path network directed graph, search for current deadlock pairs, where each deadlock pair includes two mobile robots that block each other.

[0058] In the embodiment of the present application, the deadlock processing device first performs a preliminary deadlock pair search. At this stage, the deadlock processing device needs to search for two mutually blocking cars from the dangerous path network directed graph and classify them as a deadlock team. Figure 5 , then it is identified that cart A and cart E are a deadlocked pair, and cart D and cart E are another deadlocked pair.

[0059] After the deadlock processing device completes the preliminary search, it records the existing deadlock pairs and records them in the deadlock record table.

[0060] Furthermore, since the deadlock processing device cannot directly search the graph results of the dangerous path network directed graph, the deadlock processing device of the present application can convert the dangerous path network directed graph into other data forms so that the deadlock processing device can directly and quickly search for deadlocks therein.

[0061] Specifically, the deadlock processing device can construct an adjacency matrix of the entire dangerous path network according to the dangerous path network directed graph generated in step S13, thereby completing the mathematical modeling of the entire dangerous path network. Figure 5 The dangerous path network directed graph shown can be modeled to generate the following adjacency matrix:

[0062] G=[[0,1,0,0,1,0],[0,0,1,0,0,0],[0,0,0,1,0,0],[0,0,0,0,1,0],[1,0,0,1,0,0],[0,0,1,0,0,0]]

[0063] The present application records the dangerous path information of each car through each sub-matrix of the adjacency matrix, thereby forming the entire dangerous path network. For example, [0, 1, 0, 0, 1, 0] means that the cars blocked by car A are car B and car E; [0, 0, 1, 0, 0, 0] means that the cars blocked by car B are car C; [0, 0, 0, 1, 0, 0, 0] means that the cars blocked by car C are car D; [0, 0, 0, 0, 1, 0] means that the cars blocked by car D are car E; [1, 0, 0, 1, 0, 0] means that the cars blocked by car E are car A and car D; [0, 0, 1, 0, 0, 0] means that the cars blocked by car F are car C.

[0064] Therefore, the deadlock processing device can quickly determine that the mutually blocking deadlock pairs include: cart A and cart E, cart D and cart E according to the above adjacency matrix.

[0065] Step S142: Based on the dangerous path network directed graph, search for the current deadlock loop, wherein each deadlock loop includes a number of mobile robots that block adjacent mobile robots.

[0066] In an embodiment of the present application, the deadlock processing device further uses the adjacency matrix to comprehensively analyze the entire dangerous path network directed graph to determine whether a circular deadlock still exists.

[0067] Specifically, the deadlock processing device can use a depth-first search algorithm (DFS algorithm, Deep First Search) to recursively traverse the directed graph to identify the ring structure of the directed graph, and output which cars exist in the ring structure.

[0068] like Figure 5 The dangerous path directed graph shown in the ring structure includes car A, car B, car C, car D, and car F. After obtaining the cars in the ring structure, they are classified as ring deadlocks and added to the deadlock record table.

[0069] Step S143: Record the current deadlock pair and the current deadlock loop in the current deadlock record table.

[0070] Step S15: Control the target mobile robot to avoid the deadlock according to the current deadlock control.

[0071] In an embodiment of the present application, the deadlock processing device determines all deadlocks existing in the dangerous path network directed graph through the above process, determines the target car that needs to be avoided based on all deadlocks in the deadlock record table, and then issues an avoidance instruction to the target car to make the target car go to the avoidance point.

[0072] Specifically, after obtaining multiple deadlocks, it is necessary to determine which vehicles are the vehicles that need to be avoided. In this regard, the present application also provides a solution for determining the target vehicles that need to be avoided.

[0073] For the initial stage, it is necessary to calculate the degree centrality of each network node in the deadlock network. deg (v), Eigenvector Centraliy C eig (v) Between Centrality C btw (v).

[0074] Among them, degree centrality is used to calculate the number of cars blocked by a node in a dangerous path network; eigenvector centrality is used to judge the criticality of each node's car in causing a deadlock under different node weights; betweenness centrality is used to evaluate the criticality of the car's position in the dangerous path network. The calculation formulas for the above parameters are as follows:

[0075]

[0076]

[0077] Among them, d v is the degree of the node, N is the number of nodes in the network; a ij is the element in the i-th row and j-th column of the adjacency matrix, x j is the jth element in the feature vector, N is the number of nodes in the network; σ s,t (v) indicates that node v s , v t The number of shortest paths traversed, σ s,t It represents the number of shortest paths passing through node v, and N is the number of nodes in the network.

[0078] The degree of a node is the number of edges directly connected to a node.

[0079] When calculating the central value of the eigenvector, it is necessary to perform an eigenvector initialization calculation on the network to obtain the eigenvector value of the entire network. During the initialization calculation, it is necessary to calculate the source vehicle in each dangerous link, and assign the initial value of the eigenvector to the vehicle in each node according to whether it is the source vehicle. If it is the source vehicle, the corresponding eigenvector value is a, and if it is not the source vehicle, it is set to 0. a is a parameter that needs to be adjusted, and the parameter needs to be adjusted according to the actual situation.

[0080] After obtaining the centrality information of each node, the deadlock processing device performs weighted calculation of the cost I of the car corresponding to each node that conforms to the β-distribution according to the centrality, and adds the bias deviation value generated by some constraints. For example, when the point where the car is located is a key map point, such as the center point of the map intersection, the bias is max, so that it is given priority to avoid when solving the deadlock.

[0081] I=(C deg (v)+4×C btw (v)+C eig (v)) / 6+bias)

[0082] After calculating the cost value of each car, the deadlock processing device sorts the cars in each deadlock loop by cost value, so as to select the car with higher cost value to choose a feasible avoidance point for avoidance. There is at least one car with higher cost value, and in the deadlock loop, multiple cars may be selected to avoid at the same time.

[0083] After the avoiding car reaches the avoiding point, the deadlock processing device can re-enter the next round of deadlock detection loop iteration to determine whether the deadlock is unlocked or a new deadlock. If it is not unlocked, the deadlock processing logic provided by the present application is repeated to enter the next round of deadlock unlocking.

[0084] In the present application, a deadlock processing device based on a mobile robot obtains the planned path points of several mobile robots; based on all the planned path points, generates the dangerous path information of each mobile robot; based on all the dangerous path information, constructs a dangerous path network directed graph; searches for the current deadlock based on the dangerous path network directed graph; and controls the target mobile robot to avoid the current deadlock. Through the above-mentioned deadlock processing method based on a mobile robot, the deadlock loop of the entire dangerous path network is analyzed using the constructed dangerous path network directed graph, which can analyze more different types of deadlocks, solve the problem of being unable to unlock the circular deadlock caused by some unrecognizable circular deadlocks, and thus greatly improve the deadlock unlocking efficiency.

[0085] Compared with traditional deadlock identification and deadlock resolution technology, the deadlock identification in this application is divided into two steps. The first is the traditional deadlock identification technology, that is, based on the information of mutual blocking of vehicles, the mapping of dangerous paths is constructed, and then the deadlock loop is generated accordingly based on the dangerous path mapping. After the deadlock loop is generated according to the mapping, this application will also construct a dangerous path network of blocking vehicles in the entire dispatching system according to the mapping, and then use the depth-first search algorithm to search for circular deadlocks, so that some deadlocks that cannot be identified in traditional deadlock identification technology and exist in links involving multiple vehicle blocking can be identified, thereby solving the problem of being unable to resolve circular deadlocks caused by some unidentifiable circular deadlocks.

[0086] Compared with the method of selecting a deadlock-releasing avoidance vehicle by using any vehicle for avoidance in traditional deadlock handling technology, the present application analyzes each vehicle in the entire network based on the generated dangerous path network when selecting an avoidance vehicle, thereby obtaining some key vehicles in the dangerous path network as avoidance vehicles and performing deadlock-releasing avoidance operations, thereby greatly improving the deadlock-releasing efficiency.

[0087] The deadlock handling method of the present application retains a bias term in the key vehicle determination technology, thereby ensuring that some established priority avoidance rules can continue to play a role in selecting priority avoidance vehicles.

[0088] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0089] In order to implement the above-mentioned deadlock processing method based on a mobile robot, the present application also proposes a deadlock processing device based on a mobile robot. Figure 7 , Figure 7 It is a structural schematic diagram of an embodiment of a deadlock processing device based on a mobile robot provided in the present application.

[0090] The deadlock processing device 400 based on a mobile robot of this embodiment includes a processor 41 , a memory 42 , an input / output device 43 , and a bus 44 .

[0091] The processor 41, memory 42, and input / output device 43 are respectively connected to a bus 44. The memory 42 stores program data. The processor 41 is used to execute the program data to implement the deadlock processing method based on the mobile robot described in the above embodiment.

[0092] In the embodiment of the present application, the processor 41 may also be referred to as a CPU (Central Processing Unit). The processor 41 may be an integrated circuit chip having the ability to process signals. The processor 41 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or the processor 41 may also be any conventional processor, etc.

[0093] This application also provides a computer storage medium, please continue to refer to Figure 8 , Figure 8 It is a structural diagram of an embodiment of a computer storage medium provided in the present application. The computer storage medium 600 stores a computer program 61. When the computer program 61 is executed by the processor, it is used to implement the deadlock processing method based on the mobile robot of the above embodiment.

[0094] When the embodiments of the present application are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0095] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A deadlock processing method based on a mobile robot, characterized in that: The deadlock processing method comprises: Obtaining planned path points of several mobile robots; Generate dangerous path information for each mobile robot based on all planned path points; Based on all the dangerous path information, a dangerous path network directed graph is constructed; Searching for the current deadlock based on the dangerous path network directed graph; The target mobile robot is controlled to avoid the deadlock according to the current deadlock.

2. The deadlock handling method according to claim 1, characterized in that: The searching for the current deadlock based on the dangerous path network directed graph includes: Based on the dangerous path network directed graph, searching for current deadlock pairs, wherein each deadlock pair includes two mobile robots that block each other; Based on the dangerous path network directed graph, searching for current deadlock loops, wherein each deadlock loop includes a number of mobile robots that block each other with adjacent mobile robots; The current deadlock pair and the current deadlock loop are recorded in a current deadlock record table.

3. The deadlock handling method according to claim 2, characterized in that: Before searching the current deadlock based on the dangerous path network directed graph, the deadlock processing method further includes: Performing mathematical modeling according to the dangerous path network directed graph to generate an adjacency matrix of the dangerous path network, wherein each submatrix in the adjacency matrix records information of mobile robots blocked by the corresponding mobile robot; The searching for the current deadlock loop based on the dangerous path network directed graph includes: The dangerous path network directed graph is traversed according to the adjacency matrix to identify the current deadlock loop.

4. The deadlock handling method according to claim 1, characterized in that: The method of constructing a directed graph of a dangerous path network based on all dangerous path information includes: Setting a first network node based on the mobile robot corresponding to each dangerous path information; Searching for other mobile robots blocking the mobile robot according to the dangerous path information, and setting a second network node based on the other mobile robots; generating a network edge from the first network node to the second network node; All dangerous path information is traversed, and the dangerous path network directed graph is constructed according to all network nodes and their network edges.

5. The deadlock handling method according to claim 1 or 4, characterized in that: The dangerous path information includes path points where two mobile robots conflict, the path points correspond to map nodes on a topological map, and information of the two mobile robots.

6. The deadlock handling method according to claim 1, characterized in that: The controlling the target mobile robot to avoid the deadlock according to the current deadlock includes: Calculating cost values ​​of several mobile robots in deadlock according to the current deadlock; Select the mobile robot with higher cost value to avoid.

7. The deadlock handling method according to claim 6, characterized in that: The calculating the cost values ​​of several mobile robots in deadlock according to the current deadlock includes: Acquire a candidate mobile robot in deadlock according to the current deadlock; Calculating the degree centrality, eigenvector centrality and betweenness centrality of the candidate mobile robot based on the dangerous path network directed graph; Calculating a cost value of the candidate mobile robot based on the degree centrality, the eigenvector centrality, the betweenness centrality, and a preset deviation value; The preset deviation value is a preset impact value of each key map point.

8. The deadlock handling method according to claim 6, characterized in that: After the mobile robot with a higher cost value is selected for avoidance, the deadlock processing method further includes: After the mobile robot is controlled to reach the avoidance point, the dangerous path network directed graph is reconstructed.

9. A deadlock handling device based on a mobile robot, characterized in that: The deadlock processing device based on a mobile robot includes a memory and a processor coupled to the memory; Wherein, the memory is used to store program data, and the processor is used to execute the program data to implement the deadlock processing method based on a mobile robot as described in any one of claims 1 to 8.

10. A computer storage medium, characterized in that: The computer storage medium is used to store program data, and when the program data is executed by a computer, it is used to implement the deadlock processing method based on a mobile robot as described in any one of claims 1 to 8.

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