Multi-mobile robot scheduling method, system, device and storage medium

Abstract

The present invention relates to the field of robot path planning technology, and in particular to a method, system, device and storage medium for scheduling multiple mobile robots. The method for scheduling multiple mobile robots provided by the present invention first plans the global optimal route of all mobile robots, and then manages and issues local route planning based on the global optimal route of the mobile robots. In the local route planning, the local route planning of each mobile robot will confirm and adjust the local route planning of the previous mobile robot, and use the points of the local path issued in the previous frame as locking points to avoid using the points of the local path issued in the previous frame as local path points, thereby avoiding conflicts with AGVs that want to pass through the same route. The mobile robots can travel in a planned manner, effectively reducing the occurrence of conflicts, emergency braking and the like, effectively achieving the smooth transportation of multiple mobile robots, reducing the impact of inertia on the load, and facilitating the transportation of precision devices such as silicon wafers and semiconductors.

Description

Technical Field

[0001] The present invention relates to the technical field of robot path planning, and in particular to a method, system, device and storage medium for scheduling multiple mobile robots. Background Art

[0002] At present, each mobile robot in the multi-mobile robot collaborative system will move according to its own planned global path. However, with the change of moving speed, temporary obstacles or failures, there may be situations where the mobile robot cannot pass the intersection according to the preset time, and then there may be situations where multiple mobile robots meet and collide at the intersection. In such cases, the dispatching system will issue a stop command in time to force the mobile robot to stop and avoid. However, if a mobile robot suddenly receives a stop command during high-speed driving, it will not brake in time due to inertia, and thus collide with other mobile robots. Although the emergency brake is timely, the transported objects loaded on the mobile robot will be easily displaced and damaged due to inertia, which is not conducive to the transportation of precision devices such as silicon wafers and semiconductors. Summary of the invention

[0003] The main purpose of the present invention is to provide a mobile robot scheduling method, system, equipment and storage medium, aiming to reduce the occurrence of conflicts, emergency braking and the like, effectively realize the smooth transportation of multiple mobile robots, reduce the influence of inertia on the load, and facilitate the transportation of precision devices such as silicon wafers and semiconductors.

[0004] To achieve the above object, the multi-mobile robot scheduling method proposed in the first aspect of the present invention comprises the following steps:

[0005] Step S1: planning the optimal global path for all mobile robots;

[0006] Step S2: Performing local path planning for each mobile robot in the current frame in order according to the task priority to obtain a local path for each mobile robot;

[0007] Step S3: After all mobile robots complete the local path planning of the current frame, a local path is issued to each mobile robot; and the local path planning of the next frame is performed;

[0008] Among them, local path planning includes:

[0009] Step S21: Taking the current position of the mobile robot as the starting point, plan N positions forward along its own global path to obtain the planned positions, where N is a positive integer;

[0010] Step S22: Determine whether there is a locked point among the N planned points, wherein the locked point is a point of the local path that has been issued in the previous frame, and the locked point is also a point of the local path that has been planned but not issued and is closer to other mobile robots; closer distance is defined as: the distance from other mobile robots that have planned the point to the planned point is less than or equal to the distance from the current mobile robot to the planned point;

[0011] If there is a locked point, the local path of the mobile robot is updated to the planned point between the current point and the nearest locked point;

[0012] If there are no locked points, the local path of the mobile robot is updated to all planned points.

[0013] Optionally, the determining whether the N planned points are at the locked point comprises the following steps:

[0014] Determine whether there is an occupied point among the N planned points, where the occupied point is a point on a local path of another mobile robot;

[0015] If there is no occupied point, there is no locked point;

[0016] If there is an occupied point, determine whether the occupied point is a point of the local path that has been sent in the previous frame;

[0017] If the occupied point is a point of the local path that has been issued in the previous frame, then the occupied point is a locked point, and there is a locked point among the N planned points;

[0018] If the occupied point is not a point of the local path sent in the previous frame, determine whether the number of points between the occupied point and the current point of the mobile robot occupying it is less than or equal to the number of points between the occupied point and the current point of the current mobile robot;

[0019] If yes, the occupied point is a locked point, and there is a locked point among the N planned points;

[0020] If not, there is no locked point among the N planned points.

[0021] Optionally, when there is an occupied point but it is not a locked point, the occupied point is deleted from the points of the local path of the mobile robot that occupies it, and the points after the occupied point are deleted.

[0022] Optionally, it is determined whether the N planned points are in the locked points, and each point is determined in turn in a forward order along its own global path, and the determination is terminated when one of the locked points exists.

[0023] Optionally, the task priority order includes the following steps;

[0024] Obtain the order in which the mobile robot receives the targets, the final path length to the destination, and the number of turns along the path;

[0025] Calculate the task priority of each mobile robot, the calculation formula is:

[0026] ;

[0027] in, is the task priority of the jth mobile robot, is a 0-1 decision variable, which is set to 1 when the end point is a machine point and is set to 0 when the end point is a standby point or a charging point. It is the sum of all node distances from the starting point to the end point of the global path; is a 0-1 decision variable, traversing the global path n When the node passes i When a node needs to be rotated, set it to 1, and when it does not need to be rotated, set it to 0. is the target machine waiting time; , , are specific gravity respectively;

[0028] The tasks are sorted according to their priority levels. When the task priorities are equal, they are arranged in the order in which the target tasks are received.

[0029] Optionally, in local path planning, when the time occupied by the same mobile robot at a locked point exceeds a preset time, the locked point is determined to be a blocking point;

[0030] Using the improved A* algorithm, the path cost of the congestion point is adjusted to the highest value, and a new global route is replanned.

[0031] Another aspect of the present invention discloses a multi-mobile robot scheduling system, comprising:

[0032] Global path planning module, used to plan the optimal global path for all mobile robots;

[0033] A local path planning module is used to perform local path planning for each mobile robot in the current frame in order according to the task priority to obtain a local path for each mobile robot;

[0034] The sending module is used to send a local path to each mobile robot after all mobile robots complete the local path planning of the current frame; and trigger the local path planning module to plan the local path planning of the next frame;

[0035] Among them, the local path planning module includes:

[0036] The local planning unit is used to plan N points forward along its own global path with the current point of the mobile robot as the starting point to obtain the planned points, where N is a positive integer;

[0037] The locking point judgment unit is used to judge whether the N planned points are at the locking point, wherein the locking point is the point of the local path that has been issued in the previous frame, and the locking point is also the point of the local path that has been planned but not issued and is closer to other mobile robots; closer distance is defined as: the number of points from other mobile robots that have planned the point to the planned point is less than or equal to the number of points from the current mobile robot to the planned point;

[0038] The local path updating unit is used to update the local path of the mobile robot to the planned points between the current point and the nearest locked point when there is a locked point; when there is no locked point, the local path of the mobile robot is updated to all planned points.

[0039] Optionally, the locking point determination unit includes:

[0040] An occupied point determination unit, used to determine whether there is an occupied point among the N planned points, wherein the occupied point is a point on a local path of another mobile robot;

[0041] A judgment output unit, used for outputting a result that there is no locked point when there is no occupied point;

[0042] A path judgment unit is used to judge whether the occupied point is a point of the local path that has been issued in the previous frame when there is an occupied point;

[0043] The judgment output unit is also used for, when the occupied point is a point of the local path that has been issued in the previous frame, the occupied point is a locked point, and outputting a result that a locked point exists;

[0044] A distance judgment unit, used for judging whether the number of points between the occupied point and the current point of the mobile robot occupying it is less than or equal to the number of points between the occupied point and the current point of the current mobile robot when the occupied point is not a point of the local path sent in the previous frame;

[0045] If it exists, the occupied point is a locked point, and the trigger judgment output unit outputs the result that there is a locked point;

[0046] If not, the judgment output unit is triggered to output a result that no locking point exists.

[0047] Optionally, the local path updating unit is further configured to, when there is an occupied point but it is not a locked point, delete the occupied point from the points of the local path of the mobile robot occupying it, and delete the points after the occupied point.

[0048] Optionally, the locking point determination unit is used to determine each point in sequence along the global path of the current mobile robot, and terminate the determination when one of the locking points exists.

[0049] Another aspect of the present invention discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any method described in the multi-mobile robot scheduling method is implemented.

[0050] Another aspect of the present invention discloses a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, a multi-mobile robot scheduling method is implemented.

[0051] The technical solution provided by the present invention may include the following beneficial effects:

[0052] The multi-mobile robot scheduling method provided by the present invention first plans the global optimal route of all mobile robots, and then performs local route planning management and distribution according to the global optimal route of the mobile robots, so that the mobile robots can travel in a planned manner, effectively reducing the occurrence of conflicts, emergency braking and the like, effectively realizing the smooth transportation of multiple mobile robots, reducing the influence of inertia on the load, and facilitating the transportation of precision devices such as silicon wafers and semiconductors.

[0053] It is further worth explaining that in the local path planning, the local path planning of each mobile robot will confirm and adjust the local path planning of the previous mobile robot, and use the points of the local path that have been issued in the previous frame as the locking points, so as to avoid using the points of the local path that have been issued in the previous frame as the local path points, thereby avoiding conflicts with the AGVs that want to pass through the same path. At the same time, the points of the planned but not issued local paths that are closer to other mobile robots are also used as locking points to achieve the passage of intersection points in the order of task priority. When there are points of the planned but not issued local paths that are farther away from other mobile robots, adjustments are made to change the points to the local path of the current mobile robot, so as to achieve the reasonable use of idle points without conflict, reduce the point occupancy rate of robots with high task priority, avoid other mobile robots waiting for too long, and improve the operation efficiency of multiple mobile robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0055] Figure 1 A schematic diagram of a flow chart of a multi-mobile robot scheduling method according to an embodiment of the present invention;

[0056] Figure 2 A schematic diagram of local path planning for multiple mobile robots according to an embodiment of the present invention;

[0057] Figure 3 A schematic diagram of a flow chart for determining whether a locking point exists according to an embodiment of the present invention;

[0058] Figure 4 A schematic diagram of a blocking point in path planning of multiple mobile robots according to an embodiment of the present invention;

[0059] Figure 5 A schematic diagram of a process flow of current frame path planning in a multi-mobile robot scheduling method according to an embodiment of the present invention;

[0060] Figure 6 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0063] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" 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 a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions. Taking "A and / or B as an example", it includes solution A, or solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0065] At present, each mobile robot in the multi-mobile robot collaborative system will move according to its own planned global path. However, with the change of moving speed, temporary obstacles or failures, there may be situations where the mobile robot cannot pass the intersection according to the preset time, and then there may be situations where multiple mobile robots meet and collide at the intersection. In such cases, the dispatching system will issue a stop command in time to force the mobile robot to stop and avoid. However, if a mobile robot suddenly receives a stop command during high-speed driving, it will not brake in time due to inertia, and thus collide with other mobile robots. Although the emergency brake is timely, the transported objects loaded on the mobile robot will be easily displaced and damaged due to inertia, which is not conducive to the transportation of precision devices such as silicon wafers and semiconductors.

[0066] To this end, the multi-mobile robot scheduling method disclosed in the first aspect of the present invention can be executed by a server that centrally manages the multiple mobile robots. The mobile robot referred to in the present invention is a device that moves according to the planned points on the ground, such as unmanned transport equipment such as AGV and IGV.

[0067] like Figure 1 As shown, a multi-mobile robot scheduling method according to an embodiment of the present invention comprises the following steps:

[0068] Step S1: Planning the optimal global path for all mobile robots. In an optional embodiment, the optimal global path for all mobile robots can be planned by an improved A* algorithm.

[0069] Step S2: Perform local path planning for each mobile robot in the current frame in order according to the task priority to obtain the local path of each mobile robot. The task priority is judged based on comprehensive information such as the order in which the mobile robot receives the targets, the final path length to the destination, and the number of turns along the path. The specific judgment rules are described below.

[0070] Step S3: After all mobile robots complete the local path planning of the current frame, a local path is issued to each mobile robot; and the local path planning of the next frame is performed. It can be seen that in this embodiment, the local paths of all mobile robots are updated synchronously in the same frame, and the local paths are issued after all mobile robots have completed the update, so that each mobile robot moves forward according to the local path.

[0071] Among them, local path planning includes:

[0072] Step S21: Taking the current position of the mobile robot as the starting point, plan N points forward along its own global path to obtain the planned points, where N is a positive integer; specifically, N is a preset positive integer. When the remaining points are less than N, the remaining points are all planned points. It can be set according to actual needs. In a preferred embodiment of the present invention, the preset value range of N is 5 to 8. If the value of N is too small, the number of local path planning times is large, which is not conducive to the efficient operation of multiple mobile robots. When the value of N is too large, the number of points that need to be judged for local path planning increases, which increases the time for local path planning for each frame, which is also not conducive to the efficient operation of multiple mobile robots. After simulation and field testing, the value range of N is preferably 5 to 8.

[0073] Step S22: Determine whether there is a locked point among the N planned points. The locked point is a point of the local path that has been issued in the previous frame. The locked point is also a point of the local path that has been planned but not issued and is closer to other mobile robots. The definition of closer distance is: the distance from other mobile robots that have planned the point to the planned point is less than or equal to the distance from the current mobile robot to the planned point. It is worth noting that in this embodiment, the planned points in two cases are locked points. The first case is that among the planned points, a certain point is a point of the local path that has been issued in the previous frame; the second case is that among the planned points, other mobile robots are closer to the planned but not issued local path. Any point in the planned points is a locked point as long as it meets one of the conditions. Among them, it is worth noting that when the mobile robot moves forward one point, the previous point of the mobile robot is not in the local planned path, that is, the previous point is released for other mobile robots to occupy and use.

[0074] If there is a locked point, the local path of the mobile robot is updated to the planned point between the current point and the nearest locked point; the nearest locked point is the first locked point of the current mobile robot along its global path.

[0075] If there are no locked points, the local path of the mobile robot is updated to all planned points.

[0076] Specifically, Figure 2 In the specific embodiment shown, taking AGV transportation as an example, AGV1 represents the first mobile robot, AGV2 represents the second mobile robot, and AGV3 represents the third mobile robot; AGV1 has the highest task priority, and AGV2 has a higher task priority than AGV3. In the embodiment of the present invention, when the point where the mobile robot passes is an assignable point, for example, when AGV1 passes point 10, point 10 is not a point in the local planning path of AGV1.

[0077] In a specific embodiment, the local path of AGV1 is updated to 10-9-8-2-7, and the local path of AGV1 has been issued;

[0078] When planning the local path of AGV2, the five points planned forward according to the global path are 1-2-3-4-5; among them, point 2 has been planned for the local path of AGV1, and point 2 belongs to the point of the local path that has been issued in the previous frame. It can be seen that point 2 is a locked point. At this time, the local path of AGV2 is 1; the local path of AGV1 is 10-9-8-2-7; the local path of AGV2 has not been issued;

[0079] When planning the local path of AGV3, the three points planned forward according to the global path are 4-8-11; among them, point 8 has been planned for the local path of AGV1, and point 8 belongs to the point of the local path that has been sent down in the previous frame, so point 8 is a locked point. At this time, the local path of AGV3 is 4, the local path of AGV2 is 1, and the local paths of AGV2 and AGV3 are sent down.

[0080] In another specific embodiment, the local path of AGV1 is updated to 10-9-8-2-7, and the local path of AGV1 is not issued;

[0081] When planning the local path of AGV2, the five points planned forward according to the global path are 1-2-3-4-5; among them, point 2 has been planned for the local path of AGV1, and point 2 does not belong to the points of the local path that has been issued in the previous frame, but the distance from AGV1 to point 2 is greater than the distance from AGV2 to point 2. It can be seen that point 2 is not a locked point, and point 2 is updated to the local path of AGV2. At this time, the local path of AGV2 is 1-2-3-4-5; the local path of AGV1 is 10-9-8; the local paths of AGV1 and AGV2 have not been issued;

[0082] When planning the local path of AGV3, the three points planned forward according to the global path are 4-8-11; among them, point 4 has been planned for the local path of AGV2, and point 8 has been planned for the local path of AGV2. Points 4 and 8 do not belong to the points of the local path that have been issued in the previous frame, but the distance from AGV2 to point 4 is greater than the distance from AGV3 to point 4, that is, point 4 is not a locked point; the distance from AGV1 to point 8 is greater than the distance from AGV3 to point 8, that is, point 8 is not a locked point, then update the points of point 4 and point 8 to the local path of AGV3. At this time, the local path of AGV3 is 4-8-11, the local path of AGV2 is 1-2-3, and the local path of AGV1 is 10-9. The local paths of AGV1, AGV2, and AGV3 are issued in sequence.

[0083] The multi-mobile robot scheduling method provided by the present invention first plans the global optimal route of all mobile robots, and then performs local route planning management and distribution according to the global optimal route of the mobile robots, so that the mobile robots can travel in a planned manner, effectively reducing the occurrence of conflicts, emergency braking and the like, effectively realizing the smooth transportation of multiple mobile robots, reducing the influence of inertia on the load, and facilitating the transportation of precision devices such as silicon wafers and semiconductors.

[0084] It is further worth explaining that in the local path planning, the local path planning of each mobile robot will confirm and adjust the local path planning of the previous mobile robot, and use the points of the local path that have been issued in the previous frame as the locking points, so as to avoid using the points of the local path that have been issued in the previous frame as the local path points, thereby avoiding conflicts with the mobile robots that want to pass through the same route. At the same time, the points of the planned but not issued local paths that are closer to other mobile robots are also used as locking points to achieve the passage of intersection points in the order of task priority. When there are points of the planned but not issued local paths that are farther away from other mobile robots, adjustments are made to change the points to the local path of the current mobile robot, so as to achieve the reasonable use of idle points without conflict, reduce the point occupancy rate of robots with high task priority, avoid other mobile robots waiting for too long, and improve the operation efficiency of multiple mobile robots.

[0085] Specifically, Figure 3 The flowchart shown is for determining whether there is a locked point among N planned points, wherein determining whether there is a locked point among N planned points includes the following steps:

[0086] Determine whether there is an occupied point among the N planned points, where the occupied point is a point on a local path of another mobile robot;

[0087] If there is no occupied point, there is no locked point;

[0088] If there is an occupied point, determine whether the occupied point is a point of the local path that has been sent in the previous frame;

[0089] If the occupied point is a point of the local path that has been issued in the previous frame, then the occupied point is a locked point, and there is a locked point among the N planned points;

[0090] If the occupied point is not a point of the local path sent in the previous frame, it is determined whether the number of points between the occupied point and the current point of the mobile robot occupying it is less than or equal to the number of points between the occupied point and the current point of the current mobile robot; in this embodiment, the number of points is used to determine whether the distance is closer or farther. Of course, in other optional embodiments, the path length can also be used for determination.

[0091] If yes, the occupied point is a locked point, and there is a locked point among the N planned points;

[0092] If not, there is no locked point among the N planned points.

[0093] In this way, by first determining whether there is an occupied point, then determining whether the occupied point is a point of the local path that has been sent in the previous frame, and finally determining whether the distance to the occupied point is closer to other mobile robots, it is possible to determine whether there is a locked point.

[0094] Based on the above steps, Figure 5 A complete schematic diagram of the process of local path planning for the current frame according to an embodiment of the present invention is shown.

[0095] It is further worth noting that when there is an occupied point but it is not a locked point, the occupied point is deleted from the points of the local path of the mobile robot that occupies it, and the points after the occupied point are deleted.

[0096] Since the occupied point is updated as the local path planning point of the current mobile robot, the local path of the mobile robot that originally occupied the point is adjusted, deleting the occupied point and the points after the occupied point, reducing the point occupancy rate of the mobile robot, so that other mobile robots can reasonably use the idle points.

[0097] It is further worth noting that, to determine whether the N planned points are in the locked points, each point is judged in sequence along its own global path, and the judgment is terminated when one of the locked points exists. The multi-mobile robot scheduling method provided by the present invention can quickly find the locked point closest to the current position by making judgments in sequence. When the first locked point appears, the points after the locked point do not need to be judged, thereby reducing the amount of calculation.

[0098] Further optionally, the task priority order includes the following steps;

[0099] Obtain the order in which the mobile robot receives the targets, the final path length to the destination, and the number of turns along the path;

[0100] Calculate the task priority of each mobile robot, the calculation formula is:

[0101] ;

[0102] in, is the task priority of the jth mobile robot, is a 0-1 decision variable, which is set to 1 when the end point is a machine point and is set to 0 when the end point is a standby point or a charging point. It is the sum of all node distances from the starting point to the end point of the global path; is a 0-1 decision variable, traversing the global path n When the node passes i When a node needs to be rotated, set it to 1, and when it does not need to be rotated, set it to 0. is the target machine waiting time; , , are specific gravity respectively; , , The value of can be set according to actual needs, and the present invention does not make any specific limitation.

[0103] Specifically, when other conditions are the same, the task priority when the destination is a machine point is higher than that when the destination is a standby point or a charging point. The purpose is to give priority to the mobile robot that needs to perform the task. The mobile robot that arrives at the standby point or the charging point can be put aside for planning to improve transportation efficiency. When other conditions are the same, the longer the length of the global path, the higher the task priority of the mobile robot, so that the mobile robot can seize the point movement as much as possible and reach the destination as soon as possible. When other conditions are the same, the more nodes that need to be rotated in the global path, the longer the time required for the mobile robot to complete the global path. In order for the mobile robot to reach the target as soon as possible, the more nodes that need to be rotated in the global path, the higher the task priority of the mobile robot. When other conditions are the same, the longer the waiting time for the target machine, the more the current mobile robot needs to go to the target machine as soon as possible. Therefore, the longer the waiting time for the target machine, the higher the task priority.

[0104] The task priority calculation provided by the present invention comprehensively considers the type of end point, the sum of all node distances from the start point to the end point of the global path, the number of rotating nodes, and the waiting time of the target machine, so that the task priority calculation is comprehensive and reasonable.

[0105] The tasks are sorted according to their priority. When the task priorities are equal, they are arranged according to the order of receiving the target tasks. That is, the mobile robot with the higher task priority will perform local path planning first. When the task priorities are equal, the mobile robot that receives the target task first will perform local path planning first.

[0106] In some preferred embodiments of the present invention, during the local path planning process, when the time occupied by the same mobile robot at a locked point exceeds a preset time, the locked point is determined to be a blocking point; the improved A* algorithm is used to adjust the path cost of the blocking point to the highest value, and a new global route is replanned. In this way, a new path that can bypass the blocking point is planned for other mobile robots, realizing intelligent unblocking, so that other mobile robots can bypass the blocking point. For example, Figure 4In the embodiment shown, when agv1 is traveling from 1->2->8->9->10->7 and finds that point 8 is occupied by other agvs for a certain period of time, the attribute of point 8 is marked as a blocking point. The other paths are planned again, and agv1 takes a detour according to 1->2->3->4->5->6->12->7.

[0107] The second aspect of the present invention discloses a multi-mobile robot scheduling system, comprising:

[0108] Global path planning module, used to plan the optimal global path for all mobile robots;

[0109] A local path planning module is used to perform local path planning for each mobile robot in the current frame in order according to the task priority to obtain a local path for each mobile robot;

[0110] The sending module is used to send a local path to each mobile robot after all mobile robots complete the local path planning of the current frame; and trigger the local path planning module to plan the local path planning of the next frame;

[0111] Among them, the local path planning module includes:

[0112] The local planning unit is used to plan N points forward along its own global path with the current point of the mobile robot as the starting point to obtain the planned points, where N is a positive integer;

[0113] The locking point judgment unit is used to judge whether the N planned points are at the locking point, wherein the locking point is the point of the local path that has been issued in the previous frame, and the locking point is also the point of the local path that has been planned but not issued and is closer to other mobile robots; closer distance is defined as: the number of points from other mobile robots that have planned the point to the planned point is less than or equal to the number of points from the current mobile robot to the planned point;

[0114] The local path updating unit is used to update the local path of the mobile robot to the planned points between the current point and the nearest locked point when there is a locked point; when there is no locked point, the local path of the mobile robot is updated to all planned points.

[0115] Furthermore, an occupied point determination unit is used to determine whether there is an occupied point among the N planned points, wherein the occupied point is a point on a local path of another mobile robot;

[0116] A judgment output unit, used for outputting a result that there is no locked point when there is no occupied point;

[0117] A path judgment unit is used to judge whether the occupied point is a point of the local path that has been issued in the previous frame when there is an occupied point;

[0118] The judgment output unit is also used for, when the occupied point is a point of the local path that has been issued in the previous frame, the occupied point is a locked point, and outputting a result that a locked point exists;

[0119] A distance judgment unit, used for judging whether the number of points between the occupied point and the current point of the mobile robot occupying it is less than or equal to the number of points between the occupied point and the current point of the current mobile robot when the occupied point is not a point of the local path sent in the previous frame;

[0120] If it exists, the occupied point is a locked point, and the trigger judgment output unit outputs the result that there is a locked point;

[0121] If not, the judgment output unit is triggered to output a result that no locking point exists.

[0122] Optionally, the local path updating unit is further configured to, when there is an occupied point but it is not a locked point, delete the occupied point from the points of the local path of the mobile robot occupying it, and delete the points after the occupied point.

[0123] Optionally, the locking point determination unit is used to determine each point in sequence along the global path of the current mobile robot, and terminate the determination when one of the locking points exists.

[0124] It should be noted that the multi-mobile robot scheduling system provided in the embodiment of the present invention can be built on a server for centrally managing multiple mobile robots, and the various units and modules described above can refer to program modules or units. Also, more details and corresponding technical effects of the system in the embodiment of the present invention can be referred to the description of the method embodiment above, which will not be repeated here.

[0125] The system of the above-mentioned embodiment of the present invention can be used to execute the corresponding method embodiment of the present invention, and accordingly achieve the technical effects achieved by the above-mentioned method embodiment of the present invention, which will not be repeated here.

[0126] In the embodiment of the present invention, relevant functional modules can be implemented by a hardware processor.

[0127] like Figure 6As shown, on the other hand, the present invention discloses an electronic device 600, including: a processor 601 and a memory 602. Among them, the processor 601 and the memory 602 are connected, such as connected through a bus 603. Further, the electronic device 600 may also include a transceiver 604. It should be noted that in actual applications, the transceiver 604 is not limited to one, and the structure of the electronic device 600 does not constitute a limitation on the embodiment of the present application. Among them, the processor 601 is applied in the embodiment of the present application to realize the functions of each unit and module of the multi-mobile robot scheduling system. The processor 601 can be a CPU, a general processor, a DSP, an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure of the present application. The processor 601 can also be a combination that realizes a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The bus 603 may include a path to transmit information between the above components. The bus 603 can be a PCI bus or an EISA bus, etc. The bus 603 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used to represent it, but it does not mean that there is only one bus or one type of bus. The memory 602 can be a ROM or other types of static storage devices that can store static information and instructions, a RAM or other types of dynamic storage devices that can store information and instructions, or an EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this. The memory 602 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 601. The processor 601 is used to execute the application code stored in the memory 602 to implement the multi-mobile robot scheduling method provided by the present invention.

[0128] On the other hand, an embodiment of the present invention provides a storage medium having a computer program stored thereon, wherein the program is executed by a processor to perform the steps of the path planning method for multiple mobile robots as performed by the server above.

[0129] The above-mentioned product can execute the method provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in this embodiment, please refer to the method provided in the embodiment of the present application.

[0130] The optional implementation modes of the embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical scheme of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0131] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0132] 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 multi-mobile robot scheduling method, characterized in that: The steps include: Step S1: planning the optimal global path for all mobile robots; Step S2: Performing local path planning for each mobile robot in the current frame in order according to the task priority to obtain a local path for each mobile robot; Step S3: After all mobile robots complete the local path planning of the current frame, a local path is issued to each mobile robot; And perform local path planning for the next frame; Among them, local path planning includes: Step S21: Taking the current position of the mobile robot as the starting point, plan N positions forward along its own global path to obtain the planned positions, where N is a positive integer; Step S22: Determine whether there is a locked point among the N planned points, wherein the locked point is a point of the local path that has been issued in the previous frame, and the locked point is also a point of the local path that has been planned but not issued and is closer to other mobile robots; closer distance is defined as: the distance from other mobile robots that have planned the point to the planned point is less than or equal to the distance from the current mobile robot to the planned point; If there is a locked point, the local path of the mobile robot is updated to the planned point between the current point and the nearest locked point; If there are no locked points, the local path of the mobile robot is updated to all planned points.

2. The multi-mobile robot scheduling method according to claim 1, characterized in that: The step of determining whether the N planned points are at the locked point comprises the following steps: Determine whether there is an occupied point among the N planned points, where the occupied point is a point on a local path of another mobile robot; If there is no occupied point, there is no locked point; If there is an occupied point, determine whether the occupied point is a point of the local path that has been sent in the previous frame; If the occupied point is a point of the local path that has been issued in the previous frame, then the occupied point is a locked point, and there is a locked point among the N planned points; If the occupied point is not a point of the local path sent in the previous frame, determine whether the number of points between the occupied point and the current point of the mobile robot occupying it is less than or equal to the number of points between the occupied point and the current point of the current mobile robot; If yes, the occupied point is a locked point, and there is a locked point among the N planned points; If not, there is no locked point among the N planned points.

3. The multi-mobile robot scheduling method according to claim 2, characterized in that: When there is an occupied point but it is not a locked point, the occupied point is deleted from the points of the local path of the mobile robot that occupies it, and the points after the occupied point are deleted.

4. The multi-mobile robot scheduling method according to claim 2, characterized in that: Determine whether the N planned points are among the locked points, and judge each point in turn along its own global path. When one of the locked points is found, the judgment is terminated.

5. The multi-mobile robot scheduling method according to claim 1, characterized in that: The task priority sequence includes the following steps; Obtain the order in which the mobile robot receives the targets, the final path length to the destination, and the number of turns along the path; Calculate the task priority of each mobile robot, the calculation formula is: ； in, is the task priority of the jth mobile robot, is a 0-1 decision variable, which is set to 1 when the end point is a machine point and is set to 0 when the end point is a standby point or a charging point. It is the sum of all node distances from the starting point to the end point of the global path; is a 0-1 decision variable, traversing the global path n When the node passes i When a node needs to be rotated, set it to 1, and when it does not need to be rotated, set it to 0. is the target machine waiting time; , , are specific gravity respectively; The tasks are sorted according to their priority levels. When the task priorities are equal, they are arranged in the order in which the target tasks are received.

6. The multi-mobile robot scheduling method according to claim 1, characterized in that: In local path planning, when a locked point is occupied by the same mobile robot for more than a preset time, the locked point is determined to be a blocking point; Using the improved A* algorithm, the path cost of the congestion point is adjusted to the highest value, and a new global route is replanned. 7.Multi-mobile robot scheduling system, characterized in that: include: Global path planning module, used to plan the optimal global path for all mobile robots; A local path planning module is used to perform local path planning for each mobile robot in the current frame in order according to the task priority to obtain a local path for each mobile robot; The sending module is used to send a local path to each mobile robot after all mobile robots complete the local path planning of the current frame; And trigger the local path planning module to plan the next frame of local path planning; Among them, the local path planning module includes: The local planning unit is used to plan N points forward along its own global path with the current point of the mobile robot as the starting point to obtain the planned points, where N is a positive integer; The locking point judgment unit is used to judge whether the N planned points are at the locking point, the locking point being the point of the local path that has been issued in the previous frame, and the locking point is also the point of the local path that has been planned but not issued and is closer to other mobile robots; closer distance is defined as: the number of points from other mobile robots that have planned the point to the planned point is less than or equal to the number of points from the current mobile robot to the planned point; The local path updating unit is used to update the local path of the mobile robot to the planned points between the current point and the nearest locked point when there is a locked point; when there is no locked point, the local path of the mobile robot is updated to all planned points.

8. The multi-mobile robot scheduling system according to claim 7, characterized in that: The locking point judgment unit includes: An occupied point determination unit, used to determine whether there is an occupied point among the N planned points, wherein the occupied point is a point on a local path of another mobile robot; A judgment output unit, used for outputting a result that there is no locked point when there is no occupied point; A path judgment unit is used to judge whether the occupied point is a point of the local path that has been issued in the previous frame when there is an occupied point; The judgment output unit is also used for, when the occupied point is a point of the local path that has been issued in the previous frame, the occupied point is a locked point, and outputting a result that a locked point exists; A distance judgment unit, used for judging whether the number of points between the occupied point and the current point of the mobile robot occupying it is less than or equal to the number of points between the occupied point and the current point of the current mobile robot when the occupied point is not a point of the local path sent in the previous frame; If it exists, the occupied point is a locked point, and the trigger judgment output unit outputs the result that there is a locked point; If not, the judgment output unit is triggered to output a result that no locking point exists.

9. The multi-mobile robot scheduling system according to claim 7, characterized in that: The local path updating unit is also used for deleting the occupied point from the points of the local path of the mobile robot occupying it, and deleting the points after the occupied point, when there is an occupied point but it is not a locked point.

10. The multi-mobile robot scheduling system according to claim 7, characterized in that: The locking point judgment unit is used to judge each point in sequence along the global path of the current mobile robot, and terminate the judgment when one of the locking points exists.

11. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 6 when executing the program.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 6.

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