Scheduling planning method and device and computer storage medium

Abstract

The invention provides a scheduling planning method and device and a computer storage medium. The scheduling planning method comprises the steps of obtaining a first target section path of a target mobile robot; traversing a plurality of to-be-detected nodes of the target section path, and judging whether each to-be-detected node has a lattice locking conflict with a detection mobile robot or not; if yes, determining a lattice locking conflict node; updating a previous node of the lattice locking conflict node as a termination node of the first target section path, and generating a second target section path; acquiring a first distance between the current position of the target mobile robot and the termination node; determining a first maximum running speed of the target mobile robot based on the first distance; and issuing the second target section path and the first maximum running speed to the target mobile robot. By means of the mode, it is guaranteed that the robot equipment safely and efficiently runs in a conflict-free and collision-free mode in the running process, and the system stability is improved.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a scheduling and planning method, device, and computer storage medium. Background Art

[0002] With the improvement of industrial level, the number of robots equipped in automated industrial scenarios and the daily workload have increased significantly. In an environment where multiple robots operate, the conflict of the driving paths of robots is more serious, and whether the robot equipment can transport efficiently has become a key factor determining the operation efficiency of the system. To ensure the safety and efficiency in the driving process of robots, it is necessary to perform real-time control on the equipment in the multi-robot system.

[0003] In the prior art, there is no control over the running speed of robots. In application scenarios with a large task volume and a large number of devices, in order to pass through the intersection orderly, it is easy to cause more starts and stops, resulting in low efficiency, energy waste, and an increased risk of cargo dropping. Summary of the Invention

[0004] This application provides a scheduling and planning method, device, and computer storage medium.

[0005] To solve the above technical problems, this application proposes a scheduling and planning method, which includes: obtaining the first target segment path of a target mobile robot; traversing several to-be-detected nodes of the target segment path, and determining whether each to-be-detected node has a grid locking conflict with a detected mobile robot; if so, determining the grid locking conflict node; updating the node before the grid locking conflict node to be the termination node of the first target segment path, and generating a second target segment path; obtaining a first distance between the current position of the target mobile robot and the termination node; determining a first maximum running speed of the target mobile robot based on the first distance; and sending the second target segment path and the first maximum running speed to the target mobile robot.

[0006] Among them, the obtaining of the first target segment path of the target mobile robot includes: planning a global position path of the target mobile robot based on a starting position and an ending position; generating a global action path according to the node information of the global position path; and determining the first target segment path based on the global action path and the current position of the target mobile robot.

[0007] Among them, the scheduling and planning method further includes: obtaining a path node set of the first target segment path; and determining the detected mobile robot according to the radiation range of each path node in the path node set.

[0008] Among them, the scheduling and planning method further includes: in response to there being no grid locking conflict between the several nodes to be detected and the inspection mobile robot, sending the first target segment path and the preset maximum running speed to the target mobile robot; wherein, the preset maximum running speed is greater than the first maximum running speed.

[0009] Among them, after determining the first maximum running speed of the target mobile robot based on the first distance, the scheduling and planning method further includes: determining whether the conflicting mobile robot with a grid locking conflict is in a stationary state; if so, calculating the second maximum running speed of the target mobile robot based on the first maximum running speed, the first distance, and the maximum reference value of the reference distance; sending the second target segment path and the second maximum running speed to the target mobile robot.

[0010] Among them, after determining the first maximum running speed of the target mobile robot based on the first distance, the scheduling and planning method further includes:

[0011] In response to the conflicting mobile robot not being in a stationary state, determining whether the grid locking of the segment path end point of the conflicting mobile robot conflicts with the next segment path of the target mobile robot; if so, obtaining the second distance between the current position of the conflicting mobile robot and the end point of the segment path; obtaining the first difference reference value based on the first distance and the second distance; calculating the third maximum running speed of the target mobile robot based on the first maximum running speed, the first distance, and the first difference reference value; sending the second target segment path and the third maximum running speed to the target mobile robot.

[0012] Among them, after determining the first maximum running speed of the target mobile robot based on the first distance, the scheduling and planning method further includes: in response to there being no grid locking conflict between the segment path end point grid of the conflicting mobile robot and the next segment path of the target mobile robot, obtaining the first conflict-free point between the segment path of the conflicting mobile robot and the next segment path of the target mobile robot; obtaining the third distance between the current position of the conflicting mobile robot and the first conflict-free point; obtaining the second difference reference value based on the first distance and the third distance; calculating the fourth maximum running speed of the target mobile robot based on the first maximum running speed, the first distance, and the second difference reference value; sending the second target segment path and the fourth maximum running speed to the target mobile robot.

[0013] After obtaining the second difference reference value based on the first distance and the third distance, the scheduling and planning method further includes: determining whether the second difference reference value is greater than a preset value; if so, calculating a fourth maximum running speed of the target mobile robot based on the first maximum running speed, the first distance, and the second difference reference value; if not, determining the fourth maximum running speed based on a preset maximum running speed.

[0014] To solve the above technical problems, the present application provides a scheduling and planning device, which 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 above scheduling and planning method.

[0015] To solve the above technical problems, the present application provides a computer storage medium, which is used to store program data, and when the program data is executed by a computer, it is used to implement the above scheduling and planning method.

[0016] Different from the prior art, the beneficial effects of the present application are as follows: The scheduling and planning device obtains the first target segment path of the target mobile robot; traverses several nodes to be detected on the target segment path, and determines whether each node to be detected has a grid locking conflict with the detection mobile robot; if so, determines the grid locking conflict node; updates the node before the grid locking conflict node to the termination node of the first target segment path to generate a second target segment path; obtains the first distance between the current position of the target mobile robot and the termination node; determines the first maximum running speed of the target mobile robot based on the first distance; and sends the second target segment path and the first maximum running speed to the target mobile robot. By the above method, support for deceleration without stopping during the robot's driving process is provided, ensuring safe and efficient driving of the robot without conflicts and collisions during the driving process. The running speed of the robot is scientifically regulated at the transportation hub to achieve the purpose of deceleration without stopping, thereby reducing the energy consumption of the robot's start and stop, reducing the risk of goods falling or shifting, improving the running stability of the robot system, and improving the running efficiency of the production system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0018] Figure 1 It is a flowchart of the first embodiment of the scheduling and planning method provided by the present application;

[0019] Figure 2 is a schematic diagram of an action path provided by this application;

[0020] Figure 3 is a schematic flowchart of a second embodiment of the scheduling and planning method provided by this application;

[0021] Figure 4 is a schematic flowchart of a third embodiment of the scheduling and planning method provided by this application;

[0022] Figure 5 is a schematic flowchart of a fourth embodiment of the scheduling and planning method provided by this application;

[0023] Figure 6 is a schematic structural diagram of an embodiment of a scheduling and planning device provided by this application;

[0024] Figure 7 is a schematic structural diagram of an embodiment of a computer storage medium provided by this application. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Among them, the scheduling and planning method of this application is applied to a scheduling and planning device. Among them, the scheduling and planning device of this application can be a server or a system in which the server and the local terminal cooperate with each other. Correspondingly, each part included in the scheduling and planning device, such as each unit, sub-unit, module, and sub-module, can be all set in the server or can be respectively set in the server and the local terminal.

[0027] Furthermore, the above-mentioned server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster composed of multiple servers or 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 a distributed server, or can be implemented as a single software or software module, which is not specifically limited herein. In some possible implementation manners, the scheduling and planning method of the embodiments of this application can be implemented by a processor calling computer-readable instructions stored in a memory.

[0028] This application proposes a scheduling and planning method. Please refer to Figure 1 , Figure 1It is a schematic flowchart of the first embodiment of the scheduling and planning method provided by this application.

[0029] As Figure 1 shown, the specific steps are as follows:

[0030] Step S11: Obtain the first target segment path of the target mobile robot.

[0031] In an embodiment of this application, the target mobile robot is an AGV. An AGV refers to a vehicle equipped with automatic guiding devices such as electromagnetic or optical devices, having functions such as task execution, positioning and navigation control, path planning, autonomous obstacle avoidance, and power management. It is a widely used transportation device in automated workshops, warehouses, and docks.

[0032] In the embodiments of this application, the AGV is taken as an example. It should be noted that the target mobile robot in this application can be any kind of robot or movable mechanical equipment.

[0033] Among them, the first target segment path is an initial target path generated by the scheduling and planning device according to the target mobile robot from a preset starting point to a preset target end point. It can be generated using any shortest path planning algorithm such as the Dijkstra algorithm or the A* algorithm.

[0034] Furthermore, in an embodiment of this application, the first target segment path is determined by a global position path and a global action path. The specific steps are as follows:

[0035] Based on the starting point position and the end point position, plan the global position path of the target mobile robot; generate a global action path according to the node information of the global position path; determine the first target segment path based on the global action path and the current position of the target mobile robot.

[0036] Specifically, the scheduling and planning device uses a shortest path planning algorithm such as A* to plan an optimal global path from the starting point position to the end point position according to the node attributes, positions, and connectivity information in the map network road network, and the real-time status such as the real-time tasks, positions, and paths of each robot in the robot system.

[0037] Furthermore, the scheduling and planning device generates a global action path including robot action information according to the node directions and node connectivity information included in the global path. For example: As Figure 2 shown, Figure 2 is a schematic diagram of the action path provided by this application. ① Go straight from point 0 to point 1. ② Turn left 90 degrees in place at point 1. ③ Walk a Bezier curve from point 1 to point 2. ④ Turn right 180 degrees in place at point 2. ⑤ Retreat from point 2 to point 3.

[0038] Determine the length of the pre - issued segment path of the robot according to the multi - robot control strategy. For example, determine the longest and shortest lengths of the issued segment path according to the distance threshold. If the segment path includes a rotation action point (where it is necessary to decelerate and stop and then rotate in place), truncate it. If the attribute of the last node of the segment path is not allowed to stop and wait (no parking is allowed at the intersection), then continue to append forward to the point where parking and waiting are allowed. Thus, determine the set of nodes included in the pre - issued segment path, and its corresponding starting node beginIdx and ending node endIdx. Among them, the starting node beginIdx of the currently issued segment path should be the next node of the ending node endIdx of the previously issued segment path. Starting from the starting point of the pre - issued segment path, sequentially check whether each node on the global path is safe and collision - free, and initialize the node to be checked checkIdx = beginIdx.

[0039] Step S12: Traverse several nodes to be detected in the target segment path, and determine whether each node to be detected has a grid - locking conflict with the detected mobile robot.

[0040] If the node to be detected has a grid - locking conflict with the detected mobile robot, then execute step S13.

[0041] If the node to be detected has no grid - locking conflict with the detected mobile robot, then in response to the fact that none of the several nodes to be detected has a grid - locking conflict with the detected mobile robot, the scheduling and planning device issues the first target segment path and the preset maximum running speed to the target mobile robot; where the preset maximum running speed is greater than the first maximum running speed.

[0042] Among them, the preset maximum running speed is the default value.

[0043] Among them, the grid - locking is the area locked in advance by the robot. In the embodiment of the present application, taking an AGV vehicle as an example, during the running process of the AGV vehicle, it will lock the area in advance according to attributes such as running speed, braking distance, turning angle, etc., and other AGV vehicles are not allowed to pass through the locked area.

[0044] The scheduling and planning device determines the rectangular and circular grid - locking information generated by the forward or backward movement and rotation of the robot on and between nodes according to the segment path action information and information such as equipment size, running accuracy, distance, etc. Sequentially traverse the rectangular and circular grid - lockings included in the node to be checked checkIdx from front to back, and calculate whether there is a grid - locking conflict position between the target mobile robot and the detected mobile robot through the conflict and collision detection algorithm.

[0045] The detected mobile robot is a mobile robot within the path nodes of the target mobile robot. In an embodiment of the present application, obtain the set of path nodes of the first target segment path; determine the detected mobile robot according to the radiation range of each path node in the set of path nodes.

[0046] Specifically, the scheduling and planning device calculates a set of mobile robots to be detected for conflict collision detection around the pre-issued segment path according to the node set included in the pre-issued segment path, the radiation range of the preset multiple hypotenuse lengths, and the information of the segment paths already issued to other robots, and selects a robot that has not been detected in the set to be detected for conflict collision as the mobile robot to be detected.

[0047] Step S13: Determine the grid-locking conflict nodes.

[0048] Specifically, the scheduling and planning device determines the nodes to be detected with grid-locking conflicts with the mobile robot to be detected as the grid-locking conflict nodes.

[0049] In a specific embodiment of the present application, the nodes to be detected can be set as grid-locking conflict nodes by modifying the node attributes or marking the nodes.

[0050] Step S14: Update the previous node of the grid-locking conflict node to the termination node of the first target segment path, and generate the second target segment path.

[0051] Specifically, the scheduling and planning device obtains the grid-locking conflict nodes, takes the previous node of the grid-locking conflict nodes as the safe node, determines that the safe node safeIdx = checkIdx - 1, replaces the original termination node of the pre-issued segment path, and makes endIdx = safeIdx. According to the formal path of the target mobile robot, the previous node of the grid-locking conflict node is updated to the termination node of the first target segment path, and the second target segment path is generated. That is, the second target segment path is a part of the first target segment path. The starting point of the second target segment path is the initial starting node beginIdx, and the ending point of the second target segment path is the previous node of the grid-locking conflict node safeIdx = checkIdx - 1.

[0052] According to the cross-overlap relationship between the global path information of the target mobile robot and the conflict mobile robot and the pre-issued segment path, through a collision deadlock detection algorithm that can identify the possibility of deadlock, it is verified whether the segment path pre-issued by the target mobile robot is safe. If there is a risk of conflict deadlock with the conflict mobile robot, the number of nodes included in the segment path is reduced, the length of the pre-issued segment path is re-determined, and the termination node endIdx is modified.

[0053] The robot scheduling method supporting deceleration without stopping proposed in the present application scientifically and safely determines the end point of the pre-issued segment path through the grid-locking conflict collision detection algorithm, ensures collision-free safety with the normal robots running in the system, and ensures that the segment path issued by the target mobile robot will not fall into a deadlock state with the robots running in other systems through the deadlock prevention detection algorithm, ensuring the stability during the operation of the robot and guaranteeing the operation efficiency of the multi-robot scheduling system.

[0054] Step S15: Obtain the first distance between the current position of the target mobile robot and the termination node.

[0055] Specifically, the scheduling and planning device determines whether a safe and feasible termination node endIdx is calculated, that is, whether the termination node endIdx is greater than or equal to the start node beginIdx. If so, the scheduling and planning device calculates the distance dis1 from the current position of the target mobile robot to the termination node of the segment path represented by the termination node endIdx.

[0056] If a safe and feasible termination node endIdx is not calculated, it means that the currently pre - issued segment path is detected as dangerous and there is no node that can be issued. Then the scheduling and planning device controls the target mobile robot to stop in place and wait after driving through the currently issued segment path.

[0057] Step S16: Determine the first maximum running speed of the target mobile robot based on the first distance.

[0058] In the embodiment of the present application, the maximum running speed is determined in four cases, namely, there is no conflicting mobile robot ahead, there is a stationary conflicting mobile robot ahead, there is a moving conflicting mobile robot ahead and the segment path end of the conflicting mobile robot affects the issuance of the next segment path of this device, and there is a moving conflicting mobile robot ahead and the conflicting mobile robot does not affect the issuance of the next segment path of this device after reaching a conflict - free point. For details, please refer to the specific embodiments later.

[0059] Step S17: Issue the second target segment path and the first maximum running speed to the target mobile robot.

[0060] The scheduling and planning device issues the segment path from the start node beginIdx to the termination node endIdx, and its maximum running speed Vmax to the target mobile robot, occupying the locked grid area of the nodes included in the segment path. The target mobile robot executes the issued segment path at a speed not exceeding Vmax, drives forward, and clears the locked grid occupancy information of the passed - through area during the driving process of the target mobile robot. Determine whether the target mobile robot reaches the task end point. If so, the task is completed and the program ends.

[0061] In an embodiment of the present application, the scheduling and planning device checks whether the target mobile robot needs to issue the next segment path according to whether the length of the target mobile robot from the end point of the issued segment path is less than the distance threshold of the additional segment path to be set. If so, continue to find the next segment path according to Step S11. Otherwise, continue to drive forward and wait for parking after finishing the current segment path.

[0062] In the embodiment of the present application, if the maximum speed limit of the current segment path of the target mobile robot is V1, and then the next segment path is appended, and the maximum speed limit of the next segment path is V2, the target mobile robot should start from the current position and use the maximum speed limit V2 as the speed control target for driving, so as to achieve the purpose that when there is a conflicting mobile robot suddenly ahead, it can immediately decelerate, and when the conflicting mobile robot has left, it can immediately accelerate.

[0063] Based on the position information of the robot ahead and the execution situation of the segment path, the robot scheduling system can calculate the corresponding deceleration multiple according to the path information when the rear device is driving, so as to drive slowly. Without stopping and waiting, after the robot ahead leaves, the next segment path is appended and the normal speed is restored for driving. It can scientifically regulate the staggered passage of robots at limited map traffic hubs. Through this speed control method, the purpose of decelerating without stopping is achieved, the limited map resources are fully utilized, the energy consumption of starting and stopping is reduced, the risk of goods falling or shifting is reduced, and the operation stability and efficiency of the robot system are improved.

[0064] After determining the first maximum running speed of the target mobile robot based on the first distance, judge the running state of the conflicting mobile robot with a grid lock conflict. For details, please refer to Figure 3 , Figure 3 is a schematic flowchart of the second embodiment of the scheduling and planning method provided by the present application.

[0065] As Figure 3 shown, the specific steps are as follows:

[0066] Step S21: Judge whether the conflicting mobile robot with a grid lock conflict is in a stationary state.

[0067] If the conflicting robot with a grid lock conflict with the target mobile robot is in a stationary state, execute step S22.

[0068] Step S22: Calculate the second maximum running speed of the target mobile robot based on the first maximum running speed, the first distance, and the maximum reference distance value.

[0069] Since the conflicting mobile robot is stationary, it is impossible to accurately predict the time when the conflicting mobile robot leaves the conflict position. Therefore, referring to the current remaining path of the mobile robot, calculate the second maximum running speed Vmax2 of the target mobile robot according to the deceleration rule when the conflicting mobile robot is stationary.

[0070] First, standardize the first distance dis1 from the current position of the target mobile robot to the end node. Set the minimum reference distance standard value minDis, for example, 1m, and the maximum reference distance standard value maxDis, for example, 10m. The processing rule is as follows:

[0071] dis1 = {minDis, if dis1 < minDis

[0072] dis1, if minDis <= dis1 <= maxDis

[0073] maxDis, if maxDis < dis1

[0074] In an embodiment of the present application, the second maximum running speed Vmax2 = (dis1 / maxDis) * α * Vmax1, where α is the deceleration multiple adjustment coefficient when the vehicle in front is stationary and does not stop decelerating. The default value is 1. If the braking performance of the target mobile robot is poor and a lower driving speed is required, a value in (0, 1) can be taken. If the braking performance of the target mobile robot is good and a higher driving speed can also meet the requirement of not stopping, a value in (1, 2) can be set.

[0075] Step S23: Send the second target segment path and the second maximum running speed to the target mobile robot.

[0076] This step is the same as S17 and will not be elaborated here.

[0077] In the above way, a method for determining the speed of a mobile robot when there is a static conflict ahead is proposed. By calculating the corresponding deceleration multiple through the relative distance, precise control of the speed is achieved, ensuring safe and efficient driving of the robot without conflicts and collisions during driving.

[0078] After determining the first maximum running speed of the target mobile robot based on the first distance, judge the running state of the conflicting mobile robot with a grid locking conflict. When the robot with a grid locking conflict is not in a stationary state, an embodiment of the present application is proposed. For details, please refer to Figure 4 , Figure 4 It is a flowchart of the third embodiment of the scheduling and planning method provided by the present application.

[0079] As Figure 4 shown, the specific steps are as follows:

[0080] Step S31: In response to the conflicting mobile robot not being in a stationary state, judge whether there is a grid locking conflict between the end grid of the segment path of the conflicting mobile robot and the next segment path of the target mobile robot.

[0081] When the scheduling and planning device detects that the conflicting mobile robot in conflict with the target mobile robot is not in a stationary state, it further determines whether there is a grid locking conflict between the grid locked at the end of the segment path of the conflicting mobile robot and the next segment path of the target mobile robot.

[0082] If there is a grid locking conflict, step S31 is executed; if there is no grid locking conflict, steps S41 - S45 are executed.

[0083] Specifically, assuming that the next segment path of the target mobile robot contains only one node, it is calculated whether the grid locked at the end of the segment path of the conflicting mobile robot conflicts with the next segment path of the target mobile robot. If so, it means that the conflicting mobile robot will continuously block the target mobile robot before reaching the end of the segment path; otherwise, it means that after the conflicting mobile robot reaches a certain position, the target mobile robot can pass through without waiting for the conflicting device to reach the end of the segment path.

[0084] Step S32: Obtain the second distance between the current position of the conflicting mobile robot and the end of the segment path.

[0085] Calculate the distance dis2 from the current position of the conflicting mobile robot to the termination node of the current segment path.

[0086] Step S33: Based on the first distance and the second distance, obtain the first difference reference value.

[0087] Since the end of the current segment path of the conflicting mobile robot affects the issuance of the next segment path of the target mobile robot, and it is impossible to accurately predict when the conflicting mobile robot can leave the conflict position, it is impossible to accurately predict the time when the target mobile robot can append the next segment path. Therefore, referring to the remaining segment path length of the faulty device, the maximum operating speed Vmax3 of the device is calculated according to the deceleration rule conflicting with the end of the segment path of the conflicting device.

[0088] First, calculate the difference reference value differDis1 between the distance dis2 from the current position of the conflicting mobile robot to the termination node of the current segment path and the distance dis1 from the current position of the target mobile robot to the termination node of the segment path:

[0089] differDis1 = dis2 - dis1 + 1;

[0090] Step S34: Based on the first maximum operating speed, the first distance, and the first difference reference value, calculate the third maximum operating speed of the target mobile robot.

[0091] If differDis1 <= 0, it means that the distance to be traveled by the target mobile robot is more than 1 m longer than the distance to be traveled by the conflicting mobile robot. At this time, Vmax3 takes the default value Vmax1.

[0092] If differDis1 > 0, it is necessary to standardize the difference reference value. Set the minimum standard value of the reference distance minDis, such as 1m, and the maximum standard value of the reference distance maxDis, such as 10m. The processing rule is

[0093] differDis1 = {minDis, differDis1 < minDis

[0094] differDis1, minDis <= differDis1 <= maxDis

[0095] maxDis, maxDis < differDis1

[0096] In the embodiment of the present application, take Vmax3 = (dis1 / (differDis1 + 0.3)) * β * Vmax1, where β is the deceleration non-stop deceleration multiple adjustment coefficient when the vehicle in front is moving but the movement end point does not block the lower segment path, and the default value is taken as 1. If the braking performance of the robot is poor and a lower driving speed is required, a value in (0, 1) can be taken. If the braking performance of the robot is good and a higher driving speed is also required to meet the non-stop requirement, a value in (1, 2) can be set.

[0097] Step S35: Send the second target segment path and the third maximum running speed to the target mobile robot.

[0098] This step is the same as S17 and will not be elaborated here.

[0099] In the above manner, a method for determining the speed of a mobile robot is proposed when there is a conflicting mobile robot in motion in front and the end point of the segment path of the conflicting mobile robot affects the lower segment path of the target mobile robot. By calculating the corresponding deceleration multiple through the relative distance, precise control of the speed is achieved, ensuring safe and efficient driving of the robot without conflicts and collisions during driving.

[0100] Further, in an embodiment of the present application, there is no grid locking conflict between the grid locking of the end point of the segment path of the conflicting mobile robot and the next segment path of the target mobile robot. For details, please refer to Figure 5 , Figure 5 It is a schematic flowchart of the fourth embodiment of the scheduling and planning method provided by the present application.

[0101] As Figure 5 shown, the specific steps are as follows:

[0102] Step S41: In response to there being no grid conflict between the end grid of the segment path of the conflict mobile robot and the next segment path of the target mobile robot, obtain the first conflict-free point between the segment path of the conflict mobile robot and the next segment path of the target mobile robot.

[0103] Specifically, since the conflict mobile robot does not affect the issuance of the next segment path of the target mobile robot after traveling to the conflict-free point, referring to the distance from the conflict mobile robot to the conflict point, calculate the maximum operating speed Vmax = Vmax4 of the device according to the deceleration rule that has no conflict with the end of the segment path of the conflict mobile robot.

[0104] Step S42: Obtain the third distance between the current position of the conflict mobile robot and the first conflict-free point.

[0105] Specifically, the scheduling and planning device calculates the distance dis3 from the current position of the conflict mobile robot to the conflict-free point.

[0106] Step S43: Based on the first distance and the third distance, obtain the second difference reference value.

[0107] The scheduling and planning device calculates the difference reference value differDis2 between the distance dis3 from the current position of the conflict mobile robot to the conflict-free point and the distance dis1 from the current position of the target mobile robot to the end node of the segment path:

[0108] differDis2 = dis3 - dis1 + 1.

[0109] Step S44: Calculate the fourth maximum operating speed of the target mobile robot based on the first maximum operating speed, the first distance, and the second difference reference value.

[0110] After obtaining the second difference reference value based on the first distance and the third distance, the scheduling and planning device determines whether the second difference reference value is greater than a preset value; if so, calculates the fourth maximum operating speed of the target mobile robot based on the first maximum operating speed, the first distance, and the second difference reference value; if not, determines the fourth maximum operating speed based on the preset maximum operating speed.

[0111] If differDis2 <= 0, it means that the remaining distance to be traveled by the target mobile robot is more than 1m longer than that of the conflict mobile robot. At this time, Vmax4 takes the default value Vmax1;

[0112] If differDis2 > 0, it is necessary to perform normalization processing on the difference reference value. Among them, set the minimum standard value minDis of the reference distance, for example, 1m, and the maximum standard value maxDis of the reference distance, for example, 10m. The processing rule is

[0113] differDis2 = {minDis, differDis2 < minDis

[0114] differDis2, minDis <= differDis2 <= maxDis

[0115] maxDis, maxDis < differDis2;

[0116] Then take Vmax4 = (dis1 / (differDis2 + 0.3)) * γ * Vmax1, where γ is the deceleration multiple adjustment coefficient when the vehicle in front is moving and decelerating without stopping at the end section of the path. The default value is 1. If the braking performance of the robot is poor and a lower driving speed is required, a value in (0, 1) can be taken. If the braking performance of the robot is good and a higher driving speed is also required to meet the requirement of non-stop, a value in (1, 2) can be set.

[0117] Step S45: Send the second target segment path and the fourth maximum running speed to the target mobile robot.

[0118] This step is the same as S17 and will not be elaborated here.

[0119] In the above way, a method for determining the speed of a mobile robot is proposed for a situation where there is a conflicting mobile robot in motion in front and the conflicting mobile robot does not affect the issuance of the next segment path of the target mobile robot after reaching the conflict-free point. By calculating the corresponding deceleration multiple through the relative distance, precise control of the speed is achieved, ensuring safe and efficient driving of the robot without conflict and collision during driving.

[0120] This application proposes four types of robot speed control: no conflicting mobile robot in front, a stationary conflicting mobile robot in front, a conflicting mobile robot in motion in front and the end of the segment path of the conflicting mobile robot affects the issuance of the next segment path of the target mobile robot, and a conflicting mobile robot in motion in front and the conflicting mobile robot does not affect the issuance of the next segment path of the mobile robot after reaching the conflict-free point. By calculating the corresponding deceleration multiple through different states and different relative distances, precise control of the speed is achieved.

[0121] To implement the scheduling and planning method of the above embodiments, this application also provides a scheduling and planning device. For details, please refer to Figure 6 , Figure 6 is a schematic structural diagram of an embodiment of the scheduling and planning device provided by this application.

[0122] As Figure 6As shown in the figure, the scheduling and planning device 600 of this embodiment includes a processor 61, a memory 62, an input / output device 63, and a bus 64.

[0123] The processor 61, the memory 62, and the input / output device 63 are respectively connected to the bus 64. The memory 62 stores a computer program, and the processor 61 is configured to execute the computer program to implement the scheduling and planning method of the above embodiment.

[0124] In this embodiment, the processor 61 can also be referred to as a CPU (Central Processing Unit). The processor 61 may be an integrated circuit chip with signal processing capabilities. The processor 61 can 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 gate or transistor logic devices, discrete hardware components. The processor 61 can also be a GPU (Graphics Processing Unit), also known as a display core, a visual processor, a display chip, which is a microprocessor dedicated to image computing on computers, workstations, game consoles, and some mobile devices (such as tablets, smartphones, etc.). The purpose of the GPU is to convert and drive the display information required by the computer system and provide a line scan signal to the display to control the correct display of the display, which is an important component connecting the display and the computer motherboard. The graphics card, as an important part of the computer host, undertakes the task of outputting and displaying graphics. The general-purpose processor can be a microprocessor or the processor 61 can also be any conventional processor, etc.

[0125] This application also provides a computer storage medium, such as Figure 7 As shown in the figure, the computer storage medium 700 is used to store a computer program 71. When the computer program 71 is executed by a processor, it is used to implement the method described in the scheduling and planning method embodiment of this application.

[0126] In the embodiments of the scheduling planning method of the present application, when the method involved exists in the form of a software functional unit and is sold or used as an independent product, it can be stored in a device, such as a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that makes a contribution to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0127] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A scheduling planning method for a mobile robot, characterized in that: The scheduling planning method comprises: Obtaining a first target segment path of the target mobile robot; Traversing a plurality of nodes to be detected on the target segment path, and determining whether each node to be detected has a lock grid conflict with the detection mobile robot; If so, determine the lock grid conflict node; Updating the previous node of the lock-grid conflict node as the terminal node of the first target segment path to generate a second target segment path; Acquire a first distance between the current position of the target mobile robot and the termination node; Determine a first maximum operating speed of the target mobile robot based on the first distance; The second target segment path and the first maximum operating speed are sent to the target mobile robot.

2. The scheduling planning method according to claim 1, characterized in that: The step of obtaining a first target segment path of the target mobile robot comprises: Based on the starting position and the end position, planning the global position path of the target mobile robot; Generate a global action path according to the node information of the global position path; The first target segment path is determined based on the global motion path and the current position of the target mobile robot.

3. The scheduling planning method according to claim 1, characterized in that: The scheduling planning method further includes: Obtaining a path node set of the first target segment path; The detection mobile robot is determined according to the radiation range of each path node in the path node set.

4. The scheduling planning method according to claim 1, characterized in that: The scheduling planning method further includes: In response to the plurality of nodes to be detected not having a locking grid conflict with the detection mobile robot, sending the first target segment path and a preset maximum running speed to the target mobile robot; Wherein, the preset maximum operating speed is greater than the first maximum operating speed.

5. The scheduling planning method according to claim 1, characterized in that: After determining the first maximum operating speed of the target mobile robot based on the first distance, the scheduling planning method further includes: Determine whether the conflicting mobile robot with the lock grid conflict is in a stationary state; If so, calculating a second maximum operating speed of the target mobile robot based on the first maximum operating speed, the first distance, and a maximum standard value of a reference distance; The second target segment path and the second maximum operating speed are sent to the target mobile robot.

6. The scheduling planning method according to claim 5, characterized in that: After determining the first maximum operating speed of the target mobile robot based on the first distance, the scheduling planning method further includes: In response to the conflicting mobile robot not being in a stationary state, determining whether a lock grid at an end point of a segment path of the conflicting mobile robot conflicts with a lock grid at a next segment path of the target mobile robot; If so, obtaining a second distance between the current position of the conflicting mobile robot and the end point of the segment path; Based on the first distance and the second distance, obtaining a first difference reference value; Calculating a third maximum operating speed of the target mobile robot based on the first maximum operating speed, the first distance, and the first difference reference value; The second target segment path and the third maximum operating speed are sent to the target mobile robot.

7. The scheduling planning method according to claim 6, characterized in that: After determining the first maximum operating speed of the target mobile robot based on the first distance, the scheduling planning method further includes: In response to the fact that there is no locking grid conflict between the end point of the segment path of the conflicting mobile robot and the next segment path of the target mobile robot, obtaining the first non-conflicting point between the segment path of the conflicting mobile robot and the next segment path of the target mobile robot; Obtaining a third distance between the current position of the conflicting mobile robot and the first conflict-free point; Based on the first distance and the third distance, obtaining a second difference reference value; Calculating a fourth maximum running speed of the target mobile robot based on the first maximum running speed, the first distance, and the second difference reference value; The second target segment path and the fourth maximum operating speed are sent to the target mobile robot.

8. The scheduling planning method according to claim 7, characterized in that: After obtaining a second difference reference value based on the first distance and the third distance, the scheduling planning method further includes: Determining whether the second difference reference value is greater than a preset value; If yes, calculating a fourth maximum running speed of the target mobile robot based on the first maximum running speed, the first distance, and the second difference reference value; If not, the fourth maximum operating speed is determined based on the preset maximum operating speed.

9. A scheduling planning device, characterized in that: The scheduling planning device includes a memory and a processor coupled to the memory; The memory is used to store program data, and the processor is used to execute the program data to implement the scheduling planning method 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 scheduling planning method as described in any one of claims 1 to 8.

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