Method and system for path re-planning of multi-robot collaborative work in logistics and warehousing

Abstract

The present application relates to the technical field of logistics warehousing robot scheduling and path resource control, and particularly relates to a path replanning method and system for collaborative work of multiple logistics warehousing robots. The method comprises: obtaining an original path, an original path version, path resource reservation records, path execution receipts and obstacle states, generating a current confirmation node, a continuation node and a local replacement interval; generating a local repair path satisfying a continuation time window condition and a to-be-activated reservation; generating a new path version and a differential path instruction, and forming a path switching state according to path version confirmation information; updating the original path reservation and the to-be-activated reservation according to the path switching state, retaining the path resource reservation records after the continuation node, and generating a passage permission instruction bound to the current activated path version. The present application keeps the path resource reservation state, the actual execution path and the passage permission corresponding, and improves the continuity and consistency of the path replanning of multiple robots.

Description

Technical Field

[0001] This invention relates to the field of logistics and warehousing robot scheduling and path resource control technology, and in particular to a path replanning method and system for collaborative operations of multiple robots in logistics and warehousing. Background Technology

[0002] In the field of logistics and warehousing robot scheduling and path resource control technology, multiple logistics robots typically perform path planning based on warehouse topology maps, warehouse handling tasks, and robot status data. The scheduling system generates path node sequences for the logistics robots and configures path time windows and path resource reservation records according to path nodes or path segments. When path resources and path time windows of multiple logistics robots conflict, existing solutions typically handle this by prioritizing tasks, waiting, route locking, time-sharing access in intersection control areas, or replanning paths. When the original path is affected by temporary obstacles or local congestion, a local repair path can be generated near the obstacle and connected to the unaffected original path.

[0003] Existing local path replanning schemes often focus on the spatial reachability of locally repaired paths or reallocate path time windows after generating new paths. However, they lack a continuous processing mechanism for determining whether the existing path time windows of the repaired path remain valid when it reaches the original path's connecting node, and whether path resource reservation records after the connecting node can continue to be used. Furthermore, there is a time difference between the issuance of the path replanning instruction and the actual time the logistics robot receives and executes the new path; within this time difference, the original path resource reservation records, the reservation records corresponding to the new path, and the path actually executed by the logistics robot may be in different states.

[0004] In existing solutions, the release of original route reservations, the activation of new route reservations, and the generation of access permits in the intersection control area are typically handled separately. When a logistics robot has not yet confirmed a new route, prematurely releasing the original route reservation may cause overlap between the original route and other logistics robot route reservations, while prematurely activating a new route reservation may occupy route resources that the logistics robot has not yet executed. When the route version changes but the intersection control area still generates or maintains access permits based on the original route reservation, asynchrony can easily occur between the route resource reservation status, the currently executing route, and the access permit. Therefore, it is necessary to address the issue of replanning routes for multiple robots in logistics warehousing affected by obstacles, and to resolve the correlation and update problem between original route reservations, pending reservations, and access permits during the route version confirmation process. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a path replanning method for collaborative operations of multiple robots in logistics warehousing, comprising:

[0006] S100: Obtain the original path, original path version, path resource reservation record, path execution receipt, and obstacle status of the logistics robot; determine the current confirmation node, successor node, and local replacement interval based on the obstacle status and path execution receipt;

[0007] S200. Generate a local repair path that connects the current confirmed node and the successor node and meets the successor time window condition; compare the path time window of the local repair path with the path resource reservation records of other robots to generate a reservation to be effective; the reservation to be effective participates in the path resource mutual exclusion rule and is not used to generate the passage permission instruction.

[0008] S300: Generate a new path version and differential path instruction based on the local repair path, the original path version and the local replacement interval and issue it; Receive path version confirmation information, compare the original path version and the path version confirmation information, and generate a path switching status;

[0009] S400: When the path switching status is valid, invalidate the path resource reservation record of the local replacement interval, make the reservation to be effective effective, retain the path resource reservation record after the successor node, and update the current effective path version; when it is not valid, cancel the reservation to be effective and keep the original path and path resource reservation record; generate a pass instruction binding the effective path version according to the current effective path version and path resource reservation record.

[0010] Furthermore, the robot status data includes current position coordinates, status timestamp, current task progress, and path version identifier;

[0011] Compare the status timestamp with the status data validity period to filter valid path execution receipts;

[0012] Compare the path version identifier in the valid path execution receipt with the original path version. If they match, set the path node corresponding to the valid path execution receipt as the current confirmation node.

[0013] If the two do not match, the path update fails.

[0014] Furthermore, the scope of the obstacle's influence is matched with the path nodes and path segments in the original path to determine the path segments affected by the obstacle's state;

[0015] Candidate successor nodes are selected from the path nodes in the original path that are located after the currently confirmed node, outside the scope of the obstacle's influence, and have path resource reservation records.

[0016] Read the path time window of the candidate successor node, and set the candidate successor node whose entry time of the local repair path is within the path time window as the successor node.

[0017] Furthermore, the local repair path is generated in the following manner:

[0018] Based on the local search range, the adjacent reachable nodes and path edges between the currently confirmed node and the successor node are read from the warehouse topology map;

[0019] Exclude path nodes located within the influence range of the obstacle and path edges that do not meet the passability conditions, and construct a local map subgraph;

[0020] Multiple candidate paths are generated based on the local map subgraph, and the local repair paths are selected according to path continuity conditions, time window availability conditions, and consecutive time window conditions.

[0021] Furthermore, the reservation to be effective includes the logistics robot identifier, new route version, route resource identifier, entry time, departure time, and route resource occupancy status;

[0022] The pending reservation is compared with the path resource reservation records of other robots according to the path resource identifier and path time window;

[0023] When time windows overlap, the pending appointment is maintained and path appointment requests that overlap with it are prevented from taking effect; before the path switching status is effective, no passage permit instruction is generated based on the pending appointment.

[0024] Furthermore, the differential path instruction includes the logistics robot identifier, the original path version, the new path version, the current confirmation node, the continuing node, the partial repair path, the instruction version identifier, and the confirmation deadline.

[0025] The logistics robot compares its current path version with the original path version;

[0026] When the two are matched, the logistics robot replaces the original path of the local replacement interval with the local repair path and returns path version confirmation information containing the new path version.

[0027] Furthermore, when the current path version matches the original path version, and the path version identifier in the path version confirmation information matches the new path version, a valid path switching status is generated;

[0028] When the current path version does not match the original path version, the path version identifier in the path version confirmation information does not match the new path version, or the path version confirmation information is not received within the confirmation deadline, an invalid path switching state is generated.

[0029] When the path switching status is not valid, the pending appointment is cancelled, the original path version is kept as the current effective path version, and a path update failure status is generated.

[0030] Furthermore, the path resource identifiers and path time windows of multiple logistics robots in the same intersection control area are compared, and conflict relationship records are generated when time windows overlap.

[0031] The logistics robots in the conflict relationship record are sorted according to task priority and waiting time. A passage permission instruction is generated for the logistics robot that is ranked first, and a waiting instruction is generated for the other logistics robots.

[0032] The passage permit instruction includes the logistics robot identifier, the currently effective route version, the intersection control area, and the permit validity period.

[0033] Furthermore, it is characterized by:

[0034] Upon receiving the entry confirmation information returned when the logistics robot enters the intersection control area, update the path resource occupancy status of the intersection control area to "occupied";

[0035] Upon receiving the departure confirmation information returned by the logistics robot when it leaves the intersection control area, update the path resource occupancy status to "released" and generate a path resource release record;

[0036] When the currently effective path version is updated, the access permission instruction associated with the original path version that has not received an entry confirmation message is revoked.

[0037] Once an entry confirmation message has been received, the original path version remains the currently effective path version until the exit confirmation message is received.

[0038] Furthermore, the path replanning system for collaborative operation of multiple robots in logistics warehousing includes: a status acquisition module, a local path generation module, a path version management module, a path resource management module, and an intersection area control module; the system is used to implement the method described in any one of the above.

[0039] The following are its main beneficial effects:

[0040] (1) To address the issue that the local repair path spatially reconnects to the original path but the arrival time is not connected with the subsequent reservation of the original path, the candidate path is filtered by the original path time window of the connecting node, so that the local repair path connects to the original path within the corresponding path time window, and the path resource reservation records that are not affected after the connecting node can continue to be used.

[0041] (2) To address the issue of unclear reservation status of path resources when a new path has not yet been confirmed by the logistics robot, a reservation that is to be effective is set up to participate in the mutual exclusion of path resources but does not generate a passage permit instruction. This ensures that the path resources corresponding to the partially repaired path remain in a reserved state during the confirmation period, while preventing unconfirmed paths from being used as the basis for the robot's actual passage.

[0042] (3) To address the issue of the original route reservation, new route reservation and access permit in the intersection control area not being synchronized during the route update process, the two sets of reservation status are updated in association through route version confirmation, and the access permit instruction is bound to the currently effective route version, so that the actual route executed by the logistics robot, the effective route resource reservation record and the access permit in the intersection control area remain corresponding; when the confirmation is not valid, the original route and its route resource reservation record remain valid. Attached Figure Description

[0043] Figure 1 A flowchart illustrating the path replanning method for multi-robot collaborative operations in logistics warehousing provided in this embodiment of the application;

[0044] Figure 2 This is a structural block diagram of a path replanning system for multi-robot collaborative operations in logistics warehousing, provided in an embodiment of this application. Detailed Implementation

[0045] Example 1: Refer to Figure 1 This is a flowchart illustrating a path replanning method for multi-robot collaborative operations in logistics warehousing provided in an embodiment of the present invention. The process may include at least steps S100-S400:

[0046] S100: Obtain the original path, original path version, path resource reservation record, path execution receipt, and obstacle status of the logistics robot; determine the current confirmation node, successor node, and local replacement interval based on the obstacle status and path execution receipt;

[0047] S200. Generate a local repair path that connects the current confirmed node and the successor node and meets the successor time window condition; compare the path time window of the local repair path with the path resource reservation records of other robots to generate a reservation to be effective; the reservation to be effective participates in the path resource mutual exclusion rule and is not used to generate the passage permission instruction.

[0048] S300: Generate a new path version and differential path instruction based on the local repair path, the original path version and the local replacement interval and issue it; Receive path version confirmation information, compare the original path version and the path version confirmation information, and generate a path switching status;

[0049] S400: When the path switching status is valid, invalidate the path resource reservation record of the local replacement interval, make the reservation to be effective effective, retain the path resource reservation record after the successor node, and update the current effective path version; when it is not valid, cancel the reservation to be effective and keep the original path and path resource reservation record; generate a pass instruction binding the effective path version according to the current effective path version and path resource reservation record.

[0050] S100: Obtain the original path, original path version, path resource reservation record, path execution receipt, and obstacle status of the logistics robot; determine the current confirmation node, successor node, and local replacement interval based on the obstacle status and path execution receipt.

[0051] This step is executed by the status acquisition module and the path resource management module in the warehouse robot scheduling server; the warehouse robot scheduling server is communicatively connected to the body controllers of multiple logistics robots, and the body controllers periodically return robot status data and path execution receipts; the path resource management module saves the original path currently used by each logistics robot, the original path version, and the corresponding path resource reservation records; in this embodiment, the data objects, status relationships, and subsequent step connections adopt the path version, path reservation, and intersection control area processing relationships determined in the preceding technical solution.

[0052] The original path refers to the sequence of path nodes that the logistics robot was executing before the obstacle condition took effect; the original path includes multiple path nodes arranged in driving order and path segments connecting adjacent path nodes; each path node and path segment has a path resource identifier; the original path version is a path version identifier associated with the original path, and the same logistics robot records only one path version identifier as the currently effective path version at any given time; the original path version is also associated with the logistics robot's path resource reservation record and the issued passage permission instructions.

[0053] The path resource reservation record is generated by the path resource management module according to the path reservation rules; each path resource reservation record includes a logistics robot identifier, a path version identifier, a path resource identifier, an entry time, a departure time, and a path resource occupancy status; the path resource identifier corresponds to a path node or path segment; the path resource occupancy status includes valid, pending activation, invalid, released, and revoked; at the beginning of this step, path resource reservation records associated with the original path version and not yet traversed by the logistics robot are in a valid state.

[0054] The path execution receipt is returned by the logistics robot when it arrives at a path node, leaves a path node, or completes a path segment. The path execution receipt includes a logistics robot identifier, a path node identifier, a path version identifier, a status timestamp, and a path execution status. The path execution status indicates that the logistics robot has arrived at the corresponding path node, has passed through the corresponding path node, or is executing a path segment between adjacent path nodes. In one embodiment, the robot status data also includes the current position coordinates, remaining battery power, load weight, and current task progress. The current position coordinates are used to verify the path node corresponding to the path execution receipt, and the remaining battery power, load weight, and current task progress are stored in the robot status record for subsequent passage sorting or path execution status record retrieval.

[0055] The obstacle status indicates that a path node or path segment in the warehouse topology map is currently not allowed to pass through according to the original path; the obstacle status includes the obstacle source, the obstacle impact range, the obstacle start time, and the obstacle validity status; the obstacle source may be an obstacle detection device of the logistics robot, an environmental detection device set in the warehouse channel, or a temporary prohibition record received by the warehouse robot scheduling server; the obstacle impact range is composed of the affected path node identifier, path segment identifier, or location range in the warehouse topology map; in one embodiment, a local congestion state is converted into an obstacle state, and the obstacle impact range corresponds to the path nodes and path segments within the congestion area that are not allowed to be newly booked for a preset time.

[0056] This step is triggered by a state change; when the state acquisition module receives a new valid obstacle state, and the obstacle's influence range matches the current effective path of any logistics robot, a local replanning trigger record is generated; the local replanning trigger record includes the logistics robot identifier, the original path version, the obstacle state, the trigger time, and the trigger state; if the obstacle's influence range does not match a path node or path segment in the original path that has not yet been executed, a local replanning trigger record is not generated for that logistics robot.

[0057] Before generating the local replanning trigger record, the status acquisition module compares the status timestamp in the path execution receipt with the status data validity period; path execution receipts within the status data validity period are set as valid; path execution receipts exceeding the status data validity period are set as pending confirmation, and the last valid path execution status of the logistics robot is retained; the status acquisition module also compares the path version identifier in the valid path execution receipt with the original path version; if the two do not match, a path update failure status is generated, the path execution receipt is not used to generate a local replacement interval, and the logistics robot is requested to return the current path node sequence and the current path version.

[0058] When the path version identifier in the path execution receipt matches the original path version, the status acquisition module reads the valid path execution receipts in the order of status timestamps; the last path node that has been reached or passed is set as the current confirmation node; the technical feature of the current confirmation node is that the path execution receipt that is valid after verification by status timestamp and path version indicates that the logistics robot has confirmed that it has completed the last path node; when the latest path execution status indicates that the logistics robot is executing a path segment between two path nodes, in one embodiment, the starting path node of the path segment is set as the current confirmation node, and the logistics robot is set to a waiting state; in another embodiment, the current confirmation node is set after the logistics robot reaches the ending path node of the path segment and returns a new path execution receipt.

[0059] The status acquisition module matches the obstacle's impact range with the path nodes and path segments in the original path one by one. When the obstacle's impact range includes a path node identifier, the path node is set as an affected path node. When the obstacle's impact range includes a path segment identifier, the path segment and its terminating path node are set as affected path resources. When the obstacle's impact range is a location range, the module filters the path nodes and path segments whose locations fall within the obstacle's impact range based on the location records of path nodes and path segments in the warehouse topology map, and generates an affected path segment record.

[0060] The successor node is selected from the path nodes in the original path that are located after the currently confirmed node, outside the obstacle's influence range, and have valid path resource reservation records. Specifically, the path resource management module reads the path nodes according to the node order of the original path, starting from after the last affected path resource. The path node whose first path edge connection is not affected by the obstacle state and has a valid path resource reservation record is set as a candidate successor node. The path time window of the candidate successor node is read and written into the local replanning trigger record along with the candidate successor node identifier. After the candidate path is generated in S200, the candidate successor node also needs to undergo successor time window condition verification. After the verification is passed, it is set as a successor node.

[0061] The local replacement interval is generated by the sequential positions of the current confirmed node, the path segment affected by the obstacle state, and the candidate successor node in the original path. In one embodiment, the local replacement interval uses the current confirmed node as the replacement start node and the candidate successor node as the replacement end node, and includes the original path nodes and path segments between them. Path nodes that have been executed before the current confirmed node do not belong to the local replacement interval. Original path nodes that have not yet been executed after the candidate successor node also do not belong to the local replacement interval.

[0062] When there are no candidate successor nodes in the original path that are outside the obstacle's influence range and have valid path resource reservation records, the path resource management module does not generate successor nodes; the local replanning trigger record is set to a local path update failure state; in one embodiment, a pause command is generated for the logistics robot, and the path resource reservation records in the original path that have not entered the obstacle's influence range are maintained; in another embodiment, the local search range is expanded to the original path target node, and the expanded path range is read by S200.

[0063] For example, the original path version of logistics robot R01 is V12, and the original path includes path nodes N10, N11, N12, N13, and N14 in sequence; the status acquisition module receives the obstacle status, and the obstacle's influence range includes the path segment between N11 and N12; the latest valid path execution receipt returned by logistics robot R01 includes path node N10, path version V12, and the "arrived" status; the status acquisition module sets N10 as the current confirmed node; the path resource management module reads the original path from N12 onwards, reads that N13 is outside the obstacle's influence range and has a valid path resource reservation record, and sets N13 as a candidate successor node; based on this, a local replacement interval from N10 to N13 is generated, and the path time window corresponding to N10, N13, V12, the affected path segment, and N13 is written into the local replanning trigger record.

[0064] This step ultimately generates the current confirmed node, candidate successor nodes, local replacement intervals, and local replanning trigger records. S200 reads the current confirmed node and candidate successor nodes as the start and end nodes of the local path, reads the local replacement interval as the extraction range of the local map subgraph, and reads the path time window of the candidate successor nodes to perform successor time window condition verification. The path update failure status and status pending confirmation records generated in this step are saved in the path execution status for rereading in subsequent status acquisition cycles.

[0065] S200: Generate a local repair path that connects the current confirmed node and the successor node and meets the successor time window condition; compare the path time window of the local repair path with the path resource reservation records of other robots to generate a reservation to be effective; the reservation to be effective participates in the path resource mutual exclusion rule and is not used to generate the passage permission instruction.

[0066] This step is executed by the local path generation module and the path resource management module. The local path generation module receives the current confirmed node, candidate successor node, local replacement interval, and local replanning trigger record formed by S100, and reads the warehouse topology map. The path resource management module reads the currently valid and pending path resource reservation records of other logistics robots. The other logistics robots refer to logistics robots that have path resource reservation records within the path time window corresponding to the candidate path, excluding the logistics robot currently performing local replanning.

[0067] The warehouse topology map includes multiple path nodes, multiple path edges, and the connection relationships between path nodes; each path node has a path node identifier, location record, and node availability status; each path edge has a path resource identifier, starting path node, ending path node, allowed driving direction, and path edge passability status; in one embodiment, the warehouse topology map also records the path segment passage time, allowed load weight, and intersection control area identifier; the local path generation module does not change the path nodes and path edges in the warehouse topology map that do not fall within the local search range.

[0068] The local search range is generated based on the current confirmed node, candidate successor nodes, and the obstacle influence range. In one embodiment, based on the path node sequence range between the current confirmed node and the candidate successor nodes, adjacent reachable nodes directly connected to path nodes within this sequence range are added to the local search range. In another embodiment, a preset number of node hops are extended outward from the obstacle influence range, and path nodes connected to the current confirmed node or candidate successor nodes within the extended range are added to the local search range. The local search range is updated as the candidate successor nodes change.

[0069] The local path generation module reads adjacent reachable nodes and path edges within the local search range from the warehouse topology map; it excludes path nodes whose available status is unavailable, path nodes and path edges located within the influence range of obstacles, and path edges that do not meet the path edge passability conditions; the path edge passability conditions include that the allowed driving direction matches the current driving direction of the logistics robot, the path edge is in a passable state, and the load weight of the logistics robot does not exceed the allowable load weight corresponding to the path edge; the path nodes, path edges, and connection relationships retained after filtering constitute a local map subgraph.

[0070] The local path generation module generates multiple candidate paths from the current confirmed node to the candidate successor node based on the local map subgraph and according to the path node connection relationship. Each candidate path includes path nodes arranged in driving order, path edges connecting adjacent path nodes, and path resource identifiers corresponding to the candidate path. The candidate path does not include the original path nodes that have been executed before the current confirmed node, nor does it change the order of the original path nodes after the candidate successor node.

[0071] The local path generation module generates the entry and exit times of path nodes and path segments in each candidate path sequentially based on the path execution receipt time corresponding to the current confirmation node, the passage time of path segments in the candidate path, and the safety interval between adjacent path resources. The entry and exit times constitute the path time window corresponding to the candidate path. In one embodiment, if the logistics robot is in a waiting state at the current confirmation node, the end time of the waiting state is used as the entry time of the first path resource in the candidate path. In another embodiment, the time when the local replanning trigger record is generated in S100 is used as the starting time of the candidate path time window.

[0072] The path resource management module compares each candidate path with the path resource reservation records of other logistics robots according to the path resource identifier and the path time window. When the path resource identifier in the candidate path is the same as the path resource identifier in the reservation record of another logistics robot, and the path time windows of the two records overlap, path conflict information is generated. For oncoming travel on the same path edge, the path resource management module assigns both travel directions to the same path resource identifier, and path conflict information is also generated when the time windows overlap.

[0073] The time window reservation condition refers to the fact that the time window corresponding to each path resource in the candidate path does not overlap with the time window that cannot be adjusted due to the valid reservation of other logistics robots. In one embodiment, when the time window of the candidate path overlaps with the time window of the pending reservation of other logistics robots, the candidate path also does not meet the time window reservation condition. In another embodiment, the candidate path is allowed to add waiting time at the current confirmation node. The local path generation module extends the entry time and exit time of each path resource of the candidate path according to the available idle time window, and performs the path resource reservation record comparison again.

[0074] The continuation time window condition refers to the entry time of the candidate path to the candidate continuation node being within the valid path time window of the candidate continuation node in the original path. The local path generation module reads the path time window of the candidate continuation node output by S100 and compares the entry time of the candidate continuation node corresponding to the candidate path with the path time window. When the entry time is within the path time window, the candidate continuation node is set as the continuation node. When the entry time is earlier than the path time window, a waiting time is set for the available path node in the current confirmed node or the available node status in the local map subgraph, and the path time window of the candidate path is regenerated. When the entry time is later than the path time window, the candidate path is excluded.

[0075] If none of the multiple candidate paths generated for the current candidate successor node meet the successor time window condition, the local path generation module reads the path nodes following the candidate successor node from the original path node sequence formed in S100; sets the next path node that is outside the obstacle's influence range and has a valid path resource reservation record as the new candidate successor node; updates the local replacement interval and local search range, and reconstructs the local map subgraph; this process continues until a candidate path that meets the successor time window condition is selected, or there are no new candidate successor nodes in the original path.

[0076] When multiple candidate paths meet the conditions of path continuity, time window availability, and connecting time window, the local path generation module sorts them according to the number of path nodes contained in the candidate path, the entry time of the candidate path to the connecting node, and the safety interval between the candidate path and other reservation records. In one embodiment, the candidate path whose entry time to the connecting node is the earliest within the path time window of the connecting node is set as the local repair path. In another embodiment, candidate paths with fewer path nodes are first screened, and then candidate paths with zero time window overlap are read from the screening results as local repair paths.

[0077] After determining the local repair path, the path resource management module generates a pending appointment according to the path resource identifier, entry time, and departure time in the local repair path. The pending appointment includes the logistics robot identifier, the new path version reserved field, the path resource identifier, the entry time, the departure time, and the path resource occupancy status. Before the new path version is generated in S300, the new path version reserved field is associated with the local replanning trigger record. After the new path version is generated in S300, the new path version is written into the pending appointment.

[0078] The technical features of the pending reservation refer to the fact that the corresponding path resource has been reserved by the partially repaired path by indicating the path resource occupancy status; the pending reservation participates in the path resource mutual exclusion rule; when a subsequent path reservation request uses the same path resource identifier as the pending reservation and the path time window overlaps, the subsequent path reservation request is not set to valid; before the path switching status is valid, the intersection area control module does not read the pending reservation to generate the passage permission instruction, and the logistics robot does not enter the corresponding path resource according to the pending reservation.

[0079] The path resource management module also generates a partial path replacement record; the partial path replacement record includes the logistics robot identifier, the original path version, the current confirmed node, the connecting node, the partial replacement interval, the partial repair path, the pending appointment identifier, and the record status; the record status is set to waiting for path version confirmation in this step; the partial path replacement record, together with the partial repair path and the pending appointment, is output to S300.

[0080] For example, in example S100, the currently confirmed node is N10, and the candidate successor node is N13. The local path generation module reads the adjacent reachable nodes near N10 to N13 and generates candidate path A: N10—M01—M02—N13, and candidate path B: N10—M03—M04—M05—N13. The path time window of N13 in the original path is 10:00:18 to 10:00:24. Candidate path A is expected to enter N13 at 10:00:21, and candidate path B is expected to enter N13 at 10:00:29. Candidate path A meets the successor time window condition, and candidate path B is excluded. The path resource management module writes the entry time and exit time corresponding to M01, M02 and their connecting path segments into the pending appointment and sets the appointment to wait for path version confirmation.

[0081] This step ultimately outputs a partial repair path, pending appointments, and a partial path replacement record. S300 reads the path node sequence in the partial repair path, reads the original path version, current confirmed node, successor node, and partial replacement interval in the partial path replacement record, and reads the associated identifier of the pending appointments to generate a new path version and differential path instructions. If no partial repair path is found, the path resource management module cancels the pending appointments generated in this round, generates a path update failure status, and returns this status to the status acquisition module.

[0082] S300: Generate a new path version and differential path instruction based on the local repair path, the original path version, and the local replacement interval, and issue them; receive path version confirmation information, compare the original path version with the path version confirmation information, and generate a path switching status.

[0083] This step is jointly executed by the path version management module, the execution feedback processing module, the instruction issuing interface of the warehouse robot scheduling server, and the body controller of the logistics robot. The path version management module receives the partial repair path, the reservation to be effective, and the partial path replacement record output by S200. The body controller saves the path node sequence currently being executed by the logistics robot and the current path version, and receives the differential path instruction issued by the warehouse robot scheduling server.

[0084] The new path version refers to the path version identifier assigned to the updated path composed of the partially repaired path and the retained original path node sequence; the path version management module reads the original path version and assigns the new path version according to the path version generation order of the same logistics robot; in one embodiment, the new path version consists of the logistics robot identifier, the original path version and the version sequence number; the path version management module writes the new path version into the local path replacement record and the pending appointment generated by S200, so that the partially repaired path, the pending appointment and the differential path instruction have the same new path version.

[0085] The differential path instruction refers to a path instruction that only records the local replacement interval and its replacement content; the differential path instruction includes the logistics robot identifier, the original path version, the new path version, the current confirmation node, the continuation node, the local repair path, the instruction version identifier, and the confirmation deadline; the local repair path is represented by path nodes and path segments arranged in the driving sequence; the instruction version identifier is used to distinguish multiple differential path instructions generated consecutively for the same original path version; the confirmation deadline is generated based on the differential path instruction issuance time and the preset confirmation duration.

[0086] Before generating differential path instructions, the path version management module reads the record status of local path replacement records. When the record status is "waiting for path version confirmation" and the pending appointment is still in the pending state, the differential path instruction is encapsulated and issued. When any path resource in the pending appointment is updated to an inaccessible state, or the pending appointment has been revoked, the differential path instruction is not issued, a path update failure status is generated, and the local path replacement record is set to "revoked".

[0087] After receiving the differential path instruction, the body controller of the logistics robot reads the logistics robot identifier in the differential path instruction. If it matches the logistics robot identifier corresponding to the body controller, it continues to read the original path version. The body controller compares its own saved current path version with the original path version in the differential path instruction. If they match, it reads the current confirmation node, the continuation node, and the local repair path. If they do not match, it does not replace the local path node sequence and returns path version confirmation information including the current path version and the instruction version identifier. The confirmation status of the path version confirmation information is set to "not matched".

[0088] When the current path version matches the original path version, the ontology controller locates the current confirmation node and the successor node in the local path node sequence; removes the original path nodes and path segments that belong to the local replacement interval between the two; splices the local repair path between the current confirmation node and the successor node according to the path node order in the local repair path; the original path node order after the successor node remains unchanged; after completing the local path node sequence replacement, the ontology controller updates the local current path version to the new path version and generates path version confirmation information.

[0089] The path version confirmation information includes the logistics robot identifier, original path version, new path version, instruction version identifier, confirmation time, confirmation status, and the current path version of the logistics robot; the confirmation status includes matching and non-matching; in one embodiment, the path version confirmation information also includes the current confirmation node and the successor node, which are used by the warehouse robot scheduling server to verify the partial replacement interval executed by the logistics robot; the execution feedback processing module receives the path version confirmation information and associates the corresponding differential path instruction and partial path replacement record according to the instruction version identifier.

[0090] The path version management module compares the current path version of the logistics robot, the original path version in the differential path instruction, and the path version confirmation information. When the current path version saved by the logistics robot before receiving the differential path instruction matches the original path version, and the new path version in the path version confirmation information matches the new path version in the differential path instruction, and the confirmation time has not exceeded the confirmation deadline, a valid path switching status is generated. The path switching status is associated with the local path replacement record, the original path version, the new path version, and the pending appointment.

[0091] When the current path version of the logistics robot does not match the original path version, the new path version in the path version confirmation information does not match the new path version in the differential path instruction, or the confirmation time exceeds the confirmation deadline, an invalid path switching status is generated. If no path version confirmation information is received within the confirmation deadline, the feedback processing module generates a confirmation timeout record, which is used as the basis for generating an invalid path switching status. The path switching status includes the logistics robot identifier, original path version, new path version, instruction version identifier, status result, and status generation time.

[0092] In one implementation, the logistics robot has already entered the convergence control area when it receives the differential path instruction; the execution feedback processing module sets the logistics robot to the entered state according to the received entry confirmation information; the path version management module saves the received path version confirmation information, but does not generate a valid path switching state for updating the currently effective path version; after receiving the departure confirmation information corresponding to the logistics robot, it re-compares the original path version, the new path version, and the path version confirmation information, and generates a path switching state.

[0093] When communication is interrupted, the path version management module retains the issued differential path instructions and pending appointments until the confirmation deadline; if no path version confirmation information is received by the deadline, the path switching status is set to invalid; in one implementation, only the first path version confirmation information is received for the same instruction version identifier, and the repeatedly returned path version confirmation information is written into the path execution record, and the path switching status is not generated repeatedly.

[0094] For example, the original path version of logistics robot R01 is V12; S200 forms a partial repair path N10—M01—M02—N13 and a reservation to be activated; the path version management module allocates a new path version V13 and generates a differential path instruction, which includes the original path version V12, the new path version V13, the current confirmation node N10, the continuation node N13, and the partial repair path; the body controller reads its own current path version V12, completes the partial path segment replacement, and returns the new path version V13; the execution feedback processing module receives the confirmation information, and the path version management module generates a valid path switching status.

[0095] If the current path version returned by the logistics robot R01 is V11, or the new path version returned is not V13, the path version management module generates an invalid path switching status. At this time, the path resource reservation record is not updated in this step. S400 reads the invalid path switching status and performs the cancellation of the pending reservation and the original path retention process.

[0096] This step ultimately outputs the new path version, differential path instruction, path version confirmation information, and path switching status; S400 reads the path switching status as a direct condition for whether the path resource reservation record has become invalid or effective; the record status of the local path replacement record is updated from waiting for path version confirmation to confirmation of validity or confirmation of invalidity, and is saved together with the path switching status.

[0097] S400: When the path switching status is valid, invalidate the path resource reservation record of the local replacement interval, make the reservation to be effective effective, retain the path resource reservation record after the successor node, and update the current effective path version; when it is not valid, cancel the reservation to be effective and keep the original path and path resource reservation record; generate a pass instruction binding the effective path version according to the current effective path version and path resource reservation record.

[0098] This step is performed by the path resource management module, the path version management module, the intersection area control module, and the execution feedback processing module. The path resource management module receives the path switching status generated by S300 and reads the original path resource reservation record and the reservation to be effective associated with the local path replacement record. The path version management module reads the original path version and the new path version. The intersection area control module reads the currently effective path version, the path resource reservation records of multiple logistics robots, and the intersection control area status.

[0099] The path resource management module first reads the status result of the path switching status; when the status result is valid, it reads the path resource reservation records belonging to the local replacement interval in the original path according to the current confirmed node and the successor node in the local path replacement record; it updates the path resource reservation records in the local replacement interval that have not yet been traversed by the logistics robot from the valid status to the invalid status; it keeps the reservation records that have been updated to the released status according to the path execution receipt in the released status; and it generates a path resource release record, which includes the logistics robot identifier, the original path version, the path resource identifier, the original path resource occupancy status, the updated path resource occupancy status, and the status update time.

[0100] The path resource management module reads the pending reservations associated with the new path version; updates the path resource occupancy status of the pending reservations from pending to valid; after the pending reservations become valid, the intersection area control module can read the reservation to generate a passage permit instruction; the path resource management module also reads the original path resource reservation records after the connecting node that are not affected by the obstacle status; the reservation records remain valid, and their path version identifiers are updated to the new path version, or the original path version and the new path version are associated simultaneously through a partial path replacement record; in one embodiment, only the path version identifier is updated for the path resource reservation records after the connecting node, without changing the entry time and departure time.

[0101] After the original path partial reservations become invalid, pending reservations become effective, and reservation records after the successor node are retained, the path version management module sets the new path version as the currently effective path version. The technical features of the currently effective path version refer to the path version identifier associated with the sequence of path nodes currently allowed to be executed by the logistics robot, the effective path resource reservation records, and the access permission instructions. The original path version is updated to the historical path version, and the path nodes that have been executed before the currently confirmed node in the original path and their path execution receipts continue to be associated with and saved with the original path version.

[0102] When the path switching status is valid but the execution feedback processing module has received the entry confirmation information for the logistics robot entering the convergence control area, but has not yet received the corresponding departure confirmation information, the path version management module will not set the new path version as the currently effective path version; the original path version will continue to remain in the current effective state; the pending appointments will continue to remain in the pending state; the original path resource appointment records for the partially replaced interval will not be invalidated; after receiving the departure confirmation information, the path resource management module will then execute the original path appointment invalidation, new appointment activation, and current effective path version update according to the valid path switching status.

[0103] When the path switching status is not valid, the path resource management module reads the pending appointment and updates its path resource occupancy status to "cancelled"; path appointment requests that overlap with the pending appointment in time window and are prevented from taking effect re-enter the path appointment rule comparison process; the path resource appointment records in the original path maintain their original status; the path version management module keeps the original path version as the currently effective path version; the execution feedback processing module generates a path update failure status and writes the status result back to the local path replacement record.

[0104] In one implementation, the path resource corresponding to the reservation to be effective is updated to an inaccessible state before the path switching state is generated; even if the version identifier in the path version confirmation information matches, the path resource management module will still update the reservation to be effective to be cancelled and generate a new local replanning trigger record; in another implementation, when path update failures occur consecutively, the number of local replannings for the same local replacement interval is recorded; after the maximum number of local replannings is reached, the reservation to be effective in this round is cancelled, the local search scope is expanded or a pause command is generated.

[0105] After completing the path resource reservation record and updating the currently effective path version, the convergence area control module reads the path resource reservation records of multiple logistics robots in the convergence control area. The convergence control area consists of one convergence node or multiple interconnected path nodes and path segments. The convergence area control module only reads reservation records where the path resource occupancy status is valid and the path version identifier matches the currently effective path version of the corresponding logistics robot. Reservation records that are pending activation, invalid, released, or revoked are not used as the basis for generating passage permission instructions.

[0106] The convergence area control module compares the path resource reservation records of multiple logistics robots according to the convergence control area identifier, path resource identifier, and path time window. When the reservation records of multiple logistics robots belong to the same convergence control area and the path time windows overlap, a conflict relationship record is generated. The conflict relationship record includes the convergence control area, multiple logistics robot identifiers, the current effective path version of each logistics robot, path resource identifier, path time window, and waiting time.

[0107] The convergence area control module reads the task priority and waiting time from the conflict relationship record and sorts the logistics robots. In one implementation, the robots are first sorted from high to low task priority. If the task priorities are the same, they are sorted from long to short waiting time. The logistics robot that is ranked first is set as the target access robot, and a passage permission instruction is generated for it. Waiting instructions are generated for other logistics robots. The task priority is derived from the warehouse handling task record, and the waiting time is accumulated from the waiting node before the logistics robot arrives at the convergence control area.

[0108] The access permission instruction includes a logistics robot identifier, a currently effective path version, a convergence control area, and a permission validity period. In one embodiment, the access permission instruction also includes a path resource identifier that is allowed to be entered, an entry time, and a departure time. After receiving the access permission instruction, the logistics robot compares the path version identifier in the access permission instruction with the current path version stored in the body controller. If they match, the robot enters the convergence control area according to the permission validity period. If they do not match, the robot returns path version confirmation information and does not enter the convergence control area.

[0109] The execution feedback processing module receives entry confirmation information returned when the logistics robot enters the convergence control area; the entry confirmation information includes the logistics robot identifier, the currently effective path version, the convergence control area, the entry time, and the path resource occupancy status; the convergence area control module updates the path resource occupancy status of the corresponding convergence control area to occupied according to the entry confirmation information; in the occupied state, no passage permission instruction is generated for other logistics robots in the directional mutual exclusion relationship, and the already generated waiting instructions remain valid.

[0110] When a logistics robot leaves the convergence control area, it returns a departure confirmation message. The departure confirmation message includes the logistics robot identifier, the currently effective path version, the convergence control area, and the departure time. After receiving the departure confirmation message, the execution feedback processing module updates the path resource occupancy status of the convergence control area to "released." Based on the departure confirmation message, the path resource management module updates the reservation records corresponding to the path nodes and path segments that the logistics robot has already passed to "released" and generates a path resource release record. The convergence area control module rereads the conflict relationship record, sorts the logistics robots that are still in the waiting state, and generates the next passage permission instruction.

[0111] If no entry confirmation is received within the validity period of the permit, the convergence area control module updates the corresponding passage permit instruction to a permit timeout status and revokes the passage permit instruction; the valid path resource reservation record corresponding to the logistics robot remains valid; the convergence area control module re-compares the task priority and waiting time in the conflict relationship record; in one implementation, the logistics robot with the timeout permit is re-added to the sorting; in another implementation, its path execution status is read first, and a pause instruction is generated when the path execution status is abnormal.

[0112] When the current effective route version is updated, the junction area control module reads the passage permit instructions associated with the original route version; passage permit instructions that have not received entry confirmation information are revoked; the junction area control module re-compares the junction control area and route time window based on the new route version and the updated route resource reservation record; if the new route version no longer passes through the original junction control area, the corresponding passage permit instructions are not regenerated; if the new route version still passes through the junction control area, a new passage permit instruction is generated based on the new route version.

[0113] For example, the valid path resource reservation records for logistics robots R03 and R04 both correspond to the intersection control area J01, and their path time windows overlap; the current effective path version for R03 is V15, and the current effective path version for R04 is V09; the intersection area control module sets R03 as the target passing robot according to task priority and waiting time, generates a passage permission instruction including R03, V15, J01, and the permission validity period, and generates a waiting instruction for R04; after R03 returns the entry confirmation information, J01 is updated to be occupied; after R03 returns the departure confirmation information, J01 is updated to be released, and the path resource reservation record corresponding to R03 that has been passed is updated to be released; subsequently, the intersection area control module generates a passage permission instruction for R04.

[0114] For example, if R03 has not yet entered J01, its current effective path version is updated from V15 to V16, and V16 does not pass through J01; the junction area control module cancels the passage permission instruction associated with V15 and does not generate a passage permission for J01 based on V16; if R03 has already returned the entry confirmation information to J01, then V15 is kept as the current effective path version, and the path resource reservation record update corresponding to V16 is executed after the departure confirmation information is received.

[0115] This step ultimately generates updated path resource reservation records, path resource release records, currently effective path versions, access permission instructions, waiting instructions, and path execution status. The path execution status, entry confirmation information, and exit confirmation information are written back to the robot status record as input for determining the current confirmation node in subsequent status acquisition cycles. The currently effective path version and the path resource reservation records that have not yet been released are continued to be saved by the path resource management module as the original path version and original path resource reservation records when the next obstacle state triggers local path replanning.

[0116] Example 2: Figure 2 A structural block diagram of a path replanning system for collaborative multi-robot operations in logistics warehousing, according to an embodiment of the present invention, is shown. Figure 2 As shown, the structure may include:

[0117] The status acquisition module 01 is used to acquire the original path, original path version, path resource reservation record, path execution receipt, and obstacle status of the logistics robot. Based on the obstacle status and path execution receipt, it generates the current confirmed node, successor node, and partial replacement interval. Specifically, the status acquisition module reads the original path and original path version from the logistics robot's path execution plan, reads the path resource identifier, entry time, departure time, and path resource occupancy status associated with the original path version from the registered path resource reservation record, and receives the path execution receipt returned by the logistics robot, as well as the obstacle status corresponding to the path node or path segment in the warehouse topology map. The path execution receipt includes the logistics robot identifier, path node identifier, path version identifier, status timestamp, and path execution status; the obstacle status includes the obstacle's impact range, obstacle start time, and obstacle validity status. The status acquisition module compares the path version identifier in the path execution receipt with the original path version, and compares the status timestamp with the status data validity period. When the path version identifier matches the original path version and the status timestamp is within the status data validity period, the last path node recorded as arrived or passed is generated as the current confirmed node. When the path version identifier does not match or the status timestamp exceeds the status data validity period, the path execution status corresponding to the previous valid path execution receipt is maintained, and a path update failure status is generated. The status acquisition module matches the obstacle impact range with the path nodes and path segments in the original path to generate path segments affected by the obstacle status. It reads candidate successor nodes from the path nodes in the original path that are after the current confirmed node, outside the obstacle impact range, and have valid path resource reservation records, and reads the path time window corresponding to the candidate successor nodes. The status acquisition module generates the local replacement interval based on the arrangement of the current confirmed node, the path segments affected by the obstacle status, and the candidate successor nodes in the original path, and uses the candidate successor nodes as the verification objects of the successor nodes. The path time window and obstacle impact range of the currently confirmed node, successor node, local replacement interval, and candidate successor node are transmitted to the local path generation module; the original path version and local replacement interval are simultaneously transmitted to the path version management module, and the original path and path resource reservation record are transmitted to the path resource management module.

[0118] The local path generation module 02, connected to the status acquisition module, is used to generate a local repair path that connects the currently confirmed node and the successor node and meets the succession time window condition. It compares the path time window of the local repair path with the path resource reservation records of other logistics robots to generate a reservation to be activated, and makes the reservation to be activated participate in the path resource mutual exclusion rule. Specifically, the local path generation module receives the path time window and obstacle influence range of the currently confirmed node, successor node, local replacement interval, and candidate successor node output by the status acquisition module, and reads the adjacent reachable nodes, path edges, node availability status, and path edge passability status between the currently confirmed node and the successor node from the warehouse topology map. The local path generation module filters adjacent reachable nodes and path edges according to the local search range, excluding path nodes located within the obstacle influence range and path edges whose passability status is changed to impassable, generating multiple candidate paths connecting the currently confirmed node and the successor node. The local path generation module generates the entry time, departure time, and path time window for each candidate path sequentially based on the status timestamp of the path execution receipt, the passage time of each path segment, and the safety interval between adjacent path resources. It compares the entry time of the candidate path to the connecting node with the path time window of the connecting node in the original path. If the entry time is within the path time window, the corresponding candidate path is recorded as meeting the connecting time window condition. If the entry time is earlier than the path time window, a waiting time is set for path nodes with an available status, and the path time window of the candidate path is regenerated. If the entry time is later than the path time window, the corresponding candidate path is excluded. The local path generation module also compares the path resource identifiers and path time windows in the candidate paths with the valid path resource reservation records and pending reservations of other logistics robots. If the path resource identifiers are the same and the path time windows overlap, path conflict information is generated, and candidate paths that do not meet the time window reservation condition are excluded. For candidate paths that meet the path continuity condition, time window reservation condition, and connecting time window condition, the local path generation module filters the local repair paths according to the entry time to the connecting node and the order of the path nodes. The local path generation module generates pending appointments based on the path resource identifier, entry time, and departure time in the local repair path. These pending appointments include the logistics robot identifier, path resource identifier, entry time, departure time, and path resource occupancy status; the path resource occupancy status is recorded as pending activation. The pending appointments are compared with path resource appointment records of other logistics robots according to the path resource identifier and path time window. Subsequent path appointment requests with overlapping time windows are not set as valid. The pending appointments are not read by the intersection area control module before the path switching status becomes valid.The partial repair path and the pending appointment are transmitted to the path version management module; the pending appointment is also transmitted to the path resource management module and is associated with the original path version, the current confirmation node, the successor node, and the partial replacement interval.

[0119] The path version management module 03, connected to the local path generation module, is used to generate a new path version and differential path instructions based on the local repair path, the original path version, and the local replacement interval. It receives path version confirmation information, compares the original path version with the path version confirmation information, and generates a path switching status. Specifically, the path version management module receives the local repair path and pending appointments output by the local path generation module, and calls the original path version, current confirmation node, successor node, and local replacement interval output by the status acquisition module. The path version management module generates a new path version according to the arrangement order of existing path version identifiers for the same logistics robot, writes the new path version into the pending appointments, and generates differential path instructions associated with the original path version, new path version, and local replacement interval. The differential path instructions include the logistics robot identifier, original path version, new path version, current confirmation node, successor node, local repair path, instruction version identifier, and confirmation deadline. The path version management module sends the differential path instruction to the corresponding logistics robot. The logistics robot compares its saved current path version with the original path version in the differential path instruction. If they match, the original path between the current confirmation node and the successor node is replaced with a partially repaired path, the original path after the successor node is retained, and path version confirmation information containing the new path version and instruction version identifier is returned. If they do not match, the partial replacement is not performed, and path version confirmation information containing the current path version and instruction version identifier is returned. The path version management module matches the path version confirmation information with the corresponding differential path instruction based on the instruction version identifier, and compares the original path version, new path version, and confirmation time in the path version confirmation information. If the original path version matches, the new path version matches, and the confirmation time does not exceed the confirmation deadline, a valid path switching status is generated. If the original path version does not match, the new path version does not match, or the confirmation time exceeds the confirmation deadline, an invalid path switching status is generated. If the deadline for confirmation has passed and no confirmation information for the route version has been received, the route version management module will record the route switching status as invalid and retain the original route version. The route switching status includes the logistics robot identifier, original route version, new route version, instruction version identifier, status result, and status generation time. The route version management module will transmit the route switching status, the new route version, and the corresponding pending appointment to the route resource management module, allowing the route resource management module to choose whether to invalidate, activate, or cancel the route resource appointment record.

[0120] The path resource management module 04, connected to the local path generation module and the path version management module respectively, is used to invalidate the path resource reservation record corresponding to the local replacement interval and make the reservation to be effective effective when the path switching status is valid, retain the path resource reservation record after the successor node, and update the new path version to the currently effective path version; when the path switching status is not valid, cancel the reservation to be effective and keep the original path and path resource reservation record; specifically, the path resource management module receives the reservation to be effective output by the local path generation module, receives the path switching status and new path version output by the path version management module, and reads the original path, original path version, successor node and local replacement interval output by the status acquisition module. The path resource management module selects the reservation status update branch according to the path switching status result. When the path switching status is valid, it reads the path resource reservation records in the original path that are located between the current confirmed node and the successor node and have not yet been released, updates the path resource occupancy status of the reservation records from valid to invalid, and generates corresponding path resource release records. It reads the reservations to be effective associated with the new path version and updates the path resource occupancy status of the reservations to be effective from pending to valid. The path resource management module reads the original path resource reservation records after the successor node that are not affected by the obstacle status, keeps their entry time, exit time, and path resource occupancy status, and updates their path version identifier to the new path version. After completing the partial replacement interval reservation invalidation, the pending reservation effective, and the reservations after the successor node are retained, the new path version is registered as the currently effective path version. When the path switching status is not valid, the path resource management module updates the path resource occupancy status of the pending reservations to revoked, removes the restriction on subsequent path reservation requests with overlapping time windows, keeps the original path version as the currently effective path version, and keeps the path resource reservation records in the original path that have not yet been released. The path resource management module transmits the currently effective path version, valid path resource reservation records, and path resource release records to the intersection area control module. The currently effective path version serves as the path version condition for the intersection area control module to filter path resource reservation records. The valid path resource reservation records serve as the basis for generating passage permit instructions for the intersection control area. The path resource release records are used to update the path resource occupancy status of already passed path nodes and path segments.

[0121] The convergence area control module 05, connected to the path resource management module, is used to generate a pass instruction bound to the currently effective path version based on the current effective path version and path resource reservation records, and to prevent the generation of pass instructions based on pending reservations before the path switching status becomes effective. Specifically, the convergence area control module receives the currently effective path version, valid path resource reservation records, and path resource release records output by the path resource management module, and reads the path resource identifiers, path time windows, task priorities, and waiting times corresponding to multiple logistics robots in the same convergence control area. The convergence area control module filters path resource reservation records whose path resource occupancy status is valid and whose path version identifier matches the currently effective path version of the corresponding logistics robot; path resource reservation records whose path resource occupancy status is pending, invalid, released, or revoked are not included in the pass instruction generation process. When multiple logistics robots have valid path resource reservation records corresponding to the same convergence control area and their path time windows overlap, the convergence area control module generates a conflict relationship record. The logistics robots in the conflict relationship record are sorted according to task priority and waiting time. A passage permit instruction is generated for the highest-ranked logistics robot, and a waiting instruction is generated for the remaining logistics robots. The passage permit instruction includes the logistics robot identifier, the currently effective path version, the convergence control area, and the permit validity period. The convergence area control module issues the passage permit instruction to the corresponding logistics robot and associates the passage permit instruction with the currently effective path version and the valid path resource reservation record. When a logistics robot enters the convergence control area, an entry confirmation message is returned, and the convergence area control module updates the corresponding path resource occupancy status to "occupied." When a logistics robot leaves the convergence control area, a departure confirmation message is returned, the convergence area control module updates the corresponding path resource occupancy status to "released," and transmits the departure confirmation message to the path resource management module to generate a path resource release record. When the current effective path version is updated, the junction area control module revokes the passage permission instruction associated with the original path version that has not received entry confirmation information; if entry confirmation information has been received but departure confirmation information has not yet been received, the junction control area occupancy status associated with the original path version is maintained until the departure confirmation information is received. The junction area control module associates and saves the passage permission instruction, waiting instruction, entry confirmation information, and departure confirmation information with the corresponding path version identifier, and returns the updated path resource occupancy status to the path resource management module as input for subsequent path resource reservation record updates and the next round of path replanning.

Claims

1. A path replanning method for collaborative operations of multiple robots in logistics warehousing, characterized in that, include: S100: Obtain the original path, original path version, path resource reservation record, path execution receipt and obstacle status of the logistics robot; Based on the obstacle status and path execution receipt, determine the current confirmation node, successor node, and local replacement interval; S200. Generate a local repair path that connects the current confirmed node and the successor node and meets the successor time window condition; compare the path time window of the local repair path with the path resource reservation records of other robots to generate a reservation to be effective; the reservation to be effective participates in the path resource mutual exclusion rule and is not used to generate the passage permission instruction. S300: Generate a new path version and differential path instruction based on the local repair path, the original path version and the local replacement interval and issue it; Receive path version confirmation information, compare the original path version and the path version confirmation information, and generate a path switching status; S400: When the path switching status is valid, invalidate the path resource reservation record of the local replacement interval, make the reservation to be effective effective, retain the path resource reservation record after the successor node, and update the current effective path version; when it is not valid, cancel the reservation to be effective and keep the original path and path resource reservation record; generate a pass instruction binding the effective path version according to the current effective path version and path resource reservation record.

2. The path replanning method according to claim 1, characterized in that, The robot status data includes current position coordinates, status timestamp, current task progress, and path version identifier; Compare the status timestamp with the status data validity period to filter valid path execution receipts; Compare the path version identifier in the valid path execution receipt with the original path version. If they match, set the path node corresponding to the valid path execution receipt as the current confirmation node. If the two do not match, the path update fails.

3. The path replanning method according to claim 1, characterized in that, The scope of the obstacle's influence is matched with the path nodes and path segments in the original path to determine the path segments affected by the obstacle's state. Candidate successor nodes are selected from the path nodes in the original path that are located after the currently confirmed node, outside the scope of the obstacle's influence, and have path resource reservation records. Read the path time window of the candidate successor node, and set the candidate successor node whose entry time of the local repair path is within the path time window as the successor node.

4. The path replanning method according to claim 1, characterized in that, The local repair path is generated in the following manner: Based on the local search range, the adjacent reachable nodes and path edges between the currently confirmed node and the successor node are read from the warehouse topology map; Exclude path nodes located within the influence range of the obstacle and path edges that do not meet the passability conditions, and construct a local map subgraph; Multiple candidate paths are generated based on the local map subgraph, and the local repair paths are selected according to path continuity conditions, time window availability conditions, and consecutive time window conditions.

5. The path replanning method according to claim 1, characterized in that, The pending appointment includes the logistics robot identifier, new route version, route resource identifier, entry time, departure time, and route resource occupancy status. The pending reservation is compared with the path resource reservation records of other robots according to the path resource identifier and path time window; When time windows overlap, the pending appointment is maintained and path appointment requests that overlap with it are prevented from taking effect; before the path switching status is effective, no passage permit instruction is generated based on the pending appointment.

6. The path replanning method according to claim 1, characterized in that, The differential path instruction includes the logistics robot identifier, original path version, new path version, current confirmation node, continuation node, partial repair path, instruction version identifier, and confirmation deadline. The logistics robot compares its current path version with the original path version; When the two are matched, the logistics robot replaces the original path of the local replacement interval with the local repair path and returns path version confirmation information containing the new path version.

7. The path replanning method according to claim 6, characterized in that: When the current path version matches the original path version, and the path version identifier in the path version confirmation information matches the new path version, a valid path switching status is generated. When the current path version does not match the original path version, the path version identifier in the path version confirmation information does not match the new path version, or the path version confirmation information is not received within the confirmation deadline, an invalid path switching state is generated. When the path switching status is not valid, the pending appointment is cancelled, the original path version is kept as the current effective path version, and a path update failure status is generated.

8. The path replanning method according to claim 1, characterized in that, Compare the path resource identifiers and path time windows of multiple logistics robots in the same intersection control area, and generate conflict relationship records when time windows overlap; The logistics robots in the conflict relationship record are sorted according to task priority and waiting time. A passage permission instruction is generated for the logistics robot that is ranked first, and a waiting instruction is generated for the other logistics robots. The passage permit instruction includes the logistics robot identifier, the currently effective route version, the intersection control area, and the permit validity period.

9. The path replanning method according to claim 8, characterized in that: Upon receiving the entry confirmation information returned when the logistics robot enters the intersection control area, update the path resource occupancy status of the intersection control area to "occupied"; Upon receiving the departure confirmation information returned by the logistics robot when it leaves the intersection control area, update the path resource occupancy status to "released" and generate a path resource release record; When the currently effective path version is updated, the access permission instruction associated with the original path version that has not received an entry confirmation message is revoked. Once an entry confirmation message has been received, the original path version remains the currently effective path version until the exit confirmation message is received.

10. A path replanning system for multi-robot collaborative operations in logistics warehousing, characterized in that, include: The module includes a status acquisition module, a local path generation module, a path version management module, a path resource management module, and an intersection area control module. The system is used to implement the method described in any one of claims 1-9.

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