Storage robot path program method based on linear temporal logic theory

A linear sequential logic and path planning technology, applied in the direction of instruments, motor vehicles, two-dimensional position/channel control, etc., can solve the problems of occupying computing time and memory space, low efficiency of genetic algorithm, etc., to reduce planning time and ensure Optimality, the effect of improving storage efficiency

Active Publication Date: 2016-04-06
FOSHAN KINGPENG ROBOT TECH CO LTD
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Problems solved by technology

The genetic algorithm starts searching from the string set of problem solutions instead of starting from a single solution, and processes multiple individuals in the group at the same time, which can effectively avoid the risk of the traditional optimization algorithm iterative

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  • Storage robot path program method based on linear temporal logic theory
  • Storage robot path program method based on linear temporal logic theory
  • Storage robot path program method based on linear temporal logic theory

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[0023] The following is a further description of the storage robot path planning method based on the linear sequential logic theory in the present invention through simple examples in conjunction with the accompanying drawings.

[0024] The storage robot path planning method based on the linear sequential logic theory of the present invention mainly has the following contents: firstly, the storage environment is modeled as an extensible weighted switching system and the linear sequential task formula is used to describe the storage dispatch task, and the task is The formula is converted into a graph form (Büchi automaton); then, the Cartesian product of the weighted switching system and the Büchi automaton constitutes the task-feasible network topology, and then the SPFA algorithm is used to search for the optimal path on the task-feasible network topology, and the The path mapping obtained by optimizing the task-feasible network topology will weight the switching system to obt...

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Abstract

A storage robot path program method based on linear temporal logic theory comprises the steps of modeling a storage environment into a weight switching system based on assignment nodes; describing complex assignment tasks of the storage system by using the linear temporal logic language (LTL); then, switching the task formula into a Buchi automatic machine through an LTL2BA tool kit; conducting cartesian product to the extensible weight switching system and the Buchi automatic machine to form a task feasible network topology; employing SPFA(Shortest Path Faster Algorithm) on the topology to search an optimal path, wherein the task feasible network topology includes storage environment information and package-taking task information, guaranteeing that the searched obtained path is the optimal path and isn't influenced by the order of the selected assignment node; mapping the obtained optimal path from the task feasible network topology to the corresponding optimal path in the storage environment, and sending the optimal path to a storage robot by radio communication through a PC to finish the packaging-taking and assignment task.

Description

technical field [0001] The invention relates to a path planning method for a warehousing and logistics mobile robot. Aiming at the specific warehousing environment and picking task requirements, a warehousing robot path planning method based on linear temporal logic theory (LTL) is adopted, and the path planning method can not only meet the task requirements, but also meet the requirements of the tasks. The optimal path of environmental information to ensure that warehousing robots can efficiently complete specified tasks and achieve the goal of robots replacing humans, thereby improving work efficiency. Background technique [0002] Due to the rapid development of e-commerce, the application of automation equipment in the field of warehousing and logistics is becoming more and more extensive, and the application of warehousing and logistics robots can greatly improve the efficiency of e-commerce warehousing and logistics work, and alleviate the current shortage of supply in ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D2201/0216
Inventor 禹鑫燚陈浩郭永奎程诚陈志南欧林林
Owner FOSHAN KINGPENG ROBOT TECH CO LTD
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