Method of cooperative self-adaptation intelligent planning of complex mixed path of carrying robot

A hybrid path and intelligent planning technology, applied in the direction of instruments, motor vehicles, transportation and packaging, etc., can solve the problems of unfavorable robot operation, low work efficiency, long calculation time, etc., to reduce simple labor, save time, and improve operation efficiency effect

Active Publication Date: 2017-09-26
CENT SOUTH UNIV
View PDF9 Cites 29 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method is one of the most commonly used methods to solve robot path planning problems. Through continuous information exchange between feasible solutions, a better path can be found. It has the advantages of strong robustness and high feasibility,

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method of cooperative self-adaptation intelligent planning of complex mixed path of carrying robot
  • Method of cooperative self-adaptation intelligent planning of complex mixed path of carrying robot

Examples

Experimental program
Comparison scheme
Effect test

specific example

[0093] The carrier robot receives the command, picks up the item from waypoint 12, and places the item at waypoint 76. The middle path track is waypoint 12-14-16-17-33-34-35-36-37-38-98-97- 96-72-73-74-76, eg Figure 1 As shown, the waypoints 12, 14, 15, and 17 are in the room 102 on the first floor, the waypoints 33, 34, 35, 36, 37, and 38 are in the corridor on the first floor, and the waypoint 38 is the waypoint in front of the elevator door. Waypoints 98, 97, and 96 are in the corridor on the 4th floor, and 72, 73, 74, and 76 are in room 405 on the 4th floor. In the middle of the path, you need to pass through 3 gates. Use the elevator once. The waypoint in front of the gate is waypoint 17. , 35, 96.

[0094]After the delivery robot obtains the item at the pick-up point, it runs along the command path. When the delivery robot reaches the way point 17, it first sends the door opening command, and then uses the Kinect sensor to detect the opening of the access control. Afte...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a method of cooperative self-adaptation intelligent planning of a complex mixed path of a carrying robot. The method comprises the following steps: Step 1: constructing a three-dimensional coordinate system of a global map; Step 2: dividing the global map according to floor numbers, so as to acquire a two-dimensional map and a distance matrix of each floor; Step 3: acquiring coordinates of a starting point and a termination point of a transportation task in the three-dimensional coordinate system of the global map according to an instruction of the transportation task and planning a path by adopting a Floyd algorithm according to the distance matrix of each floor and distance matrixes of all corridors and rooms in each floor, so as to acquire a transportation planned path; Step 4: controlling the carrying robot to advance according to the planned path, so as to complete the transportation task. According to the method, module division is performed on a multi-floor environment, so that the calculated amount of the algorithm is decreased; the method comprises the interaction of an access control and an elevator and an obstacle avoidance strategy, so that the carrying robot can be configured to execute the transportation task in an intelligent environment conveniently.

Description

technical field [0001] The invention belongs to the path planning problem of a robot, and in particular relates to a collaborative adaptive intelligent planning method for a complex mixed path of a carrying robot. Background technique [0002] With the opening of the industry 4.0 era, artificial intelligence is hot, and robots have begun to enter daily life, laboratories, factories and other fields. Due to the rapid development of science and technology, robots have become more and more widely used, expanding from 95% of industrial applications to more non- Industrial applications play an increasingly important role in society. Moreover, since China promoted the development of the robot industry, it is growing into the world's largest robot market, and the "Chinese era" of robots may be coming soon. How to make robots serve humans more efficiently and intelligently is the focus of everyone's attention. Among them, the path planning and control of transportation robots is th...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D2201/0217
Inventor 刘辉李燕飞黄家豪金楷荣
Owner CENT SOUTH UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap