Branch node type path scheduling method, apparatus, background server and first robot

A background service and scheduling device technology, applied in the field of robots, can solve problems such as robot deadlocks, and achieve the effect of solving deadlocks

Active Publication Date: 2018-12-21
GUANGZHOU DREAM ONE ROBOT AUTOMATION CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the embodiments of the present invention is to provide a branch path scheduling method, device, background server and first robot, by planning the moving paths of multiple robots into branch paths, and according to the specific obstacles encountered , make reasonable avoidance respectively, which solves the "deadlock" problem of group robots in the same map

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  • Branch node type path scheduling method, apparatus, background server and first robot
  • Branch node type path scheduling method, apparatus, background server and first robot
  • Branch node type path scheduling method, apparatus, background server and first robot

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no. 1 example

[0038] Please refer to Figure 4 , Figure 4 It shows the flow chart of the branch path scheduling method applied to the background server 100 provided by the embodiment of the present invention. The background server 100 communicates with the first robot 300 and the second robot 500. The branch path includes the main path and the branch path, wherein, the main path and the branch path are connected through a connection point, and there are multiple task points arranged within the preset range of the main path and the branch path, and the first robot 300 or the second robot 500 can reach the preset path through the main path and the branch path. Mission points to complete preset missions. When the first robot 300 or the second robot 500 moves on the main path, it moves in one direction in sequence, that is, on the main path, the first robot 300 and the second robot 500 or any two second robots 500 will not meet head-on , and the first robot 300 in the back will not avoid the...

no. 2 example

[0074] Please refer to Figure 9 , Figure 9 A schematic block diagram of the first branch path scheduling apparatus 200 provided by the embodiment of the present invention is shown. The first branch path scheduling device 200 is applied to the background server 100 and includes a first receiving module 201 ; a judgment module 202 ; a waiting module 203 ; and a first avoidance module 204 .

[0075] The first receiving module 201 is configured to receive an obstacle handling request sent by the first robot, wherein the obstacle handling request is generated when the first robot encounters an obstacle.

[0076] In the embodiment of the present invention, the first receiving module 201 is configured to execute step S101.

[0077] The judging module 202 is configured to judge whether the obstacle is the second robot based on the obstacle processing request.

[0078]In the embodiment of the present invention, the judging module 202 is configured to execute step S102 and its sub-...

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Abstract

The invention relates to the technical field of robots, and provides a branch node type path scheduling method, an apparatus, a background server and a first robot. The method comprises the followingsteps: receiving an obstacle processing request sent by the first robot; judging whether the obstacle is a second robot or not based on the obstacle processing request; sending a waiting instruction to the first robot to enable the first robot to execute the waiting instruction if the obstacle is the second robot, and waiting for a preset time at a current position of the first robot; and sendingan avoidance instruction to the first robot to enable the first robot to execute the avoiding instruction, so as to avoid the obstacle if the obstacle is not the second robot. According to the branchnode type path scheduling method, the apparatus, the background server and the first robot, moving paths of a plurality of robots are planned into branch node type paths, obstacles are uniformly and reasonably avoided in the background, thereby avoiding the deadlock problems that the plurality of robots is blocked to each other and the paths are constantly planned.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular, to a branch path scheduling method, a device, a background server and a first robot. Background technique [0002] At present, with the rapid development of new technologies, the application of robots is becoming more and more extensive, and the scene where there are more than one robot on the same map is becoming more and more common. When the paths of the above robots are the same or opposite, multiple robots regard other robots as obstacles at the same time and avoid obstacles at the same time, that is to say, multiple robots are avoiding obstacles while the obstacles are constantly moving. In this case It is easy for multiple robots to keep looking for the obstacle avoidance path, and the position change of the obstacle makes the obstacle avoidance path constantly change. This is the "deadlock" problem of the swarm robot. Contents of the invention [0003] The purpose...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 刘亚军谢庆华
Owner GUANGZHOU DREAM ONE ROBOT AUTOMATION CO LTD
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