Multi-robot collaborative scheduling method and device, equipment and medium

A collaborative scheduling and multi-robot technology, applied in two-dimensional position/channel control, instruments, control/regulation systems, etc., to achieve the effect of improving efficiency

Inactive Publication Date: 2019-08-02
ZHEJIANG UTRY INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies of the prior art, one of the objectives of the present invention is to provide a collaborative scheduling method for multiple robots, through the task allocation and path planning algorithm for dynamic environments, so that the tasks of the robots can be planned in real ...

Method used

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  • Multi-robot collaborative scheduling method and device, equipment and medium
  • Multi-robot collaborative scheduling method and device, equipment and medium
  • Multi-robot collaborative scheduling method and device, equipment and medium

Examples

Experimental program
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Embodiment 1

[0062] This embodiment provides a collaborative scheduling method for multi-robots, aiming to complete the real-time task assignment and path planning of multi-robots through the fusion of SOM neural network and locking mechanism, so that the total cost spent by multi-robots on the basis of completing tasks The cost is the least, and the tasks are executed in an orderly and independent manner in the process of traveling without interfering with each other. Combined with the artificial potential field method, the real-time path is dynamically planned, and the obstacle avoidance process is realized, so that the robot performing the task can safely and without collision. Follow the planned path to reach the task execution point, and execute the task content.

[0063] According to the above principles, the collaborative scheduling method for multi-robots is introduced, such as figure 1 As shown, the collaborative scheduling method for multi-robots specifically includes the followi...

Embodiment 2

[0135] This embodiment corresponds to the multi-robot collaborative scheduling method in Embodiment 1, and discloses a multi-robot collaborative scheduling device, which is the virtual device structure of the above-mentioned embodiment 1, please refer to image 3 shown, including:

[0136] An information acquisition module 310, configured to acquire task information and environment information of the robot, the task information includes task execution points and task content, and the environment information includes the robot's own positioning and obstacle information;

[0137] The task assignment and path planning module 320 uses the SOM neural network and the locking mechanism to assign tasks to the robot and simultaneously plan the initial movement path;

[0138] The path update module 330, according to the environmental information, uses the artificial potential field method to dynamically calculate the real-time moving direction of the robot performing the task, and dynam...

Embodiment 3

[0143] In this embodiment, based on the collaborative scheduling method and device for multi-robots in Embodiment 1 and Embodiment 2, simulation experiments are carried out for static working environments and different dynamic working environments.

[0144] In this embodiment, a computer with 4G memory and a 3.07GHz Pentium processor is used for simulation in the Windows7 system. The size of the two-dimensional workspace is set to 30*30. In order to ensure that the experiment is more representative and convincing, the initial position of the mobile robot, the position of the task and the position of the obstacle are set randomly in each experiment.

[0145] In the simulation experiment of this embodiment, the completion of the task by the robot is defined as the arrival of the task execution point by the robot, wherein, in Figure 4 to Figure 8 In , the robot is denoted as R, and the task execution point is denoted as T. The specific experimental results are as follows:

[01...

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Abstract

The invention discloses a multi-robot collaborative scheduling method, and relates to the technical field of multi-robot control. The method can solve the problem of task allocation and path planningof multiple robots under a dynamic environment. The method comprises the following steps: dynamically obtaining task information and environment information of the robots; allocating tasks to the robots and planning an initial moving path at the same time by utilizing an SOM neural network and a lock mechanism according to the task information and environment information; and dynamically calculating the moving direction of the robot performing the task by utilizing an artificial potential field method according to the environment information, thereby updating the moving path. The invention also discloses a multi-robot collaborative scheduling device, electronic equipment and a computer storage medium. The method and device solve the problem of multi-robot collaborative task scheduling andallocation, and can improve communication efficiency of the robots in the scheduling process.

Description

[0001] technology neighborhood [0002] The present invention relates to a multi-robot control neighborhood, in particular to a multi-robot cooperative scheduling method, device, equipment and medium. Background technique [0003] With the continuous development of robots in areas such as smart logistics, smart warehousing, automated driving, cleaning, and unmanned hotels, smart robots have gradually replaced traditional single-operation activities in human work and life. Compared with single-machine robot systems, multi-robot systems can improve the flexibility, robustness, and fault tolerance of the system, and can be widely used in many adjacent fields such as intelligent manufacturing, patrol monitoring, search and rescue, and transportation and logistics. [0004] The ability of a coordinated multi-robot system is far greater than that of a single-robot system, and the multi-robot system can also achieve complex tasks that cannot be achieved by a single-robot system. Whe...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/0287
Inventor 嵇望汪斌林达刘婧
Owner ZHEJIANG UTRY INFORMATION TECH CO LTD
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