Mobile robot multi-machine multi-floor scheduling system and method
A mobile robot and scheduling method technology, applied in the field of mobile robots, can solve problems such as robot deadlock, failure to perform tasks, inability to resolve conflicts and cross-interference, and achieve the effects of solving interference problems, good pre-judgment effect, and simple operation.
Pending Publication Date: 2020-12-15
GUANGZHOU SAITE INTELLIGENCE TECH CO LTD
View PDF10 Cites 10 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, the existing scheduling method is based on the same map, on which the path planning is carried out, and whether the interference occurs is judged by whether the paths intersect. In this way, it is easy to cause the robot to shut down and deadlock in a narrow space, resulting in the failure of the execution task. , and it cannot solve the problem of conflict and cross-interference when multiple robots perform tasks on multiple floors
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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0024] A multi-floor dispatching system for a mobile robot, comprising a dispatching background and a mobile robot, the dispatching background is respectively connected to a plurality of mobile robots in communication, the dispatching background stores floor maps of each floor, and the floor maps are divided into several sequentially connected grid, the length of each grid is L, the width is K, and the coordinates of the four points of the grid where the origin (0,0) is located are (-L / 2,K / 2), (L / 2, K / 2), (L / 2,-K / 2), (-L / 2,-K / 2), the origin is located at the center of the grid, and the rest of the grids expand outwards on this basis until they cover The entire map; when a grid area is occupied, the grid is marked black, when the grid area is not occupied, the grid is marked white. The points in the grid map of each floor are represented by their coordinates in the grid map, and the points in different floors are distinguished by different floor number z values.
[0025] Prefe...
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
Login to View More Abstract
The invention discloses a mobile robot multi-machine multi-floor scheduling system and method. The scheduling method comprises the following steps that: a robot reports a current position and a targettask path to a scheduling background; the scheduling background sets the size of an interference area of a floor map and divides the floor map into a plurality of grids which are connected in sequence; and the scheduling background pre-judges whether a grid region through which the target task path of the robot passes interferes with other robots, marks the interfered grid region as black, and schedules the robot to walk, avoid, wait or replan a route according to the number of black grids. Rasterization processing is carried out on the map of the position where the robot is located, the gridsize can be redistributed according to actual requirements, the interference problem of the robot is solved in advance, the operation efficiency is improved, the pre-judgment effect is good, and theinterference problem caused by interference of multi-floor stop stations, opposite passing directions and opposite narrow channels can be solved.
Description
technical field [0001] The invention relates to the technical field of mobile robots, in particular to a mobile robot multi-machine multi-floor dispatching system and dispatching method. Background technique [0002] Whether in the field of intelligent robots or unmanned driving, mobile robots or unmanned vehicles need to carry out path planning and walking. When multiple robots pass in the same space, especially in narrow passages, it is easy to interfere with each other or even deadlock. Therefore, how to realize the effective walking of multiple robots at the same time without interfering with each other is an important task of the scheduling management background, which plays a very critical role in the operation of multiple robots. Moreover, in addition to moving on one plane to perform tasks, robots often also need to perform tasks between different floors, such as hospital delivery robots, which need to deliver items to different departments on different floors, so 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
Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0276G05D1/0219Y02P90/02
Inventor 赖志林王利红杨晓东
Owner GUANGZHOU SAITE INTELLIGENCE TECH CO LTD