A kind of control method of traffic control dangerous area

Abstract

The invention relates to a control method for a traffic control dangerous area, comprising: when the number of robots in the traffic control dangerous area exceeds a first threshold, at least one robot in the traffic control dangerous area receives a request for establishing a network of a traffic control system; at least one robot in the traffic control dangerous area Based on the local communication network, one robot obtains the precise position information of each robot in the traffic control dangerous area and interacts with the traffic control system; at least one robot receives the path information of each robot in all the robots in the traffic control dangerous area issued by the traffic control system, and communicates with the traffic control system. Based on the precise position information and path information, the optimal path of each robot in the traffic control danger area is obtained, and the corresponding robot is sent through the local communication network, so that the robot receiving the optimal path executes the optimal path to avoid collision in the traffic control danger area . The method of the invention can effectively avoid the collision risk of the robot in the dangerous area of ​​traffic control, and improve the passing efficiency of the dangerous area of ​​traffic control.

Description

technical field [0001] The invention relates to the technical field of robots, and in particular, to a control method for a dangerous area of ​​traffic control. Background technique [0002] At present, in the application scenarios of mobile robots such as warehouses, there are often multiple or dozens of robots working together. Due to the limited space of the operating area, in some important areas with large traffic such as intersections / circular paths / robot rotations (Without loss of generality, this type of area is called a traffic control danger area), conflicts will inevitably occur. In these positions, the distance between mobile robots is often close. If the mobile robot has a blind spot in obstacle detection, it will cause the robot A collision accident may result in damage to the robot itself or loss of transported materials. At the same time, when multiple mobile robots pass through these easily congested areas, the pros and cons of the traffic control strategy ...

AI Technical Summary

Problems solved by technology

[0005] 1) Due to the inconsistency of the sensors on each robot, the inconsistency in the calibration of the external parameters of the sensors, and the errors in the positioning algorithm, there must be errors and inconsistencies in the position reported by each robot to the traffic control system, resulting in the traffic control system. The relative positional relationship with the robot is inaccurate, and there is a certain error

However, due to the existence of the above-mentioned errors, in the dangerous area of ​​traffic control, the traffic control strategy must reserve a large margin and waiting space to ensure a safe distance between multiple robots, and cannot maximize the use of space to improve the passing rate of mobile robots

[0006] 2) The communication delay and uncertainty between each robot and the server of the traffic management system. In particular, at present, a large number of traffic management systems use WIFI networks to communicate with mobile robots, and there are two or more APs (Access Point, wireless access point) when the robot is disconnected for a short time. Therefore, there is a certain delay in the location information of each robot obtained by the traffic control system. In order to ensure the safety of the entire operating system of the robot, the traffic control strategy must be kept A large margin ensures safe operation between multiple robots

[0007] Therefore, due to the inconsistency and errors in the positioning information between the multi-robots, as well as the uncertainty and delay in the communication between the multi-robots and the traffic control system, the fine control of the operation of the robots that intersect with each other has not been realized.

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