Method for cluster control of multiple sweeping robots in unmanned workshop

Abstract

The invention discloses a cluster control method for multiple sweeping robots in an unmanned workshop. UWB base stations are placed at four corners of the unmanned workshop. According to the cluster algorithm, a K-means optimization algorithm, an A * algorithm and a B-begins algorithm are utilized to finally calculate an optimal path of global traversal under any obstacle. The dotted lines are paths of the three robots from the starting points to the starting points of the areas and are obtained through an A * algorithm. The solid line is the traversal route of the three robots obtained by the algorithm under the current obstacle condition. Meanwhile, the three robots are provided with inertial navigation modules XSENS, vertical walking and horizontal walking are achieved through PID control, it is ensured that each area is cleaned, and no omission exists. According to the method, the optimal path under the conditions of different vehicle numbers and different obstacles can be calculated through a path planning algorithm, and for cluster control of three robots, the operation time can be at least shortened to 1 / 3 of the original operation time, so that the operation efficiency is greatly improved, and global traversal is realized.

Description

technical field [0001] The present invention mainly solves the cleaning problem of large-scale unmanned workshops, adopts innovative cluster navigation algorithm, realizes multi-vehicle cluster cleaning based on UWB (Ultra Wide Band, ultra-wide band), and greatly improves work efficiency. Background technique [0002] With the improvement of my country's scientific and technological strength, the industrial field is developing towards a highly intelligent direction. At present, most "10,000-person workshops" have become "10,000-person unmanned workshops". These workshops all have high requirements for environmental hygiene and need to be sterilized and cleaned regularly according to the standard. In order to save manpower and reduce costs, many workshops currently use various sweeping robots existing in the market. However, sterilization cleaning and workshop operations often cannot be performed at the same time. Therefore, for most large workshops, in order to reduce time...

AI Technical Summary

Problems solved by technology

The large area of ​​the workshop also leads to a long cleaning time for a single robot, and the battery life of the robot will also limit the work efficiency to a certain extent.

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