CN109164806A - Mobile robot dispatching device and method - Google Patents
Mobile robot dispatching device and method Download PDFInfo
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- CN109164806A CN109164806A CN201810998482.2A CN201810998482A CN109164806A CN 109164806 A CN109164806 A CN 109164806A CN 201810998482 A CN201810998482 A CN 201810998482A CN 109164806 A CN109164806 A CN 109164806A
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- 230000000903 blocking effect Effects 0.000 abstract description 4
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- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 9
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- 230000008859 change Effects 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of mobile robot dispatching device and methods, are related to intelligent robot.If two of them mobile robot is distributed as presetting bicycle path towards the lane in path locating for a mobile robot in the movement of the direction of joint and two of them mobile robot, when the lane in path locating for another mobile robot is distributed as presetting multilane path and is located at the mobile robot of bicycle path at a distance from the mobile robot in multilane path in preset range, pause move is sent to the mobile robot positioned at bicycle path, to be not in mutual blocking when importing multilane path in the mobile robot for being located at bicycle road path (robot mutually stops the problem of stalling circle there is a phenomenon where the continuous contexture by self path of robot), since bicycle road is only capable of that a mobile robot is allowed to pass through, advance can only be successively lined up, mobile machine in multilane People also only travels along lane or changing Lane, it is achieved that the orderly movement of mobile robot, ensure that the normal operation of mobile robot.
Description
Technical field
The present invention relates to field in intelligent robotics, in particular to a kind of mobile robot dispatching device and method.
Background technique
Mobile robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can be with
The program of preparatory layout is run, it can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist
Or replace the work of human work, such as production industry, construction industry, or dangerous work.It is more when needing to place in the same area
When a mobile robot carries out operation, the included automatic obstacle avoiding mode of current mobile robot can make to be easy to occur at crossing
Mutually the case where obstruction, the movement for also resulting in multiple mobile robots is disorderly and unsystematic, influences the normal operation of robot.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of mobile robot dispatching device and method, to change
It is apt to above-mentioned problem.
In a first aspect, the embodiment of the invention provides a kind of mobile robot dispatching device, the mobile robot scheduling
Device includes:
Information receiving unit, for receiving at least two mobile robots according to pre-stored mobile route in moving process
The grid coordinate of middle feedback；Wherein, the mobile route includes one or more movement routines, each mobile robot
Be pre-stored with the lane distribution that mobile route and movement routine include, and the pre-stored mobile route of different mobile robot it
Between have joint；
Judging unit, for judging whether two of them mobile robot crosses towards described according to the grid coordinate of feedback
The lane in path locating for the direction movement of point and a mobile robot in the two of them mobile robot is distributed
No is presetting bicycle path, and whether the lane distribution in path locating for another mobile robot is presetting multilane
Path and be located at bicycle path mobile robot be located at multilane path mobile robot at a distance from whether presetting
Determine in range；
Instruction generation unit, if for two of them mobile robot towards the direction of the joint it is mobile and it is described its
In the lane in path locating for a mobile robot in two mobile robots be distributed as presetting bicycle path, separately
The lane in path locating for one mobile robot is distributed as presetting multilane path and is located at the moving machine of bicycle path
When device people is at a distance from the mobile robot in multilane path in preset range, pause move is generated；
Information transmitting unit is sent to the mobile robot positioned at bicycle path for that will suspend move.
Second aspect, the mobile robot dispatching method include:
Receive the grid coordinate that at least two mobile robots are fed back in moving process according to pre-stored mobile route；
Wherein, the mobile route includes one or more movement routines, and each mobile robot is pre-stored with mobile route
And the lane distribution that movement routine includes, and there is joint between the pre-stored mobile route of different mobile robot, and
The path width is only capable of that a mobile robot is allowed to pass through；
Grid coordinate according to feedback judges whether two of them mobile robot is mobile towards the direction of the joint
And whether the lane distribution in path locating for a mobile robot in the two of them mobile robot is presetting
Whether the lane distribution of bicycle path, path locating for another mobile robot is presetting multilane path and is located at single
Whether the mobile robot of lane path is at a distance from the mobile robot for being located at multilane path in preset range；
If the two of them mobile robot mobile and described two of them mobile robot towards the direction of the joint
In a mobile robot locating for the lane in path be distributed as presetting bicycle path, locating for another mobile robot
Path lane be distributed as presetting multilane path and be located at bicycle path mobile robot be located at multilane
When the distance of the mobile robot in path is in preset range, pause move is generated；
Pause move is sent to the mobile robot positioned at bicycle path.
Compared with prior art, mobile robot dispatching device provided by the invention and method, if two of them moving machine
Device is per capita locating for a mobile robot towards the direction of the joint in the mobile and described two of them mobile robot
The lane in path is distributed as presetting bicycle path, and the lane in path locating for another mobile robot is distributed as presetting
Multilane path and be located at bicycle path mobile robot with positioned at multilane path mobile robot at a distance from
When in preset range, pause move is sent to the mobile robot positioned at bicycle path, thus being located at bicycle
The mobile robot of path is not in that (robot mutually stops that robot can occur for mutual blocking when importing multilane path
Not the problem of continuous contexture by self path does not stall circle) the phenomenon that, and since bicycle road is only capable of allowing a mobile robot logical
It crosses, mobile robot cannot get around the mobile robot in front according to the avoidance program of itself, it can only be successively lined up advance,
And be located at the mobile robot in multilane and also only travelled along lane or changing Lane, it is achieved that mobile machine
The orderly movement of people, ensure that the normal operation of mobile robot, improve the operating efficiency of mobile robot.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is the interaction schematic diagram of server provided in an embodiment of the present invention and multiple mobile robots；
Fig. 2 is the structural block diagram of server provided in an embodiment of the present invention；
Fig. 3 is the functional block diagram of mobile robot dispatching device provided in an embodiment of the present invention；
Fig. 4 is schematic diagram of a scenario of the mobile robot provided in an embodiment of the present invention in moving process；
Fig. 5 is the flow chart of mobile robot dispatching method provided in an embodiment of the present invention.
Icon: 100- server；200- mobile robot dispatching device；300- mobile robot；101- memory；102-
Storage control；103- processor；104- Peripheral Interface；105- joint；301- information receiving unit；302- judging unit；
303- instruction generation unit；304- information transmitting unit；305- virtual wall generation unit；The lane 306- determination unit.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Mobile robot dispatching device provided by present pre-ferred embodiments and method can be applied to server 100.Its
In, as shown in Fig. 2, server 100 is interacted with multiple mobile robots 300 respectively by network.Fig. 2 shows the present invention
The structural block diagram of server 100 in embodiment.As shown in Fig. 2, server 100 includes mobile robot dispatching device 200, deposits
Reservoir 101, storage control 102, one or more (one is only shown in figure) processors 103, Peripheral Interface 104 etc..These
Component is mutually communicated by one or more communication bus/signal wire.The mobile robot dispatching device 200 includes at least one
It is a to be stored in the memory 101 or be solidificated in the server 100 in the form of software or firmware (firmware)
Software function module in operating system (operating system, OS).
Memory 101 can be used for storing software program and module, as in the embodiment of the present invention picture processing unit and
Program instruction/module corresponding to method, the software program and mould that processor 103 is stored in memory 101 by operation
Block, thereby executing various function application and data processing, such as mobile robot dispatching method provided in an embodiment of the present invention.
Memory 101 may include high speed random access memory, may also include nonvolatile memory, such as one or more magnetic
Property storage device, flash memory or other non-volatile solid state memories.Processor 103 and other possible components are to storage
The access of device 101 can carry out under the control of storage control 102.
Various input/output devices are couple processor 103 and memory 101 by Peripheral Interface 104.In some implementations
In example, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.In some other reality
In example, they can be realized by independent chip respectively.
It is appreciated that structure shown in Fig. 2 is only to illustrate, server 100 may also include than shown in Fig. 2 more or more
Few component, or with the configuration different from shown in Fig. 2.Each component shown in Fig. 2 can use hardware, software or its group
It closes and realizes.
Referring to Fig. 3, the embodiment of the present invention improves a kind of mobile robot dispatching device 200, the mobile robot
Dispatching device 200 includes information receiving unit 301, judging unit 302, instruction generation unit 303, information transmitting unit 304, void
Quasi- wall generation unit 305 and lane determination unit 306.
Information transmitting unit 304 is also used to send mobile route and move at least two mobile robots 300.
Wherein, mobile route includes one or more movement routines, and each mobile robot 300 is pre-stored with shifting
The lane distribution that dynamic route and movement routine include, and have between the pre-stored mobile route of different mobile robot 300
Joint 105.Each mobile robot 300 includes to movement routine after receiving the lane distribution that movement routine includes
Lane distribution is stored, and after receiving move, is started and moved along mobile route, and in mobile robot
When 300 all is clear ahead, each mobile robot 300 cannot cross the boundary in the lane that movement routine includes and enter and move
Region other than the lane distribution that dynamic path includes.
The grid coordinate and lane grid that lane determination unit 306 is used to feed back in moving process when mobile robot 300
When the distance of lattice coordinate is in presetting range, determine that the mobile robot 300 is in associated with the lane grid coordinate
Lane.
Wherein, movement routine includes multilane movement routine and bicycle road movement routine, when mobile robot 300 is in more vehicles
When road movement routine, it is necessary to be moved along the extending direction in lane, before the program of mobile robot 300 itself determines distance
It, can be with auto-changing lane when the barrier of side is in presetting distance range.
The information receiving unit 301 is receiving the first enabled instruction for receiving at least two mobile robots 300
The grid coordinate of start position feedback afterwards.Mobile robot 300 installs position sensor, can send the grid of itself in real time
Lattice coordinate is to information receiving unit 301.
Virtual wall generation unit 305 generates virtual wall in the corresponding start position of grid coordinate.
The program limitation mobile robot 300 of mobile robot 300 itself cannot cross virtual wall, therefore, so that each
Mobile robot 300 can only be orderly advance.
Information receiving unit 301 is also used to receive at least two mobile robots 300 and exists according to pre-stored mobile route
The grid coordinate fed back in moving process.
Whether judging unit 302 is used to judge two of them mobile robot 300 towards institute according to the grid coordinate of feedback
State path locating for a mobile robot 300 in the direction movement and the two of them mobile robot 300 of joint
Lane distribution whether be presetting bicycle path, whether the lane distribution in path locating for another mobile robot 300
For presetting multilane path and it is located at the mobile robot 300 of bicycle path and is located at the mobile machine in multilane path
Whether the distance of people 300 is in preset range.
Specifically, as shown in figure 4, can determine whether according to the mobile route for being stored in two mobile robots 300 is prestored respectively
Whether two of them mobile robot 300 is mobile towards the direction of the joint 105.When two mobile robots 300 are distinguished
When at a distance from the joint 105 in preset range, if two mobile robots 300 move on, having can
It can be blocked in joint 105, it is therefore desirable to control one of them and halt.
If whether instruction generation unit 303 moves towards the direction of the joint for two of them mobile robot 300
Whether the lane distribution in path locating for a mobile robot 300 in the dynamic and described two of them mobile robot is default
Whether the lane distribution of fixed bicycle path, path locating for another mobile robot 300 is presetting multilane path
And be located at bicycle path mobile robot 300 with positioned at multilane path mobile robot 300 at a distance from whether pre-
When in setting range, pause move is generated.
Information transmitting unit 304 is used to suspend move and is sent to mobile robot 300 positioned at bicycle path.
The judging unit 302 is also used to according to the grid coordinate judgement mobile robot for being located at multilane path
Whether 300 have already passed through the joint 105.
When the mobile robot 300 positioned at multilane path has already passed through the joint 105, sends second and open
Dynamic instruction is extremely located at the mobile robot 300 of bicycle path.
In the present embodiment, the mobile robot 300 in multilane path of offing normal has higher priority, is located at multilane path
Mobile robot 300 receive pause move after suspend movement avoided, when be located at multilane path movement
When robot 300 has already passed through the joint 105, the mobile robot 300 for being then within bicycle path receives second
Joint 105 is moved over after enabled instruction, to avoid mobile robot 300 from blocking, so that multiple mobile machines
The orderly movement of people 300.
Described instruction generation unit 303 is also used to when two mobile robots 300 in same bicycle path
When distance is less than presetting secure threshold, pause move is generated, the information transmitting unit 304 is also used to will be described temporary
Stop in two mobile robots 300 that move is sent in same bicycle path along moving direction moving rearward
Robot 300, so as to realize the orderly advance of mobile robot 300.
Referring to Fig. 5, the embodiment of the invention also provides a kind of mobile robot dispatching method, the mobile robot tune
Degree method includes:
Step S401: mobile route and move are sent at least two mobile robots 300.
Step S402: it is anti-to receive start position of at least two mobile robots 300 after receiving the first enabled instruction
The grid coordinate of feedback.
Step S403: virtual wall is generated in the corresponding start position of grid coordinate.
Step S404: it is anti-in moving process according to pre-stored mobile route that at least two mobile robots 300 are received
The grid coordinate of feedback.
Wherein, the mobile route includes one or more movement routines, and each mobile robot 300 is pre-stored
The lane distribution for thering is mobile route and movement routine to include, and between the pre-stored mobile route of different mobile robot 300
With joint 105.Extending direction along each lane in the multilane path is provided with lane grid coordinate, moving machine
Device people's dispatching method further include: when the grid coordinate and lane grid coordinate that mobile robot 300 is fed back in moving process
When distance is in presetting range, determine that the mobile robot 300 is in and the associated lane of lane grid coordinate.
Step S405: the grid coordinate according to feedback judges whether two of them mobile robot 300 crosses towards described
The lane distribution in path locating for the direction movement of point and a mobile robot 300 in the two of them mobile robot
It whether is presetting bicycle path, whether the lane distribution in path locating for another mobile robot 300 is presetting
Multilane path and be located at bicycle path mobile robot 300 be located at multilane path mobile robot 300 away from
From whether in preset range, if so, thening follow the steps S405.
Step S406: pause move is generated.
Step S407: pause move is sent to the mobile robot 300 positioned at bicycle path.
Step S408: whether passed through according to the grid coordinate judgement mobile robot 300 positioned at multilane path
The joint 105 is crossed, if so, thening follow the steps S409.
Step S409: the second enabled instruction is sent to the mobile robot 300 for being located at bicycle path.
Step S410: when the distance of two mobile robots 300 in same bicycle path is less than presetting
When secure threshold, pause move is generated.
Step S411: the pause move is sent to two mobile robots in same bicycle path
Mobile robot 300 in 300 along moving direction rearward.
In conclusion the mobile robot dispatching device and method, if two of them mobile robot crosses towards described
The lane in path locating for the direction movement of point and a mobile robot in the two of them mobile robot is distributed as
The lane of presetting bicycle path, path locating for another mobile robot is distributed as presetting multilane path and position
In bicycle path mobile robot be located at multilane path mobile robot at a distance from preset range when, will
Pause move is sent to the mobile robot positioned at bicycle path, thus in the mobile robot for being located at bicycle road path
It is not in that (robot mutually stops that the continuous contexture by self path of robot can occur not for mutual blocking when importing multilane path
The problem of stalling circle) the phenomenon that, and since bicycle road is only capable of that a mobile robot is allowed to pass through, mobile robot cannot root
The mobile robot that front is got around according to the avoidance program of itself can only successively be lined up advance, and the shifting being located in multilane
Mobile robot is also only travelled along lane or changing Lane, it is achieved that the orderly movement of mobile robot, guarantees
The normal operation of mobile robot, improves the operating efficiency of mobile robot.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Claims (10)
1. a kind of mobile robot dispatching device, which is characterized in that the mobile robot dispatching device includes:
Information receiving unit, it is anti-in moving process according to pre-stored mobile route for receiving at least two mobile robots
The grid coordinate of feedback；Wherein, the mobile route includes one or more movement routines, and each mobile robot prestores
It contains the lane distribution that mobile route and movement routine include, and has between the pre-stored mobile route of different mobile robot
There is joint；
Judging unit, for judging two of them mobile robot whether towards the joint according to the grid coordinate of feedback
Direction is mobile and the two of them mobile robot in a mobile robot locating for path lane distribution whether be
Whether the lane distribution of presetting bicycle path, path locating for another mobile robot is presetting multilane path
And be located at bicycle path mobile robot with positioned at multilane path mobile robot at a distance from whether in presetting model
In enclosing；
Instruction generation unit, if mobile towards the direction of the joint for two of them mobile robot and described wherein two
The lane in path locating for a mobile robot in a mobile robot is distributed as presetting bicycle path, Ling Yiyi
The lane in path locating for mobile robot is distributed as presetting multilane path and is located at the mobile robot of bicycle path
When at a distance from the mobile robot for being located at multilane path in preset range, pause move is generated；
Information transmitting unit is sent to the mobile robot positioned at bicycle path for that will suspend move.
2. mobile robot dispatching device according to claim 1, which is characterized in that the mobile robot dispatching device
Further include:
The information transmitting unit is also used to send mobile route and move at least two mobile robots；
The information receiving unit is used to receive at least two mobile robots and plays point after receiving the first enabled instruction
Set the grid coordinate of feedback；
Virtual wall generation unit, for generating virtual wall in the corresponding start position of grid coordinate.
3. mobile robot dispatching device according to claim 1, which is characterized in that the judging unit is also used to foundation
Whether the mobile robot that grid coordinate judgement is located in multilane path has already passed through the joint；
When the mobile robot in multilane path has already passed through the joint, the second enabled instruction is sent extremely
The mobile robot in bicycle path.
4. mobile robot dispatching device according to claim 1, which is characterized in that described instruction generation unit is also used to
When the distance of two mobile robots in same bicycle path is less than presetting secure threshold, generates pause and move
Dynamic instruction；
The information transmitting unit is also used to the pause move being sent to two in same bicycle path
Mobile robot in mobile robot along moving direction rearward.
5. mobile robot dispatching device according to claim 1, which is characterized in that along each of described multilane path
The extending direction in lane is provided with lane grid coordinate, the mobile robot dispatching device further include:
Lane determination unit, grid coordinate and lane grid coordinate for being fed back in moving process when mobile robot away from
When from presetting range, determine that the mobile robot is in and the associated lane of lane grid coordinate.
6. a kind of mobile robot dispatching method, which is characterized in that the mobile robot dispatching method includes:
Receive the grid coordinate that at least two mobile robots are fed back in moving process according to pre-stored mobile route；Its
In, the mobile route includes one or more movement routines, each mobile robot be pre-stored with mobile route and
The distribution of lane that movement routine includes, and there is joint, and institute between the pre-stored mobile route of different mobile robot
Path width is stated to be only capable of that a mobile robot is allowed to pass through；
Whether the grid coordinate according to feedback judges two of them mobile robot towards the movement of the direction of the joint and institute
Whether the lane distribution for stating path locating in two of them mobile robot mobile robot is presetting bicycle
Whether the lane distribution of path, path locating for another mobile robot is presetting multilane path and is located at bicycle road
Whether the mobile robot in path is at a distance from the mobile robot for being located at multilane path in preset range；
If two of them mobile robot is towards the direction of the joint in the mobile and described two of them mobile robot
The lane in path locating for one mobile robot is distributed as presetting bicycle path, road locating for another mobile robot
The lane of diameter is distributed as presetting multilane path and is located at the mobile robot of bicycle path and is located at multilane path
Mobile robot distance in preset range when, generate pause move；
Pause move is sent to the mobile robot positioned at bicycle path.
7. mobile robot dispatching method according to claim 6, which is characterized in that receive at least two movements described
Before the step of grid coordinate that robot is fed back in moving process according to pre-stored mobile route, the mobile robot
Dispatching method further include:
Mobile route and move are sent at least two mobile robots；
Receive the grid coordinate of start position feedback of at least two mobile robots after receiving the first enabled instruction；
Virtual wall is generated in the corresponding start position of grid coordinate.
8. mobile robot dispatching method according to claim 6, which is characterized in that send out pause move described
After the step of sending to positioned at the mobile robot of bicycle path, the mobile robot dispatching method further include:
It is located at whether the mobile robot in multilane path has already passed through the joint according to grid coordinate judgement；
When the mobile robot in multilane path has already passed through the joint, the second enabled instruction is sent extremely
The mobile robot in bicycle path.
9. mobile robot dispatching method according to claim 6, which is characterized in that the mobile robot dispatching method
Further include: it is raw when the distance of two mobile robots in same bicycle path is less than presetting secure threshold
At pause move；
The pause move is sent in two mobile robots in same bicycle path along moving direction
Mobile robot rearward.
10. mobile robot dispatching method according to claim 6, which is characterized in that along the every of the multilane path
The extending direction in a lane is provided with lane grid coordinate, the mobile robot dispatching method further include:
When the grid coordinate that mobile robot is fed back in moving process at a distance from the grid coordinate of lane in presetting range
When interior, determine that the mobile robot is in and the associated lane of lane grid coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810998482.2A CN109164806A (en) | 2018-08-29 | 2018-08-29 | Mobile robot dispatching device and method |
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