CN104111656A - Navigation control system applying plurality of mobile robot platforms and control method of navigation control system - Google Patents
Navigation control system applying plurality of mobile robot platforms and control method of navigation control system Download PDFInfo
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- CN104111656A CN104111656A CN201410383875.4A CN201410383875A CN104111656A CN 104111656 A CN104111656 A CN 104111656A CN 201410383875 A CN201410383875 A CN 201410383875A CN 104111656 A CN104111656 A CN 104111656A
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Abstract
The invention provides a navigation control system applying a plurality of mobile robot platforms. The navigation control system is capable of walking on a magnetic stripe track in a wireless control manner and obtaining a specific position by virtue of a self RFID sensor. The invention also provides a control method of the navigation control system applying the plurality of mobile robot platforms. The control method is used for planning shortest paths of the plurality of mobile platforms.
Description
Technical field
The present invention relates to robot field, be specifically related to the control method of a kind of many mobile robot platform navigation control systems and these many mobile robot platform navigation control systems.
Background technology
Along with Robotics is goed deep into the every field of industrial automation gradually, mobile robot is bringing into play increasing effect in commercial production.Existing Robotics is all to control separately carrying out the single mobile robot of separate operaton mostly, although so also can finish the work, but separately each robot is controlled and makes operating efficiency low, and during a plurality of mobile robots operation simultaneously, also there will be the unreasonable and situation about bumping against of route planning.
Summary of the invention
The object of the invention is to solve the problem that prior art exists, a kind of many mobile robot platform navigation control systems are provided, can on magnetic stripe track, walk by the mode of controlled in wireless, and obtain its particular location by self RFID sensor; The present invention also provides a kind of control method of many mobile robot platform navigation control systems, for mobile platform is carried out to shortest path planning.
In order to reach above-mentioned technical purpose, the present invention by the following technical solutions:
A kind of many mobile robot platform navigation control systems, comprise magnetic stripe guidance path and mobile platform, described mobile platform comprises master control borad, motor-driven mechanism and magnetic stripe sensor, crossing intersection part in described magnetic stripe guidance path is provided with rfid card, described mobile platform is provided with RFID sensor, and described mobile platform is provided with wireless transmitter.
As such scheme preferably, described mobile platform has a plurality of.
A kind of many mobile robot platform navigation control systems provided by the invention have the following advantages compared to existing technology:
1, a kind of many mobile robot platform navigation control systems provided by the invention can be walked by the mode of controlled in wireless on magnetic stripe track, and obtain its particular location by self RFID sensor.
2, in this navigational system, can there is the operation simultaneously of a plurality of mobile platforms, improve work efficiency.
The present invention also provides the control method of many mobile robot platform navigation control systems, for controlling many above-mentioned mobile robot platform navigation control systems, comprises the steps:
Definition unit distance, is provided with unit distance by the distance between every adjacent two intersections in magnetic stripe guidance path;
Intersection is identified, the rfid card in magnetic stripe guidance path is numbered;
Shortest path planning, according to the onset point of mobile platform and point of destination, cook up the shortest path being formed by the shortest a plurality of unit distances and send to mobile platform, mobile platform receives the magnetic stripe of following according to magnetic stripe sensor after shortest path by wireless transmitter and advances, and uploads the numbering of rfid card in traveling process during approach intersection by wireless transmitter.
As such scheme preferably, described mobile platform comprises a plurality of, a plurality of mobile platforms are numbered, in this step of shortest path planning, when this mobile platform advances to an intersection, also comprise and keep away barrier, in the next unit distance that this mobile platform will pass through according to shortest path and on next intersection, whether have other mobile platform, if exist, this mobile platform is out of service or select other paths to move.
As such scheme preferably, described mobile platform is carried out different tasks.
A kind of carrying platform navigation control method provided by the invention has the following advantages compared to existing technology:
1, the control method of a kind of many mobile robot platform navigation control systems provided by the invention, for carrying out shortest path planning to mobile platform.
2, when a plurality of mobile platforms are carried out different task simultaneously, in the process of path planning, also to comprise and keep away barrier, so that all walkings safely of a plurality of mobile platform.
3, a plurality of mobile platforms are carried out different tasks, only need to consider the walking path of mobile platform while making to carry out path planning, and need not consider the cooperation of a plurality of mobile platform attitudes.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structured flowchart of mobile platform provided by the invention;
Fig. 2 is the structured flowchart of many mobile robot platform navigation control systems provided by the invention;
Fig. 3 is the process flow diagram of the control method of many mobile robot platform navigation control systems provided by the invention;
Fig. 4 is the path planning process flow diagram of the control method of many mobile robot platform navigation control systems provided by the invention;
Fig. 5 is the illustraton of model of embodiment of the control method of many mobile robot platform navigation control systems provided by the invention.
Embodiment
Below in conjunction with accompanying drawing of the present invention, technical scheme of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
As depicted in figs. 1 and 2, the invention provides a kind of many mobile robot platform navigation control systems, comprise magnetic stripe guidance path and a plurality of mobile platform, described mobile platform comprises master control borad, motor-driven mechanism, magnetic stripe sensor and RFID sensor, crossing intersection part in described magnetic stripe guidance path is provided with rfid card, and described mobile platform is provided with wireless transmitter.
A kind of many mobile robot platform navigation control systems provided by the invention can be walked by the mode of controlled in wireless on magnetic stripe track, and obtain its particular location by self RFID sensor.
As shown in Figure 2, the principle of work of a kind of many mobile robot platform navigation control systems provided by the invention is: by host computer, a plurality of mobile platforms are carried out to path planning, and path is separately sent on corresponding mobile platform, each mobile platform receives on the master control borad of rear transmission self by the wireless transmitter of self, by master control borad, controlling motor-driven mechanism walks, thereby mobile platform is controlled direction of travel by magnetic stripe sensor senses magnetic stripe guidance path, by the information of RFID sensor senses rfid card, obtained the particular location of self.
As shown in Figure 3 and Figure 4, the present invention also provides a kind of control method of many mobile robot platform navigation control systems, and many mobile robot platform navigation control systems for described in control chart 2, comprise the steps:
Definition unit distance, is provided with unit distance by the distance between every adjacent two intersections in magnetic stripe guidance path;
Intersection is identified, the rfid card in magnetic stripe guidance path is numbered;
A plurality of mobile platforms are numbered;
Shortest path planning, host computer is cooked up the shortest path being comprised of the shortest a plurality of unit distances and sends to corresponding mobile platform a plurality of mobile platforms according to the onset point of user task and mobile platform and point of destination, mobile platform receives the magnetic stripe of following according to magnetic stripe sensor after the shortest path of self and advances by wireless transmitter, in traveling process, by wireless transmitter, upload the numbering of rfid card during approach intersection, the shortest path planning that each mobile platform receives according to oneself starts to execute the task, on road, look in its next unit distance that will pass through during through intersection and on next intersection, whether have other mobile platform, if exist, this mobile platform is out of service or select other paths to move.
The control method of a kind of many mobile robot platform navigation control systems provided by the invention, for carrying out shortest path planning to mobile platform; When a plurality of mobile platforms are carried out different task simultaneously, in the process of path planning, also to comprise and keep away barrier, so that all walkings safely of a plurality of mobile platform.
As shown in Figure 5, lines represent magnetic stripe guide rail path, the box indicating rfid card of each intersection, and the numbering in square frame represents the numbering of rfid card, circle represents mobile platform; Mobile platform 1A and mobile platform 2B execute the task on same magnetic stripe guide rail path, the task of mobile platform 1A is from present position, to slow down to stop the position that dress picking thing is transported to the rfid card that is numbered 1, and the task of mobile platform 2B is transport to the position of the rfid card that is numbered 4 and goods is dragged to act from present position goods.As shown in Figure 3, the direction of travel of definition mobile platform is that F moves ahead, row, L left lateral, R right lateral after B, and the path that mobile platform is walked defines like this: A
1fA
2l represents that mobile platform 1A goes to second intersection left lateral again after first intersection moves ahead.According to shortest path principle, two mobile platforms are carried out to path planning, the walking path of cooking up mobile platform 1A is A
1fA
2fA
3lA
4, the words that are as the criterion with the embodiment in Fig. 5 are from being numbered the position of 11 rfid card, and up process is numbered 6 rfid card, up process is numbered the position of 2 rfid card again, finish the work in left lateral arrives the rfid card that is numbered 1 again position; The walking path of mobile platform 2B is B
1fB
2fB
3, the words that are as the criterion with the embodiment in Fig. 5 are from being numbered the position of 2 rfid card, and up process is numbered 3 rfid card, finish the work in up process is numbered 4 rfid card again position; When mobile platform 1A runs to the position of the rfid card that is numbered 6, next intersection that it will pass through detected, there is mobile platform 2B in the position that is numbered 2 rfid card, this information is uploaded to host computer, the upper mobile platform 1A that can allow is out of service in the position that is numbered 6 rfid card, behind the position of leaving the rfid card that is numbered 2 until mobile platform 2B, walk again, can be also the mobile platform 1 new path of planning, as allow mobile platform 1A according to A
1fA
2lA
3rA
4path walking, mobile platform 1A arrives behind the position of the rfid card that is numbered 2, left lateral arrives the position of the rfid card that is numbered 5, then right lateral is finished the work.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited to this, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; can expect easily changing or replacing, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (5)
1. one kind many mobile robot platform navigation control systems, it is characterized in that, comprise magnetic stripe guidance path and mobile platform, described mobile platform comprises master control borad, motor-driven mechanism and magnetic stripe sensor, crossing intersection part in described magnetic stripe guidance path is provided with rfid card, described mobile platform is provided with RFID sensor, and described mobile platform is provided with wireless transmitter.
2. many mobile robot platform navigation control systems according to claim 1, is characterized in that, described mobile platform has a plurality of.
3. the control method of one kind many mobile robot platform navigation control systems, it is characterized in that, for controlling many mobile robot platform navigation control systems described in claim 1 or 2, comprise the steps: to define unit distance, the distance between every adjacent two intersections in magnetic stripe guidance path is provided with to unit distance;
Intersection is identified, the rfid card in magnetic stripe guidance path is numbered;
Shortest path planning, according to the onset point of mobile platform and point of destination, cook up the shortest path being formed by the shortest a plurality of unit distances and send to mobile platform, mobile platform receives the magnetic stripe of following according to magnetic stripe sensor after shortest path by wireless transmitter and advances, and uploads the numbering of rfid card in traveling process during approach intersection by wireless transmitter.
4. the control method of a kind of many mobile robot platform navigation control systems according to claim 3, it is characterized in that, described mobile platform comprises a plurality of, a plurality of mobile platforms are numbered, in this step of shortest path planning, when this mobile platform advances to an intersection, also comprise and keep away barrier, in the next unit distance that this mobile platform will pass through according to shortest path and on next intersection, whether there is other mobile platform, if exist, this mobile platform is out of service or select other paths to move.
5. the control method of a kind of many mobile robot platform navigation control systems according to claim 4, is characterized in that, described mobile platform is carried out different tasks.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104460669A (en) * | 2014-11-03 | 2015-03-25 | 上海电器科学研究所（集团）有限公司 | AGV robot path navigation system |
| CN105320131A (en) * | 2015-07-31 | 2016-02-10 | 北京家度科技有限公司 | Robot multi-track linear continuous tracking moving service system |
| CN106569490A (en) * | 2016-10-19 | 2017-04-19 | 哈工大机器人集团上海有限公司 | Robot scheduling system and method based on magnetic stripe navigation |
| CN107562057A (en) * | 2017-09-07 | 2018-01-09 | 南京昱晟机器人科技有限公司 | A kind of intelligent robot navigation control method |
| CN108334076A (en) * | 2018-01-09 | 2018-07-27 | 佛山科学技术学院 | A kind of complex organism assists kinematic system and its movement technique |
| CN108983735A (en) * | 2018-08-29 | 2018-12-11 | 广州市君望机器人自动化有限公司 | Mobile robot dispatching device and method |
| CN109571403A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of track trace navigation intelligent inspection robot and its air navigation aid |
| CN110727277A (en) * | 2019-08-23 | 2020-01-24 | 珠海格力电器股份有限公司 | Control method and device of car washer with millimeter wave radar and intelligent car washer |
| CN112578791A (en) * | 2020-11-11 | 2021-03-30 | 重庆恢恢信息技术有限公司 | Method for achieving intelligent construction site reinforcing steel bar material distribution based on Internet of things |
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| CN105320131A (en) * | 2015-07-31 | 2016-02-10 | 北京家度科技有限公司 | Robot multi-track linear continuous tracking moving service system |
| CN106569490B (en) * | 2016-10-19 | 2019-08-23 | 合肥中导机器人科技有限公司 | A kind of robot scheduling system and method based on magnetic stripe navigation |
| CN106569490A (en) * | 2016-10-19 | 2017-04-19 | 哈工大机器人集团上海有限公司 | Robot scheduling system and method based on magnetic stripe navigation |
| CN107562057A (en) * | 2017-09-07 | 2018-01-09 | 南京昱晟机器人科技有限公司 | A kind of intelligent robot navigation control method |
| CN108334076A (en) * | 2018-01-09 | 2018-07-27 | 佛山科学技术学院 | A kind of complex organism assists kinematic system and its movement technique |
| CN108334076B (en) * | 2018-01-09 | 2020-12-29 | 佛山科学技术学院 | Super-individual assisted exercise system and exercise method thereof |
| CN108983735A (en) * | 2018-08-29 | 2018-12-11 | 广州市君望机器人自动化有限公司 | Mobile robot dispatching device and method |
| CN108983735B (en) * | 2018-08-29 | 2021-05-11 | 广州安商智能科技有限公司 | Mobile robot scheduling device and method |
| CN109571403A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of track trace navigation intelligent inspection robot and its air navigation aid |
| CN110727277A (en) * | 2019-08-23 | 2020-01-24 | 珠海格力电器股份有限公司 | Control method and device of car washer with millimeter wave radar and intelligent car washer |
| CN112578791A (en) * | 2020-11-11 | 2021-03-30 | 重庆恢恢信息技术有限公司 | Method for achieving intelligent construction site reinforcing steel bar material distribution based on Internet of things |
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Application publication date: 20141022 |