CN107203214A - A kind of cooperative self-adapted Intelligent planning method in carrying robot COMPLEX MIXED path - Google Patents
A kind of cooperative self-adapted Intelligent planning method in carrying robot COMPLEX MIXED path Download PDFInfo
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Abstract
The invention discloses a kind of cooperative self-adapted Intelligent planning method in carrying robot COMPLEX MIXED path, this method includes：Step 1：Build global map three-dimensional system of coordinate；Step 2：Global map is divided according to floor level number, the two-dimensional map and distance matrix of each floor is obtained；Step 3：Coordinate of the starting point and ending point for obtaining transport task under global map three-dimensional system of coordinate is instructed according to transport task, the distance matrix of all corridors and room in distance matrix and each floor based on each floor, path planning is carried out using Floyd algorithms, Transportation Planning path is obtained；Step 4：Advance according to the path clustering carrying robot of planning, complete transport task.The present invention reduces algorithm amount of calculation, including gate inhibition, elevator interaction and Robot dodge strategy, is easy to carrying robot to perform transport task under intelligent environment by carrying out Module Division to many floor environment.
Description
Technical field
The invention belongs to robot path planning's problem, more particularly to a kind of carrying robot COMPLEX MIXED path collaboration is certainly
Adapt to Intelligent planning method.
Background technology
With the unlatching in industrial 4.0 epoch, artificial intelligence is very powerful and exceedingly arrogant, robot initially enter daily life, laboratory,
The fields such as factory, due to the fast development of science and technology, robot purposes is more extensive, and more necks are expanded to by 95% commercial Application
The non-industrial applications in domain, the effect for society is also increasing.And since middle self-propelled machine people industry development, positive growth
For global maximum robot market, robot it is " Chinese epoch " or coming.How to make robot more efficient, more
Intelligently serviced for the mankind, be the emphasis of owner's concern, the wherein path planning of transportation robot and control is robot neck
The key problem in domain.
The path planning of mobile robot and control refer to that robot can independently perceive surrounding environment, for goal task intelligence
One relatively most short, time-consuming minimum path can be cooked up, while can be interacted with the gate inhibition on path, possesses automatic obstacle-avoiding
Function, on the premise of the safety of robot, people and transported article is ensured, smoothly completes task.
For path planning and this problem, forefathers are controlled it is proposed that many outstanding methods, such as Chinese patent
A kind of mobile robot intensified learning initial method based on artificial potential energy field is disclosed in CN102819264B, by robot
Working environment virtually turns to an artificial potential energy field, stateful potential energy value is determined using priori so that barrier area
Domain potential energy value is zero, and target point has global maximum potential energy value, at this moment in artificial potential energy field the potential energy value of each state with regard to generation
Table corresponding state follows the cumulative maximum return of optimal policy acquisition.The coordinates measurement of the outstanding advantages system of this method is straight with control
Connect and form closed loop with environment, therefore enhance the adaptability and avoidance performance of system, but it is easily trapped into locally optimal solution,
Priori determination is completely dependent on, for emerging barrier, it is impossible to which Real-time Feedback causes for flexibly variation into system
Actual robot working environment there is no adaptibility to response, and can not find path between adjacent nearer barrier, so
It is not easy to be applied in practice.And for example Chinese patent CN105527965A discloses a kind of path planning based on GACA algorithm
Method and system, method is the pheromones initial value that the part optimization solution for obtaining genetic algorithm is converted into ant group algorithm, so
Optimum path search is carried out by ant group algorithm again afterwards, optimizing carries out crossover operation to qualified path after terminating, finally given
Optimal path.This method is to solve the problems, such as one of most popular method of robot path planning, is constantly entered each other by feasible solution
Row information is exchanged, and finds more outstanding path, its advantage has strong robustness, with high feasibility, but it is easily trapped into
Locally optimal solution, computationally intensive to cause to calculate overlong time, excessively slow reaction is unfavorable for robot and run in actual environment, made
Into the poor efficiency of work.
The content of the invention
The invention provides a kind of cooperative self-adapted Intelligent planning method in carrying robot COMPLEX MIXED path, its purpose exists
In for the deficiency of above method, for many floors, many rooms and elevator are classified as multiple modules, are set for each module
Put institute's arrival in need of the interconnection of trunk path, each inside modules progress active path regional planning, and robot
Task point be configured, and for running into barrier in transportation robot carry out task and people avoids, ensure both sides
Safety, and each gate inhibition is numbered, when running into gate inhibition in the path of robot ambulation, gate inhibition will automatically turn on/close, high
Imitate, safely solve robot core path planning problem.
A kind of cooperative self-adapted Intelligent planning method in carrying robot COMPLEX MIXED path, comprises the following steps：
Step 1：Build global map three-dimensional system of coordinate；
It is origin to deliver localized ground central point, and due east direction is X-axis, and direct north is Y-axis, and direction is Z perpendicular to the ground
Axle；
The carrying robot delivery region is floor connected regions all in a building, and the walkable region is
Refer to the barrier region deleted from all floor connected regions in building；
In global map three-dimensional system of coordinate, the two-dimensional plane coordinate of the floor connected region of each floor is identical, z coordinate
It is different；
Step 2：Global map is divided according to floor level number, the two-dimensional map of each floor is obtained and apart from square
Battle array；
Neighbouring relations of the distance matrix of each floor between all corridors and all rooms are constituted, if two rooms, room
Between it is adjacent with corridor and two corridors, then the corresponding weights in floor distance matrix be 1, be otherwise infinity；
Weights in each floor in the distance matrix of each corridor are each paths in each corridor under floor two-dimensional map
Actual range between point；
Weights in each floor in the distance matrix in each room are that in each room all roads under floor two-dimensional map
Actual range between the point of footpath is constituted；
In each corridor distance matrix and room distances matrix, if there is barrier between two path points, apart from square
Corresponding weights are infinity in battle array；
Optimal path splicing in the processing of division, the global static path planning after being conducive to, reduces path planning
The amount of calculation of model, accelerates arithmetic speed.
Step 3：The starting point and ending point for obtaining transport task is instructed in global map three-dimensional coordinate according to transport task
The distance matrix of all corridors and room in coordinate under system, distance matrix and each floor based on each floor, is used
Floyd algorithms carry out path planning, obtain Transportation Planning path；
Path planning is carried out using Floyd algorithms, amount of calculation is reduced；
When carrying robot need move to another floor from a floor when, by path planning Task-decomposing into
Path planning in two floors；
The starting point of first path planning is transport task starting point, and terminal is the elevator position of first floor；
The starting point of second path planning is the elevator position of second floor, and terminal is transport task terminating point；
The elevator of first floor and the elevator of second floor are same elevator；
Step 4：The Transportation Planning path clustering carrying robot obtained using step 3 is advanced, and completes transport task.
Further, during carrying robot advances according to the path planning obtained, carrying robot reaches gate inhibition
During preceding path point, door open command is first sent, the unlatching situation of gate inhibition is detected using Kinect sensor, after confirming that door is opened,
By reaching next path point after gate inhibition, transmission is closed the door after instruction, continues to next path point；
When carrying robot reaches the path point before elevator, door open command is first sent, then elevator is detected using Kinect
Unlatching situation, confirm door open after, into elevator.
Further, carrying robot is known in real time during the advance of transport task is performed using Kinect sensor
In front of other path whether someone or other barriers, there is barrier in the range of two meters in front of the existing path of carrying robot
When, carry out avoidance according to following operation：
A) when carrying robot runs into people in corridor, obtained by the spacer of Kinect sensor combination ceiling
Position relationship between carrying robot and people, is kept out of the way；
Direction is kept out of the way in planning in the two-dimensional coordinate for be currently located floor, and the side of keeping out of the way according to planning is kept out of the way；
It is described to keep out of the way the direction that direction refers to possess maximum retreat distance on the vertical line of the interpersonal line of carrying machine,
Moved ahead along direction is kept out of the way in area of feasible solutions, until people is left after 3 meters of scopes of robot, backtracking normally travel circuit is preceding
Toward next path point；
B) when carrying robot runs into people in a room, if carrying robot keeps itself position in read path point
Put motionless, after people leaves the path of carrying robot, carrying robot continues to move ahead；If carrying robot is to next
During path point is advanced, then along the previous path point of backtracking, and stay in previous path point and wait people to exit to next path point
Path, be further continued for going to next path point.
C) when carrying robot runs into emerging static-obstacle thing, carrying robot is scanned and sent using Kinect
Instruct to remote control center, static-obstacle thing is identified in global map temporarily, and update area of feasible solutions and all
In distance matrix can not tie point, plan the optimal path in current floor again using Floyd algorithms, and be sent to delivery
Robot, bypasses static-obstacle thing, moves on；
D) when carrying robot runs into other transportation robots, both halt simultaneously, and remote control center is to surplus
The higher carrying robot of remaining electricity, which is sent, meets dynamic barrier instruction, is sent to another carrying robot and continues normally travel
Instruction；
Receive meet dynamic barrier instruction carrying robot according to A) or B) situation by another carrying robot work as
Make dynamic barrier and carry out dynamic obstacle avoidance, another robot is normally travelled according to path profile.
Further, carrying robot reaches next path point from current path point in accordance with the following methods：
First, the coordinate (x1, y1) of current path point and the angle, θ c of carrying robot are read；
Then, calculated and gone to using the distance between current path point coordinates and next path point coordinates and 2 points
The angle of the carrying robot of next path point；
Finally, according to the distance between new carrying robot angle and two path points, control carrying robot advances.
Further, the carrying robot take thing, put thing during perform following operation and prevent from colliding desktop：
During carrying robot takes thing, puts thing, carrying machine human body does not rotate, and is completed when taking thing or putting thing
Afterwards, it is forwarded to up to after next path point, carrying machine human body receives control instruction and carries out pose adjustment.
To prevent transportation robot when taking object point or putting object point directly to next path point is gone to, machine human body
Collide, occur unexpected with taking thing/put thing platform.
Further, carrying robot carries out real-time Communication for Power during moving ahead with remote control center：
When carrying robot can not be communicated for continuous three times with remote control center, a upper path is returned to along original route
Point is waited, until being communicated again with remote control center；
When remote control center can not receive the signal that carrying robot is sent continuous three times, alarm is sent.
Further, the adjacent positioned piece is at intervals of 3m.
Spacer is arranged in robot working environment, is awaited orders a little in robot, takes object point, object point, elevator point, gate inhibition is put
The place arrangement spacer such as select, be conducive to robot to carry out taking thing on the basis for ensureing self-position precision, put thing, Men Jinjiao
Mutually, elevator interactive operation；Simultaneously on the driving path of robot, one path point is set every 3m, makes robot in experiment
Can timely calibrating position under the intelligent environment of room.In laboratory 1.5m is controlled according to a path point2Space is arranged, it is ensured that real
The area of feasible solutions of Yan Shizhong robots can be all capped.
Beneficial effect
1st, by Module Division, the operand of algorithm is greatly reduced, the operation efficiency of Floyd algorithms is improved, saved
Time of the robot in path planning；
2nd, the interaction schemes of gate inhibition and elevator make carrying robot performed under the intelligent environments such as laboratory transport task into
For possibility, the simple work of lab assistant is advantageously reduced, laboratory operational efficiency is improved.
3rd, Robot dodge strategy can allow carrying robot in complex environment normal work, it is ensured that carrying robot, transport article
And Laboratory Instruments, the safety of personnel.
Brief description of the drawings
Fig. 1 is the path point schematic diagram of certain floor；
Fig. 2 is the schematic flow sheet of the method for the invention.
Embodiment
Below in conjunction with example and accompanying drawing, the present invention is described further.
Step 1：Build global map three-dimensional system of coordinate；
It is origin to deliver localized ground central point, and due east direction is X-axis, and direct north is Y-axis, and direction is Z perpendicular to the ground
Axle；
The carrying robot delivery region is floor connected regions all in a building, and the walkable region is
Refer to the barrier region deleted from all floor connected regions in building；
In global map three-dimensional system of coordinate, the two-dimensional plane coordinate of the floor connected region of each floor is identical, z coordinate
It is different；
Step 2：Global map is divided according to floor level number, the two-dimensional map of each floor is obtained and apart from square
Battle array；
Neighbouring relations of the distance matrix of each floor between all corridors and all rooms are constituted, if two rooms, room
Between it is adjacent with corridor and two corridors, then the corresponding weights in floor distance matrix be 1, be otherwise infinity；
Weights in each floor in the distance matrix of each corridor are each paths in each corridor under floor two-dimensional map
Actual range between point；
Weights in each floor in the distance matrix in each room are that in each room all roads under floor two-dimensional map
Actual range between the point of footpath is constituted；
In each corridor distance matrix and room distances matrix, if there is barrier between two path points, apart from square
Corresponding weights are infinity in battle array；
Optimal path splicing in the processing of division, the global static path planning after being conducive to, reduces path planning
The amount of calculation of model, accelerates arithmetic speed.
Step 3：The starting point and ending point for obtaining transport task is instructed in global map three-dimensional coordinate according to transport task
The distance matrix of all corridors and room in coordinate under system, distance matrix and each floor based on each floor, is used
Floyd algorithms carry out path planning, obtain Transportation Planning path；
Path planning is carried out using Floyd algorithms, amount of calculation is reduced；
When carrying robot need move to another floor from a floor when, by path planning Task-decomposing into
Path planning in two floors；
The starting point of first path planning is transport task starting point, and terminal is the elevator position of first floor；
The starting point of second path planning is the elevator position of second floor, and terminal is transport task terminating point；
The elevator of first floor and the elevator of second floor are same elevator；
Step 4：The Transportation Planning path clustering carrying robot obtained using step 3 is advanced, and completes transport task.
During carrying robot advances according to the path planning obtained, carrying robot reaches the path point before gate inhibition
When, door open command is first sent, the unlatching situation of gate inhibition is detected using Kinect sensor, after confirming that door is opened, after gate inhibition
Next path point is reached, transmission is closed the door after instruction, continues to next path point；
When carrying robot reaches the path point before elevator, door open command is first sent, then elevator is detected using Kinect
Unlatching situation, confirm door open after, into elevator.
Carrying robot is during the advance of transport task is performed, using in front of Kinect sensor Real time identification path
Whether someone or other barriers, when there is barrier in the range of two meters in front of the existing path of carrying robot, according to following
Operation carries out avoidance：
A) when carrying robot runs into people in corridor, obtained by the spacer of Kinect sensor combination ceiling
Position relationship between carrying robot and people, is kept out of the way；
Direction is kept out of the way in planning in the two-dimensional coordinate for be currently located floor, and the side of keeping out of the way according to planning is kept out of the way；
It is described to keep out of the way the direction that direction refers to possess maximum retreat distance on the vertical line of the interpersonal line of carrying machine,
Moved ahead along direction is kept out of the way in area of feasible solutions, until people is left after 3 meters of scopes of robot, backtracking normally travel circuit is preceding
Toward next path point；
B) when carrying robot runs into people in a room, if carrying robot keeps itself position in read path point
Put motionless, after people leaves the path of carrying robot, carrying robot continues to move ahead；If carrying robot is to next
During path point is advanced, then along the previous path point of backtracking, and stay in previous path point and wait people to exit to next path point
Path, be further continued for going to next path point.
C) when carrying robot runs into emerging static-obstacle thing, carrying robot is scanned and sent using Kinect
Instruct to remote control center, static-obstacle thing is identified in global map temporarily, and update area of feasible solutions and all
In distance matrix can not tie point, plan the optimal path in current floor again using Floyd algorithms, and be sent to delivery
Robot, bypasses static-obstacle thing, moves on；
D) when carrying robot runs into other transportation robots, both halt simultaneously, and remote control center is to surplus
The higher carrying robot of remaining electricity, which is sent, meets dynamic barrier instruction, is sent to another carrying robot and continues normally travel
Instruction；
Receive meet dynamic barrier instruction carrying robot according to A) or B) situation by another carrying robot work as
Make dynamic barrier and carry out dynamic obstacle avoidance, another robot is normally travelled according to path profile.
Carrying robot reaches next path point from current path point in accordance with the following methods：
First, the coordinate (x1, y1) of current path point and the angle, θ c of carrying robot are read；
Then, calculated and gone to using the distance between current path point coordinates and next path point coordinates and 2 points
The angle of the carrying robot of next path point；
Finally, according to the distance between new carrying robot angle and two path points, control carrying robot advances.
The carrying robot takes thing, put thing during perform following operation and prevent from colliding desktop：
During carrying robot takes thing, puts thing, carrying machine human body does not rotate, and is completed when taking thing or putting thing
Afterwards, it is forwarded to up to after next path point, carrying machine human body receives control instruction and carries out pose adjustment.
To prevent transportation robot when taking object point or putting object point directly to next path point is gone to, machine human body
Collide, occur unexpected with taking thing/put thing platform.
Carrying robot carries out real-time Communication for Power during moving ahead with remote control center：
When carrying robot can not be communicated for continuous three times with remote control center, a upper path is returned to along original route
Point is waited, until being communicated again with remote control center；
When remote control center can not receive the signal that carrying robot is sent continuous three times, alarm is sent.
The adjacent positioned piece is at intervals of 3m.
Spacer is arranged in robot working environment, is awaited orders a little in robot, takes object point, object point, elevator point, gate inhibition is put
The place arrangement spacer such as select, be conducive to robot to carry out taking thing on the basis for ensureing self-position precision, put thing, Men Jinjiao
Mutually, elevator interactive operation；Simultaneously on the driving path of robot, one path point is set every 3m, makes robot in experiment
Can timely calibrating position under the intelligent environment of room.In laboratory 1.5m is controlled according to a path point2Space is arranged, it is ensured that real
The area of feasible solutions of Yan Shizhong robots can be all capped.
Instantiation：
Carrying robot receives order, and article is extracted from path point 12, reaches path point 76 and places article, intermediate path
Track is path point 12-14-16-17-33-34-35-36-37-38-98-97-96-72-73-74-76, as shown in figure, its
During middle path point 12,14,15,17 is 102 between 1 building, path point 33,34,35,36,37,38 is in 1 building corridor, and path
Point 38 is path point before elevator door, and path point 98,97,96 is in 4 buildings corridors, during 72,73,74,76 405 between 4 buildings, the road
Footpath intermediate demand passes through 3 road gate inhibitions, using an elevator, and path point is path point 17,35,96 to gate inhibition in front of the door.
Carrying robot is run after taking object point to obtain article along order path, when carrying robot reaches path point 17,
Door open command is first sent, the unlatching situation of gate inhibition is then detected using Kinect sensor, after confirming that door is opened, after gate inhibition
Reach after next path point 33, transmission is closed the door after instruction, is continued to ensuing path point, is similarly passed through its latter two door
Prohibit.When robot reaches path point 38, door-opened elevator instruction is first sent, the unlatching situation of elevator is then detected using Kinect,
After confirming that door is opened, into elevator.Reach after 4 buildings, have dustbin barrier near path point 97, use Kinect sensor
Depth distance recognizes that location transmission is interim in global map by static-obstacle thing to distal end in a coordinate system by Obstacle Position
In be identified, and update in area of feasible solutions and all distance matrixs can not tie point, using Floyd algorithms plan again work as
Optimal path in preceding floor, and carrying robot is sent to, dustbin is bypassed, is moved on, thing path point is put in arrival, is put down
Article, task is completed.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (7)
1. a kind of cooperative self-adapted Intelligent planning method in carrying robot COMPLEX MIXED path, it is characterised in that including following step
Suddenly：
Step 1：Build global map three-dimensional system of coordinate；
It is origin to deliver localized ground central point, and due east direction is X-axis, and direct north is Y-axis, and direction is Z axis perpendicular to the ground；
Carrying robot delivery region is floor connected regions all in a building, the walkable region refer to from
The barrier region in building is deleted in all floor connected regions；
Step 2：Global map is divided according to floor level number, the two-dimensional map and distance matrix of each floor is obtained；
Neighbouring relations of the distance matrix of each floor between all corridors and all rooms are constituted, if two rooms, room with
Corridor and two corridors are adjacent, then the corresponding weights in floor distance matrix are 1, are otherwise infinity；
Weights in each floor in the distance matrix of each corridor be under floor two-dimensional map in each corridor each path point it
Between actual range；
Weights in each floor in the distance matrix in each room are all path points in each room under floor two-dimensional map
Between actual range constitute；
In each corridor distance matrix and room distances matrix, if existing between two path points in barrier, distance matrix
Corresponding weights are infinity；
Step 3：The starting point and ending point for obtaining transport task is instructed under global map three-dimensional system of coordinate according to transport task
Coordinate, the distance matrix of all corridors and room, is calculated using Floyd in distance matrix and each floor based on each floor
Method carries out path planning, obtains Transportation Planning path；
When carrying robot needs to move to another floor from a floor, by path planning Task-decomposing at two
Path planning in floor；
The starting point of first path planning is transport task starting point, and terminal is the elevator position of first floor；
The starting point of second path planning is the elevator position of second floor, and terminal is transport task terminating point；
The elevator of first floor and the elevator of second floor are same elevator；
Step 4：The Transportation Planning path clustering carrying robot obtained using step 3 is advanced, and completes transport task.
2. according to the method described in claim 1, it is characterised in that advanced in carrying robot according to the path planning obtained
Cheng Zhong, when carrying robot reaches the path point before gate inhibition, first sends door open command, detects gate inhibition's using Kinect sensor
Unlatching situation, after confirming that door is opened, by reaching next path point after gate inhibition, transmission is closed the door after instruction, continued to down all the way
Footpath point；
When carrying robot reaches the path point before elevator, door open command is first sent, then opening for elevator is detected using Kinect
Situation is opened, after confirming that door is opened, into elevator.
3. method according to claim 2, it is characterised in that carrying robot is performing the advance process of transport task
In, using in front of Kinect sensor Real time identification path whether someone or other barriers, when the existing path of carrying robot
When there is barrier in the range of two meters of front, avoidance is carried out according to following operation：
A) when carrying robot runs into people in corridor, delivered by the spacer of Kinect sensor combination ceiling
Position relationship between robot and people, is kept out of the way；
Direction is kept out of the way in planning in the two-dimensional coordinate for be currently located floor, and the side of keeping out of the way according to planning is kept out of the way；
Described to keep out of the way the direction that direction refers to possess maximum retreat distance on the vertical line of the interpersonal line of carrying machine, edge is moved back
Keep away direction to move ahead in area of feasible solutions, until people is left after 3 meters of scopes of robot, backtracking normally travel circuit is gone to down
One path point；
B) when carrying robot runs into people in a room, if carrying robot is in read path point, self-position is kept not
Dynamic, after people leaves the path of carrying robot, carrying robot continues to move ahead；If carrying robot is to next path
During point is advanced, then along the previous path point of backtracking, and the road that previous path point waits people to exit to next path point is stayed in
Footpath, is further continued for going to next path point.
C) when carrying robot runs into emerging static-obstacle thing, carrying robot is scanned using Kinect and sends instruction
To remote control center, static-obstacle thing is identified, and update area of feasible solutions and all distances temporarily in global map
In matrix can not tie point, plan the optimal path in current floor again using Floyd algorithms, and be sent to carrying machine
People, bypasses static-obstacle thing, moves on；
D) when carrying robot runs into other transportation robots, both halt simultaneously, and remote control center is electric to residue
The higher carrying robot of amount, which is sent, meets dynamic barrier instruction, and continuing normally travel to another carrying robot transmission refers to
Order；
The carrying robot for meeting dynamic barrier instruction is received according to A) or B) another carrying robot is worked as start by situation
State barrier carries out dynamic obstacle avoidance, and another robot is normally travelled according to path profile.
4. the method according to claim any one of 1-3, it is characterised in that carrying robot is in accordance with the following methods from current
Path point reaches next path point：
First, the coordinate (x1, y1) of current path point and the angle, θ c of carrying robot are read；
Then, calculated using the distance between current path point coordinates and next path point coordinates and 2 points go to it is next
The angle of the carrying robot of path point；
Finally, according to the distance between new carrying robot angle and two path points, control carrying robot advances.
5. method according to claim 4, it is characterised in that the carrying robot takes thing, put thing during perform with
Lower operation prevents from colliding desktop：
During carrying robot takes thing, puts thing, carrying machine human body does not rotate, after the completion of taking thing or putting thing,
It is forwarded to up to after next path point, carrying machine human body receives control instruction and carries out pose adjustment.
6. method according to claim 5, it is characterised in that carrying robot during moving ahead with remote control center
Carry out real-time Communication for Power：
When carrying robot can not be communicated for continuous three times with remote control center, upper path point etc. is returned along original route
Treat, until being communicated again with remote control center；
When remote control center can not receive the signal that carrying robot is sent continuous three times, alarm is sent.
7. method according to claim 6, it is characterised in that the adjacent positioned piece is at intervals of 3m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108171892A (en) * | 2018-03-13 | 2018-06-15 | 深圳市三维通机器人系统有限公司 | A kind of Intelligent unattended library system |
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| CN111258275B (en) * | 2018-11-30 | 2022-11-15 | 沈阳新松机器人自动化股份有限公司 | Heavy-load AGV double-vehicle linkage control method |
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| CN112235759A (en) * | 2020-09-15 | 2021-01-15 | 武汉工程大学 | Multi-robot route optimization method and device |
| CN112235759B (en) * | 2020-09-15 | 2022-05-17 | 武汉工程大学 | Multi-robot route optimization method and device |
| CN111874764A (en) * | 2020-09-28 | 2020-11-03 | 上海木承智能医疗科技有限公司 | Robot scheduling method, server and storage medium |
| CN112229408B (en) * | 2020-10-10 | 2023-02-17 | 广州海格星航信息科技有限公司 | Three-dimensional indoor multi-floor pedestrian route planning method |
| CN112229408A (en) * | 2020-10-10 | 2021-01-15 | 广州海格星航信息科技有限公司 | Three-dimensional indoor multi-floor pedestrian route planning method |
| CN113115622A (en) * | 2021-03-08 | 2021-07-16 | 深圳拓邦股份有限公司 | Visual robot obstacle avoidance control method and device and mowing robot |
| CN113823092A (en) * | 2021-09-28 | 2021-12-21 | 深圳优地科技有限公司 | Robot operation control method, apparatus and computer-readable storage medium |
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