CN107844117B - Road locking system and method based on cloud - Google Patents
Road locking system and method based on cloud Download PDFInfo
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- CN107844117B CN107844117B CN201710995788.8A CN201710995788A CN107844117B CN 107844117 B CN107844117 B CN 107844117B CN 201710995788 A CN201710995788 A CN 201710995788A CN 107844117 B CN107844117 B CN 107844117B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0291—Fleet control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/4186—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication by protocol, e.g. MAP, TOP
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a road locking system based on a cloud end, which comprises: the system comprises a server and a robot, wherein the server comprises a road information configuration module for configuring road information, synchronizes the configured road information to the robot, and issues a road locking or unlocking instruction to the robot according to a request sent by the robot; the robot end comprises a robot road processing module, and the robot road processing module executes corresponding tasks according to the instructions issued by the server end. The invention also discloses a road locking method based on the cloud, and the road can be effectively scheduled by the road section locking mechanism based on the robot scheduling system, so that the problem of road section blockage is avoided.
Description
Technical Field
The invention relates to a robot scheduling system, in particular to a road locking system and method based on a cloud end.
Background
With the development of society, the robot can liberate people from heavy physical labor and dangerous environments, can help people do more things, and can help people to complete dangerous tasks which people can get and can not do.
However, when the robot usually encounters a road scene where a narrow passage, an elevator, an automatic door and the like can only pass through one robot at the same time or can only pass through robots in the same direction at the same time in the process of executing a task, the road section can be effectively scheduled through the cloud-based road section locking mechanism, so that the road section is prevented from being blocked, and the passing rate of multiple robots is improved.
Disclosure of Invention
The invention aims to provide a road locking system and method based on a cloud end.
The technical scheme adopted by the invention for solving the technical problems is as follows: a cloud-based road locking system, comprising:
the server side comprises a road information configuration module used for configuring road information, synchronizes the configured road information to the robot side, and issues a road locking or unlocking instruction to the robot according to a request sent by the robot side;
and the robot end comprises a robot road processing module, and the robot road processing module executes corresponding tasks according to the instructions issued by the server end.
In the invention, the road information configuration module is used for configuring an area needing to be locked, setting a locking detection point and an unlocking area point for the area and whether a robot in the same direction is allowed to pass through the road.
In the invention, the server side further comprises a road information maintenance module, a cloud information receiving and sending interface and a first database, wherein the road information maintenance module is used for updating the road information configuration module and storing the updated road information configuration module to the first database after processing the information received by the cloud information receiving and sending interface.
In the invention, the robot end further comprises a robot end information receiving and sending interface and a second database, the robot end information receiving and sending interface is used for receiving the command issued by the server end, sending a request to the server end and storing data to the second database, and the robot road processing module executes a driving program of corresponding hardware equipment according to the command forwarded by the robot end information receiving and sending interface and drives the corresponding hardware equipment to execute tasks.
In the invention, the robot end stores a map for executing a task in a preset scene in advance and is provided with a positioning device, and the robot updates the position of the robot on the map according to the positioning device when executing the task.
In the invention, the server end is connected with the robot end through a websocket/http/socket communication protocol, and the robot end is connected with the hardware equipment through the websocket/http/socket communication protocol.
The invention also discloses a road locking method based on the cloud, when the robot detects that the robot reaches a road locking detection point, the following steps are executed:
s1, judging whether the road at the server side is locked or not, if so, executing a step S2, otherwise, executing a step S3;
s2, judging whether the same-direction robot is allowed to pass through and the robot is locked to run in the same direction or not, and judging whether the number of the passing robots in the same direction does not reach the preset maximum allowed passing robot carding of the road or not; if the robots in the same direction are allowed to pass through, the operation of the locking robot is in the same direction, and the number of passing robots in the same direction does not reach the maximum number of the allowed passing robots of the road, executing a step S3, otherwise, the server side informs the robots to wait for preset time and then triggers a road locking task to be detected and executes the step S1;
and S3, the server side locks the road section, records the robot identification code and the running direction of the robot, and informs the robot that the road can be passed.
In the present invention, after step S3, the method further includes:
and S4, after the robot passes through the road, sending a request for unlocking the road to the server side, and unlocking the corresponding road by the server side according to the identification code.
In the present invention, after step S3, the method further includes:
s31, judging whether the robot needs to control hardware equipment or not, and if so, executing a step S32; otherwise, executing step S4;
and S32, controlling the hardware equipment by the robot according to a preset control logic.
In the present invention, after step S32, the method further includes:
s321, judging whether the hardware equipment feedback is successful, if so, executing a step S4; otherwise, the process returns to step S32.
In the present invention, the robot comprises, before detecting that the robot reaches the road lock detection point:
s01, a region needing to be locked is pre-configured at the server side, a locking detection point and an unlocking region point are set for the region needing to be locked, a map for executing tasks in a preset scene is pre-stored at the robot side, and positioning equipment is arranged;
s02, the robot updates the position of the robot in the map according to the positioning equipment when executing a task, and if the robot detects that the position of the robot reaches the road locking detection point, the step S1 is executed.
The cloud-based road segment locking system and method have the advantages that the road segment can be effectively scheduled, and the problem of road segment blockage is avoided.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a diagram of a cloud-based road locking system architecture according to the present invention;
FIG. 2 is a schematic diagram of a one-way road of the cloud-based road locking system of the present invention;
FIG. 3 is a second schematic diagram of a one-way road of the cloud-based road locking system of the present invention;
FIG. 4 is a schematic diagram of a bidirectional one-way road of the cloud-based road locking system of the present invention;
FIG. 5 is a second schematic diagram of a bidirectional one-way road of the cloud-based road locking system of the present invention;
FIG. 6 is a schematic diagram of a bidirectional two-way road of the cloud-based road locking system of the present invention;
FIG. 7 is a second schematic diagram of a bidirectional two-way road of the cloud-based road locking system of the present invention;
FIG. 8 is a multi-turn schematic diagram of the cloud-based road locking system of the present invention;
FIG. 9 is a schematic view of a door of the cloud-based road locking system of the present invention;
FIG. 10 is a second schematic view of a door of the cloud-based road locking system of the present invention;
fig. 11 is a schematic elevator view of the cloud-based road locking system of the present invention;
fig. 12 is a flowchart of a cloud-based road locking method according to the present invention.
Detailed Description
Fig. 1 is a diagram of a cloud-based road locking system according to the present invention. The presentation layer 11 may employ JSP/Servlet technology in one or more embodiments of the invention for constructing user interface presentation data; the business logic layer 12 may adopt a Bean/EJB technique in one or more embodiments of the present invention, and is used for processing business logic, general if judgment, circulation, and the like; the data persistence layer 13 may adopt JDBC technology in one or more embodiments of the present invention, and is used to provide a data interface for storing data and accessing data; the driving layer 14 is used for connecting hardware and an operating system, such as drivers of navigation, elevators, automatic doors, voice and the like; the physical device layer 15 is various devices connected to the system, such as navigation motion hardware, voice-related hardware, and the like.
The server 1 comprises a road information configuration module 4 located in a presentation layer 11, a road information maintenance module 5 and a cloud information receiving and sending interface 6 located in a business logic layer 12, and a first database 9 located in a data persistence layer 13. The robot end 1 comprises a robot end information receiving and sending interface 7 and a robot road processing module 8 which are positioned at a business logic layer 12, and a second database 10 which is positioned at a data persistence layer 13. Drivers for navigation, elevators, automatic doors, voice and the like are positioned on the driving layer 14; the navigation motion hardware and the voice related hardware are positioned in the physical equipment layer 15; the hardware devices 3 include elevators, automatic doors, etc.
The road information configuration module 4 at the server 1 may configure an area to be locked, and set information such as a lock detection point and an unlock area point in the area to be locked (e.g., at some points on the edge of the area), and whether the road allows a robot in the same direction to pass through.
In one or more embodiments of the present invention, a field allowSamePass is used to indicate whether a robot in the same direction is allowed to pass through (true is allowed, false is not allowed), a field allowSamePassNumber is used to indicate the maximum number of robots allowed to pass through in the same direction (when a road reaches the maximum number of machines passing through in the same direction, the road state is set to be locked, and no new robot is allowed to enter any more), each area is marked with a field lock to indicate the locked state of the area (true is locked, false is unlocked), a field lock robobotcode is used to indicate which robot is locked, and a field lock direction is used to indicate the running direction parameter of the robot in the area of the road. After the setting is completed, the configuration information of these fields is stored in the first database 9 of the server 1, and the configuration information is simultaneously sent to all robots of the robot 2 for synchronous storage.
The robot has pre-stored a map of a preset scene before the scene performs a task. When the robot receives the task sequence sent by the server 1 and walks in the map to execute the task, the robot can continuously update the position of the robot on the map according to the positioning equipment of the robot. The robot is locally provided with an intelligent path planning algorithm to plan a walking path from the position of the robot to a destination position. The robot is locally provided with an intelligent obstacle avoidance algorithm, when an obstacle avoidance sensor in the robot is found to have an obstacle on a walking path of the robot, the robot can automatically try to perform obstacle avoidance action, and when the path is blocked to cause the obstacle avoidance failure of the robot, the robot can stay in place and stop walking.
In one or more embodiments of the invention, since the robots usually encounter narrow passages, elevators, automatic doors, etc. on the map during walking, and the special road scene that only can pass through one robot at the same time or only can pass through the robots in the same direction at the same time, it is therefore necessary to provide locking detection points 22 and unlocking zone points 21 in the area where the road lock is to be applied, for example at some point on the edge of this area, as shown in figures 2-11, in these road scenes, it is easy to cause that multiple robots are triggered to avoid obstacles locally because of no uniform planning and scheduling, for example, a jam of multiple robots traveling in opposite directions is gathered somewhere on a narrow road, all the robots stay on the road to cause the road to be jammed, it is therefore necessary to provide a road locking mechanism to facilitate efficient scheduling and avoid the problem of road segment congestion.
Referring to fig. 2-6 for both single-lane and dual-lane, in one or more embodiments of the invention, the dual-lane is stored and locked in the cloud (i.e., server) in two single-lanes. Therefore, no matter the double-row channel is a bidirectional double-row channel or a same-direction double-row channel, the cloud end can be defined into two single-row channels for storage. The rest of the multiple lanes are analogized in turn.
In one or more embodiments of the invention, the lock detection point 22 and the unlock region point 21 of the schematic diagrams of fig. 2-11 do not necessarily coincide, and fig. 2-11 are merely schematic diagrams, to which the invention is not limited. The door of fig. 9-10 may have other ways and is not limited to the two cases of fig. 9-10. As shown in fig. 11, the elevator has also multi-floor zones, so that when locked, the elevator locks all zones that the elevator can reach. The schematic diagram of fig. 11 does not show multiple floors, but one or more embodiments of the invention lock the elevator objects of all floors simultaneously.
The locking area in the above figures refers to a robot path from a locking point to an unlocking point. In one or more embodiments of the present invention, the width of the path is the same as the width of the road, for example, in a multi-branch road scene, each intersection is provided with a locking point and an unlocking point, and as long as one robot requests locking, the cloud end locks all relevant robot paths of the multi-branch road scene, and the width is the same as the width of the road. Similarly, in an elevator scene, each floor is provided with a locking point and an unlocking point, once one robot requests locking, the cloud end can lock paths of the robots on all floors of the elevator to enter and exit the elevator (compared with a robot running path on the same floor, the path of the elevator scene is divided into two sections, a starting floor is a path entering the elevator from the locking point, and a arriving floor is a path from the elevator to the unlocking point).
The robot is provided with a positioning device, after the robot runs to a position near a locking point, a locking request task is executed, and if the locking request task is not allowed by the cloud, the robot cannot enter a locked area. The multi-branch road shown in fig. 8 is actually provided with a locking point and an unlocking point at each intersection, for example, when a robot enters from one locking point during operation, a plurality of unlocking points can be out, and fig. 8 is only one embodiment, but the invention is not limited thereto.
Fig. 12 is a flowchart of a cloud-based road locking method according to an embodiment of the present invention, as shown in the figure.
Step a1, when the robot reaches the road-lock detection point, the robot stores the map of a scene before the scene executes the task. When the robot receives the task sequence sent by the scheduling system and walks in the map to execute the tasks, the robot can continuously update the position of the robot on the map according to the positioning equipment of the robot.
When the robot detects that the position of the robot is near a road locking detection point, a road locking detection task is triggered, the robot and the cloud communicate through a long connection websocket channel established in advance through a communication interface between the robot and the cloud (the communication protocol is used in one or more embodiments of the invention, but the communication protocol is not limited to the communication protocol, and other protocols such as http, socket and the like can be used for communication). The robot end sends a data packet to the server end, the data includes road lock detection point information (represented by an area param field), the current robot running direction (represented by a runDirection field), and the current request robot number (represented by a runRobotCode field), and requests to inquire whether a road area to which the road lock detection point belongs is locked or not in the cloud.
Step A2, the cloud judges whether the road is locked, the locking state (represented by a lock field) of the road in the area is inquired in a database according to road locking detection point information (area param) reported by the robot, and if the road is not locked (namely the lock value is false), the step A5 is executed; if the road is already locked (i.e. the lock value is true), the robot performs step A3.
Step A3, the cloud judges whether the allowSamePass configuration of the road in the area inquired in the step A2 allows the robot in the same direction to pass through, and whether the current running robot and the robot locking the road run in the same direction, namely whether the lock direction field is consistent with the runDirection field; if the allowSamePass field is true, the lockDirection field is consistent with the runDirection field, and the number M (M is an integer) of the robots running in the road in the same direction currently is less than the preset maximum number allowSamePass number of the robots in the same direction allowed to pass through the road currently, executing step A5; otherwise, step a4 is performed.
Step a4, the cloud returns a robot verification result through the websocket, and the robot retries step a1 after waiting for a preset time (the preset time x seconds is configured in advance by software at the robot end, once the task is triggered, the software starts timing from 0 until step a1 is executed again after x seconds).
And step A5 and step A6, the cloud end sets the value of the field lock of the area database to true to indicate that the road section is locked, and stores and reports the runRobotCode field of the robot to the field of the database lock RobotCode of the area, records the identification code of the robot, and stores and reports the runDirection field of the robot to the field of the database lock Direction of the area, records the passing direction of the robot, and the number M of the robots running in the same direction on the current road is equal to M + 1. The cloud then issues a command to the robot to pass through the road through the websocket, and notifies the robot to pass through the road, and the process continues to step a 7.
In step a7, the robot determines whether other hardware devices need to be controlled. If so, perform step A8; if not, step A10 is performed.
And step A8, the robot controls other hardware equipment (such as an elevator and an automatic door) according to preset other hardware equipment control logic, and executes the step A9.
In step a9, the robot continues to determine whether the feedback from the other hardware devices is successful. If the feedback is successful, step A10 is executed, otherwise, the process continues to return to step A8 to retry control of the other hardware devices.
In steps a10 and a11, after receiving the road-passing command in the cloud step a6, the robot autonomously walks through the road, and after detecting that the position of the robot reaches the vicinity of an unlocking area point at the edge of the area (indicating that the robot passes through the road), the robot sends a data packet of the road-unlocking request command to the cloud through a websocket communication protocol, wherein the data includes an identification code of the robot.
And step A12, the cloud unlocks the corresponding road according to the identification code of the robot, and the number M of the robots running in the same direction in the current road is equal to M-1.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (11)
1. A cloud-based road locking system, comprising:
the server side comprises a road information configuration module used for configuring road information, synchronizes the configured road information to the robot side, and issues a road locking or unlocking instruction to the robot according to a request sent by the robot side;
the robot end comprises a robot road processing module, and the robot road processing module executes a corresponding task according to an instruction issued by the server end;
the server sends a road locking instruction to the robot according to a request sent by the robot, and the road locking instruction comprises the following steps:
the server side judges whether the road is locked or not when receiving a request for inquiring whether the road area to which the road locking detection point belongs is locked or not, wherein the request is sent by the robot side; if the road is locked, judging whether the robots in the same direction are allowed to pass and whether the locked robots run in the same direction or not and whether the number of the passing robots in the same direction does not reach the preset maximum number of the passing robots allowed by the road or not; if the robots in the same direction are allowed to pass through and the number of the passing robots in the same direction and the same direction of the locked robot operation does not reach the maximum number of the passing robots allowed by the road, locking the road, recording the robot identification code and the robot operation direction, and informing the robot that the robot can pass through the road; otherwise, the robot is informed to trigger a road locking detection task after waiting for a preset time.
2. The cloud-based road locking system of claim 1, wherein the road information configuration module is configured to configure an area to be locked, set a locking detection point and an unlocking area point for the area, and determine whether the road allows robots in the same direction to pass through.
3. The cloud-based road locking system according to claim 2, wherein the server further comprises a road information maintenance module, a cloud information receiving and sending interface, and a first database, and the road information maintenance module is configured to update the road information configuration module and store the updated road information configuration module in the first database after processing the information received by the cloud information receiving and sending interface.
4. The cloud-based road locking system according to claim 1 or 3, wherein the robot end further comprises a robot end information receiving and sending interface and a second database, the robot end information receiving and sending interface is used for receiving an instruction sent by the server end, sending a request to the server end and storing data in the second database, and the robot road processing module executes a driver of a corresponding hardware device according to the instruction forwarded by the robot end information receiving and sending interface and drives the corresponding hardware device to execute a task.
5. The cloud-based road locking system according to claim 4, wherein the robot end stores a map for executing a task in a preset scene in advance and is provided with a positioning device, and the robot updates the position of the robot on the map according to the positioning device when executing the task.
6. The cloud-based road locking system of claim 1, wherein the server side is connected to the robot side via a websocket/http/socket communication protocol, and the robot side is connected to the hardware device via a websocket/http/socket communication protocol.
7. A road locking method based on a cloud end is characterized in that when a robot reaches a road locking detection point, the following steps are executed:
s1, judging whether the road at the server side is locked or not, if so, executing a step S2, otherwise, executing a step S3;
s2, judging whether the same-direction robot is allowed to pass through and the robot is locked to run in the same direction or not and whether the number of the passing robots in the same direction does not reach the preset maximum number of the passing robots allowed by the road or not; if the robots in the same direction are allowed to pass through, the operation of the locking robot is in the same direction, and the number of passing robots in the same direction does not reach the maximum number of the allowed passing robots of the road, executing a step S3, otherwise, the server side informs the robots to wait for preset time and then triggers a road locking task to be detected and executes the step S1;
and S3, the server side locks the road, records the robot identification code and the running direction of the robot, and informs the robot that the road can be passed.
8. The cloud-based road locking method according to claim 7, wherein after step S3, the method further comprises:
and S4, after the robot passes through the road, sending a request for unlocking the road to the server side, and unlocking the corresponding road by the server side according to the identification code.
9. The cloud-based road locking method according to claim 8, wherein after the step S3, the method further comprises:
s31, judging whether the robot needs to control hardware equipment or not, and if so, executing a step S32; otherwise, executing step S4;
and S32, controlling the hardware equipment by the robot according to a preset control logic.
10. The cloud-based road locking method according to claim 9, wherein after step S32, the method further comprises:
s321, judging whether the hardware equipment feedback is successful, if so, executing a step S4; otherwise, the process returns to step S32.
11. The cloud-based road locking method of claim 7, wherein before the robot detects that the road locking detection point is reached, the method comprises:
s01, a region needing to be locked is pre-configured at the server side, a locking detection point and an unlocking region point are set for the region needing to be locked, a map for executing tasks in a preset scene is pre-stored at the robot side, and positioning equipment is arranged;
s02, the robot updates the position of the robot in the map according to the positioning equipment when executing a task, and if the robot detects that the position of the robot reaches the road locking detection point, the step S1 is executed.
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| CN110262471B (en) * | 2018-05-10 | 2022-09-06 | 北京京东乾石科技有限公司 | Robot scheduling method and device, robot and robot scheduling system |
| CN109746919B (en) * | 2019-03-04 | 2020-10-09 | 上海木木聚枞机器人科技有限公司 | Optimized scheduling method and system for robot dynamic conflict detection |
| CN109814580A (en) * | 2019-04-03 | 2019-05-28 | 深圳市佳顺智能机器人股份有限公司 | Barrier-avoiding method, system, host and the storage medium of automated guided vehicle |
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