CN105488892B - A kind of method and server for robot queuing management - Google Patents
A kind of method and server for robot queuing management Download PDFInfo
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- CN105488892B CN105488892B CN201610005062.0A CN201610005062A CN105488892B CN 105488892 B CN105488892 B CN 105488892B CN 201610005062 A CN201610005062 A CN 201610005062A CN 105488892 B CN105488892 B CN 105488892B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C11/00—Arrangements, systems or apparatus for checking, e.g. the occurrence of a condition, not provided for elsewhere
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention provides a kind of method and server for robot queuing management, wherein, this method includes：Determine congestion points region；The path by each robot in request and the congestion points region sent according to each robot in the congestion points region is respectively that each robot in the congestion points region sets dispatch command；Each robot into the congestion points region sends dispatch command respectively, so that the robot for receiving dispatch command passes through the congestion points region according to the dispatch command.Each robot in congestion points region is analyzed by request, for each robot, respective dispatch command is set, avoid robot to get congestion in congestion points region, improve speed of the robot by congestion points, and then improve the whole work efficiency of robot cluster.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of method for robot queuing management and
Server.
Background technology
At present, with the development of the social economy, being applied to supermarket, airport, station, conference and exhibition center more and more widely
And the large-scale stream of people such as logistics warehouse, logistics place.Robot is the integration environment perception, route planning, dynamic decision, a behavior
The Integrated Multi-Purpose System that control and alarm module are integrated, timing, the self-service work of flowing can be realized.
During the present invention is realized, inventor has found problems be present in correlation technique：
In correlation technique, during robot cluster carries out extensive dynamic moving in the venue, if robot cluster
Have in the venue one must be through point, if desired for, by the point, situation about easily getting congestion, causing overall work to be imitated in the short time
The reduction of rate.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of method for robot queuing management and service
Device, avoid robot from being got congestion in congestion points region, improve speed of the robot by congestion points, and then improve machine
The whole work efficiency of people's cluster.
In a first aspect, the embodiments of the invention provide a kind of method for robot queuing management, wherein, establish respectively
Server is connected with the data of multiple robots, and methods described includes：
Determine congestion points region；
According to each robot transmission in the congestion points region by asking respectively in the congestion points region
Each robot set dispatch command；
Each robot into the congestion points region sends dispatch command respectively, so as to receive the machine of dispatch command
Device people passes through the congestion points region according to the dispatch command.
With reference in a first aspect, the embodiments of the invention provide the possible implementation of the first of above-mentioned first aspect, its
In, the determination congestion points region, including：
Obtain the path of the multiple robot；
Congestion points are determined according to the path of the multiple robot；
Congestion points region is determined from the adjacent domain of the congestion points.
With reference in a first aspect, the embodiments of the invention provide the possible implementation of second of above-mentioned first aspect, its
In, it is described to be included by request：Position of the robot in the congestion points region.
With reference to second of possible implementation of first aspect, the embodiments of the invention provide the of above-mentioned first aspect
Three kinds of possible implementations, wherein, what each robot according in the congestion points region was sent passes through request point
Each robot that Wei be in the congestion points region sets dispatch command, including：
According to each robot received in the congestion points region send by the time sequencing of request, described pass through
The each position of the robot in the congestion points region that request bag contains, it is each in respectively described congestion points region
Robot sets dispatch command.
With reference in a first aspect, second of the first possible implementation and first aspect of first aspect is possible
Implementation, the embodiments of the invention provide the possible implementation of the 4th of above-mentioned first aspect kind, wherein, the scheduling refers to
Order includes：The time that robot brings into operation in the congestion points region, the robot pass through the congestion points region
The speed that route and the robot pass through the congestion points region.
Second aspect, the embodiments of the invention provide a kind of server for robot queuing management, wherein, the clothes
Business device is established to be connected with the data of multiple robots, and the server includes：
Determining module, for determining congestion points region；
Setup module, described according to each robot transmission in the congestion points region by request respectively
Each robot in congestion points region sets dispatch command；
Sending module, dispatch command is sent for each robot into the congestion points region respectively, so as to receive
Robot to dispatch command passes through the congestion points region according to the dispatch command.
With reference to second aspect, the embodiments of the invention provide the possible implementation of the first of above-mentioned second aspect, its
In, the determining module, including：
Acquiring unit, for obtaining the path of the multiple robot；
Congestion points determining unit, for determining congestion points according to the path of the multiple robot；
Congestion points area determination unit, for determining congestion points region from the adjacent domain of the congestion points.
With reference to second aspect, the embodiments of the invention provide the possible implementation of second of above-mentioned second aspect, its
In, it is described to be included by request：Position of the robot in the congestion points region.
With reference to second of possible implementation of second aspect, the embodiments of the invention provide the of above-mentioned second aspect
Three kinds of possible implementations, wherein, the setup module, for according to each robot received in the congestion points region
Send by the time sequencing of request, each robot contained by request bag in the congestion points region
Position, each robot in respectively described congestion points region set dispatch command.
In method provided in an embodiment of the present invention and server, congestion points region is determined；According to the congestion points region
The path by each robot in request and the congestion points region that interior each robot is sent is respectively described
Each robot in congestion points region sets dispatch command；Each robot into the congestion points region, which is sent, respectively adjusts
Degree instruction, so that the robot for receiving dispatch command passes through the congestion points region according to the dispatch command.To congestion points
Each robot in region is analyzed by request, is set respective dispatch command for each robot, is avoided machine
People gets congestion in congestion points region, improves speed of the robot by congestion points, and then improve the whole of robot cluster
Body running efficiency.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of method flow diagram for robot queuing management that the embodiment of the present invention is provided；
Fig. 2 shows a kind of robot 1 that the embodiment of the present invention provided and robot 2 in congestion points region A position
Schematic diagram；
Fig. 3 shows another robot 1 that the embodiment of the present invention provided and robot 2 in congestion points region A position
Put schematic diagram；
Fig. 4 shows that a kind of robot 1 that the embodiment of the present invention provided and robot 2 pass through congestion points region A routes
Figure；
Fig. 5 shows that the kind that the embodiment of the present invention is provided is used for the structural representation of the server of robot queuing management
Figure.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
In view of in correlation technique, during robot cluster carries out extensive dynamic moving in the venue, easily sending out
Raw congestion, causes the reduction of whole work efficiency.Based on this, the embodiments of the invention provide one kind to be used for robot queuing management
Method and server.It is described below by embodiment.
Embodiment 1
Referring to Fig. 1, the embodiments of the invention provide a kind of method for robot queuing management.This method specifically includes
Following steps：
Step 101, determine congestion points region；
In the embodiment of the present invention, server establishes data with multiple robots in place and is connected, and then described in acquisition
The path of multiple robots, and the path of the multiple robot is analyzed, determine the ground that the frequency of occurrences is higher in path
Point is congestion points, and congestion points region is determined from the adjacent domain of the congestion points, wherein, congestion points region is different from machine
People forms a line, and the robot for being introduced into congestion points region comes the queue area of foremost, but robot is scattered in congestion
Each position in point region.
Step 102, according in the congestion points region each robot send pass through request be respectively the congestion
Each robot in point region sets dispatch command.
Wherein, it is described to be included but is not limited to by request：Position of the robot in the congestion points region.Each machine
People enters congestion points region, can all be triggered and be sent to server by request, the server is according to the reception congestion
The time sequencing by request of each robot transmission in point region, each robot contained by request bag
Position in the congestion points region, each robot in respectively described congestion points region set dispatch command.
Specifically, dispatch command is set, it is necessary to consider following factor for the robot in congestion points region：
(1) robot sends the time sequencing by asking；
The effective limitation of each request that robot is sent, in order to avoid what robot was sent is surpassed by asking to respond
When, avoid the preferential robot for reaching congestion points region can not be preferentially by congestion points region, server is that robot sets tune
, it is necessary to be configured according to what robot was sent by the time sequencing of request during degree instruction.
(2) position of the robot in the congestion points region；
Congestion points region is the neighbouring region of congestion points, after each robot enters congestion points region, is scattered in congestion
Each position in point region, is not to form a line, the robot for being introduced into congestion points region comes foremost, when some machine
There is other robot stop on the route that device people passes through congestion points, then in order to quickly through congestion points region, being resistance
The robot of gear sets dispatch command, makes it preferentially by congestion points region.
Wherein, the different demands according to server to robot by congestion points region, the adjustment factor being adapted to
(1), the priority level of (2).For example, when server to robot enter congestion points region by ask timeliness require it is higher,
Then increase the ratio of factor (1)；When server to robot enter congestion points region by ask timeliness require it is relatively low, it is right
Robot requires higher by the overall efficiency in congestion points region, then increases the ratio of factor (2).
It should be noted that in order to improve speed of the robot by congestion points region, each robot should be with most
The big speed of travel is by congestion points region, moreover, it is contemplated that the maximum speed of travel to each robot is different, in order to avoid machine
People's congestion in congestion points region, server should be that each robot sets tune according to the maximum speed of travel of each robot
Degree instruction.
Wherein, dispatch command includes but is not limited to：It is the time that robot brings into operation in the congestion points region, described
The speed that robot passes through the congestion points region by the route and the robot in the congestion points region.
It should be noted that dispatch command includes the mode for the time that robot brings into operation in the congestion points region
Including：
A, the operation starting time is directly carried in dispatch command；
B, when reaching the time that the robot brings into operation, send to the robot and pass through comprising the robot
The dispatch command for the speed that the route and the robot in the congestion points region pass through the congestion points region.
It should be noted that after entering congestion points region, robot is to be waited for, and is referred to when receiving winter scheduling difficult to understand
Just start to pass through congestion points region according to dispatch command after order.Wherein, due to server set dispatch command time quickly, can
To ignore, therefore, the time that robot is waited for is not grown, and does not interfere with robot and passes through congestion points region
Speed.
Step 103, each robot into the congestion points region sends dispatch command respectively, so as to receive scheduling
The robot of instruction passes through the congestion points region according to the dispatch command.
After server is provided with dispatch command for each robot in the congestion points region, by for each robot
Dispatch command is sent to corresponding robot, and robot receives dispatch command, according to the operation starting time in dispatch command
Start, congestion points region is passed through with the route in dispatch command and speed.
In method and device provided in an embodiment of the present invention, congestion points region is determined；According in the congestion points region
The path by each robot in request and the congestion points region that sends of each robot be respectively described gather around
Each robot in stifled point region sets dispatch command；Each robot into the congestion points region sends scheduling respectively
Instruction, so that the robot for receiving dispatch command passes through the congestion points region according to the dispatch command.To congestion points area
Each robot in domain is analyzed by request, is set respective dispatch command for each robot, is avoided robot
Got congestion in congestion points region, improve speed of the robot by congestion points, and then improve the entirety of robot cluster
Operating efficiency.
The method of the robot queuing management proposed with reference to specific application scenarios to the present embodiment carries out detailed
Explanation.Wherein, robot 1,2 and robot queuing management server in system be present, robot task be present in place holds
Row region A, robot charged area B and reception task article region C, set path, server will entirely work for convenience
Place node, (0,0) is arranged to each node distribution coordinate (x, y), and by the gravity value of congestion points, then to surrounding section
Point radiation, distance often increase by 1 coordinate unit, gravity value increase by 1 unit, i.e., gravity value be coordinate points to the origin of coordinates most
Small distance, wherein, gravity value=X-coordinate+Y-coordinate.
Server knows that the path of robot 1 is A-B-A, and the path of robot 2 is C-A-C.Server by analysis, really
Fixed all robots can all pass through A, the frequency highest that A occurs, it is thus determined that A is congestion points, chooses and gather around in the region neighbouring from A
Stifled point region.Robot is provided with when entering congestion points region A, and being triggered to send to server passes through request.
After robot 1 and robot 2 have sequentially entered congestion points region A, it is sent in congestion points to server respectively
Region A position, as shown in Fig. 2 a kind of robot 1 and robot 2 that are provided for the present embodiment are in congestion points region A position
Figure, wherein, the position coordinates of robot 1 is (5,6), gravity value 11；The position coordinates of robot 2 is (5,0), and gravity value is
5, and robot 1 and robot 2 have a misaligned minimal path, the wherein path of robot 1 is S1, the path of robot 2
For S2.
As can be known from Fig. 2, although robot 1 have sent by request to server first, the gravity value of robot 2 is more
It is small, apart from the position of congestion points closer to if robot 1 passes through congestion points A by congestion points A time T1 more than robot 2
Time T2, then in order to improve efficiency of the robot by congestion points A, robot 1 and robot 2 select minimal path by gathering around
Stifled point A, while robot 1 is not influenceed by congestion points A, set for robot 2 comprising starting to transport with robot 1 identical
The dispatch command of row time, and the path S1 of robot 1 and the path S2 of robot 2 are misaligned in dispatch command, in Fig. 2
S1 and S2 paths, so save times of the passage path S2 of robot 2 by congestion points A, and then it is logical to improve robot 1,2
Cross congestion points A bulk velocity.
If robot 1 is less than robot 2 by congestion points A time T2 (due to each by congestion points A time T1
The speed of robot is different, if the speed of robot 1 is more than the speed of robot 2, such case occurs), then also may be used
Think that robot 1 and robot 2 set the dispatch command for including identical operation starting time, so in robot 1 by gathering around
After stifled point A, time of the robot 2 by congestion points A is not influenceed, and then improve robot 1,2 by the whole of congestion points A
Body speed.
If robot 1 is equal to time T2 of the robot 2 by congestion points A by congestion points A time T1, work as service
Device sends to robot and required by the time sequencing asked, then what the dispatch command that can be set for robot 1 included opens
The operation starting time that beginning run time includes prior to the dispatch command that is set for robot 2, and robot 1 in dispatch command
Path S1 and the path S2 of robot 2 it is misaligned, for example, for robot 1 set dispatch command be " 10：00 according to S1 roads
Footpath, by congestion points A ", is that the dispatch command that robot 2 is set can be " 10 with 3,000 ms/hour of speed:01 according to S2 paths
Congestion points A " is passed through with 3.5 thousand ms/hour of speed.
As shown in figure 3, another robot 1 and robot 2 that are provided for the present embodiment are in congestion points region A position
Figure, wherein, the position coordinates of robot 1 is (6,0), gravity value 6；The position coordinates of robot 2 is (5,0), and gravity value is
5, the path of robot 1 is S1, and the path of robot 2 is S2, and robot 2 is on the minimal path of robot 1.
Although robot 1 first to server have sent by request, robot 2 apart from congestion points A distance closer to,
If robot 1 is more than time T2 of the robot 2 by congestion points A by congestion points A time T1, in order to improve robot
By congestion points A efficiency, the dispatch command for including identical operation starting time is set for robot 1 and robot 2, its
In, the path of robot 1 is S1, and the path of robot 2 is S2, i.e., while robot 1 is not influenceed by congestion points A, section
Time of the robot 2 by congestion points A has been saved, and then has improved bulk velocity of the robot 1,2 by congestion points A.
If robot 1 by congestion points A time T1 be less than or equal to robot 2 by congestion points A time T2 (due to
The speed of each robot is different, if the speed of robot 1 is more than the speed of robot 2, such case occurs), then
According to robot send by ask time sequencing, can be robot 1 set dispatch command include when bringing into operation
Between the operation starting time that is included prior to the dispatch command that is set for robot 2, wherein, the path of robot 1 is S1 ', its
Middle S1 ' is path around robot 2 by congestion points A, S1 ' as shown in Figure 4.If according to robot in the congestion points
Position in region sets dispatch command, then the operation starting time that the dispatch command set for robot 2 includes prior to for
The operation starting time that the dispatch command that robot 1 is set includes, and the path of robot 1 is S1, the path of robot 2 is
S2, robot 2 is set to pass through before robot 1 is by congestion points A.
It should be noted that Fig. 2 and Fig. 3 are a kind of specific application scenarios that the present embodiment provides, in practical application,
Robot cluster is not limited only to Liang Ge robots, as long as according to the present embodiment offer according in the reception congestion points region
Each robot send by the time sequencing of request, each robot contained by request bag in the congestion
Position in point region, it is that each robot in the congestion points region sets the method for dispatch command in the guarantor of the present invention
Within the scope of shield.
In method provided in an embodiment of the present invention and server, congestion points region is determined；According to the congestion points region
The path by each robot in request and the congestion points region that interior each robot is sent is respectively described
Each robot in congestion points region sets dispatch command；Each robot into the congestion points region, which is sent, respectively adjusts
Degree instruction, so that the robot for receiving dispatch command passes through the congestion points region according to the dispatch command.To congestion points
Each robot in region is analyzed by request, is set respective dispatch command for each robot, is avoided machine
People gets congestion in congestion points region, improves speed of the robot by congestion points, and then improve the whole of robot cluster
Body running efficiency.
Embodiment 2
A kind of server for robot queuing management is present embodiments provided, as shown in figure 5, the server is established
It is connected with the data of multiple robots, the server includes：
Determining module 51, for determining congestion points region；
Setup module 52, for passing through request respectively institute according to each robot transmission in the congestion points region
The each robot stated in congestion points region sets dispatch command；
Sending module 53, dispatch command is sent for each robot into the congestion points region respectively, so as to connect
The robot for receiving dispatch command passes through the congestion points region according to the dispatch command.
Wherein, the determining module 51, including：
Acquiring unit, for obtaining the path of the multiple robot；
Congestion points determining unit, for determining congestion points according to the path of the multiple robot；
Congestion points area determination unit, for determining congestion points region from the adjacent domain of the congestion points.
Wherein, it is described to be included by request：Position of the robot in the congestion points region.
Wherein, the setup module 52, it is logical for being sent according to each robot received in the congestion points region
The time sequencing of request, the position of each robot in the congestion points region contained by request bag are crossed, point
Each robot that Wei be in the congestion points region sets dispatch command.
Wherein, the dispatch command includes：The time that robot brings into operation in the congestion points region, the machine
The speed that people passes through the congestion points region by the route and the robot in the congestion points region.
In method provided in an embodiment of the present invention and server, congestion points region is determined；According to the congestion points region
The path by each robot in request and the congestion points region that interior each robot is sent is respectively described
Each robot in congestion points region sets dispatch command；Each robot into the congestion points region, which is sent, respectively adjusts
Degree instruction, so that the robot for receiving dispatch command passes through the congestion points region according to the dispatch command.To congestion points
Each robot in region is analyzed by request, is set respective dispatch command for each robot, is avoided machine
People gets congestion in congestion points region, improves speed of the robot by congestion points, and then improve the whole of robot cluster
Body running efficiency.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, can be by other
Mode realize.Device embodiment described above is only schematical, for example, the division of the unit, only one
Kind of division of logic function, can there is other dividing mode when actually realizing, in another example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or logical of device or unit by some communication interfaces
Letter connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (4)
- A kind of 1. method for robot queuing management, it is characterised in that establish the number of server and multiple robots respectively It is connected according to connection, and according to the data established with multiple robots, obtains the path of multiple robots；Methods described includes：The path of multiple robots is analyzed, determines that the place that the robot frequency of occurrences is higher described in the path is to gather around Stifled point, determines congestion points region from the adjacent domain of the congestion points；Wherein, each robot enters congestion points region, It will be triggered to send to server and pass through request；Receive that each robot in the congestion points region sends by the time sequencing of request, described contained by request bag The each position of the robot in the congestion points region；According to the different demands to robot by the congestion points region, set each robot by the transmission of request when Between and position of the robot in the congestion points region priority level；According to the priority level of position of the transmission time, the robot by request in the congestion points region and institute State the maximum speed of travel of robot, each robot in respectively described congestion points region sets dispatch command；Each robot into the congestion points region sends dispatch command respectively, so as to receive the robot of dispatch command The congestion points region is passed through according to the dispatch command.
- 2. the method as described in claim 1, it is characterised in thatThe dispatch command includes：The time that robot brings into operation in the congestion points region, the robot pass through institute State the speed that the route in congestion points region and the robot pass through the congestion points region.
- 3. a kind of server for robot queuing management, it is characterised in that the server is established and multiple robots Data connect, and are connected according to the data established with multiple robots, obtain the path of multiple robots；The server bag Include：Determining module, for analyzing the path of multiple robots, determine the robot frequency of occurrences described in the path Higher place is congestion points, and congestion points region is determined from the adjacent domain of the congestion points；Wherein, each robot enters To congestion points region, can all be triggered to send to server passes through request；Setup module, for receiving the time sequencing by request, the institute of the transmission of each robot in the congestion points region State the position of each robot in the congestion points region contained by request bag；Gathered around according to robot by described The different demands in stifled point region, set the transmission time and the robot by request of each robot in the congestion points The priority level of position in region；Time, the robot are sent in the congestion points region according to by request The maximum speed of travel of the priority level of position and the robot, each robot in respectively described congestion points region Dispatch command is set；Sending module, dispatch command is sent for each robot into the congestion points region respectively, so as to receive tune The robot of degree instruction passes through the congestion points region according to the dispatch command.
- 4. server as claimed in claim 3, it is characterised in thatThe dispatch command includes：The time that robot brings into operation in the congestion points region, the robot pass through institute State the speed that the route in congestion points region and the robot pass through the congestion points region.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610005062.0A CN105488892B (en) | 2016-01-04 | 2016-01-04 | A kind of method and server for robot queuing management |
| KR1020187020566A KR102080424B1 (en) | 2016-01-04 | 2016-08-03 | Method and apparatus for robotic site return |
| US15/326,625 US10421186B2 (en) | 2016-01-04 | 2016-08-03 | Method and apparatus for working-place backflow of robots |
| EP16883134.5A EP3401750B1 (en) | 2016-01-04 | 2016-08-03 | Method and device for returning robots from site |
| AU2016384096A AU2016384096B2 (en) | 2016-01-04 | 2016-08-03 | Method and device for returning robots from site |
| JP2018553278A JP6671507B2 (en) | 2016-01-04 | 2016-08-03 | Method and Apparatus for Returning to Robot Site {METHOD AND DEVICE FOR RETURNING ROBOTS FROM SITE} |
| PCT/CN2016/093123 WO2017118001A1 (en) | 2016-01-04 | 2016-08-03 | Method and device for returning robots from site |
| SG11201805378XA SG11201805378XA (en) | 2016-01-04 | 2016-08-03 | Method and device for returning robots from site |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610005062.0A CN105488892B (en) | 2016-01-04 | 2016-01-04 | A kind of method and server for robot queuing management |
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| CN105488892A CN105488892A (en) | 2016-04-13 |
| CN105488892B true CN105488892B (en) | 2018-03-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017118001A1 (en) * | 2016-01-04 | 2017-07-13 | 杭州亚美利嘉科技有限公司 | Method and device for returning robots from site |
| CN106547271B (en) * | 2016-10-20 | 2019-07-09 | 大族激光科技产业集团股份有限公司 | AGV traffic control method and apparatus |
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Effective date of registration: 20220125 Address after: 310000 room 603, South Building, No. 2, Chaofeng East Road, Yuhang Economic Development Zone, Yuhang District, Hangzhou, Zhejiang Province Patentee after: ZHEJIANG LIBIAO ROBOT CO.,LTD. Address before: 310000 0614-2 room, 199 business building, Xihu District Wensanlu Road, Hangzhou, Zhejiang. Patentee before: HANGZHOU YAMEILIJIA TECHNOLOGY Co.,Ltd. |