CN106873590B - Method and device for positioning and task management of conveying robot - Google Patents
Method and device for positioning and task management of conveying robot Download PDFInfo
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- CN106873590B CN106873590B CN201710091700.XA CN201710091700A CN106873590B CN 106873590 B CN106873590 B CN 106873590B CN 201710091700 A CN201710091700 A CN 201710091700A CN 106873590 B CN106873590 B CN 106873590B
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/0008—General problems related to the reading of electronic memory record carriers, independent of its reading method, e.g. power transfer
Abstract
The invention discloses a method and a device for positioning a conveying robot and managing tasks, wherein the method comprises the following steps: arranging an RFID landmark, collecting RFID label information and corresponding position information and transmitting the RFID label information and the corresponding position information to an upper computer; the upper computer transmits the collected RFID label information and the corresponding position information to the conveying robot through the Xbee; the conveying robot solidifies the received information in the storage space of the control chip to complete initialization; the conveying robot reads the RFID label through a high-frequency RFID card reader and sends the position information to an upper computer through an Xbee; and the upper computer receives the position information sent by the conveying robot and monitors the operation state of the conveying robot. The method can update the state of the conveying robot in real time and keep the conveying robot to run efficiently. The device is simple and convenient to install, and can effectively solve the problem that other positioning devices are difficult to arrange and debug on site.
Description
Technical Field
The invention belongs to the technical field of state supervision and control of a conveying robot, and particularly relates to a method and a device for positioning and task management of the conveying robot.
Background
The task of a transfer robot is mostly to perform a series of repetitive and regular operations and operations indoors. The service-oriented delivery robot must have certain flexibility, such as running in different modes according to different conditions of task nodes, besides regularity, so that positioning of the delivery robot and reporting of task conditions of the robot are the basis for overall running of the service-oriented delivery robot.
The existing positioning systems of robots mostly adopt wireless, ultrasonic or laser radar positioning. For example, the hybrid laser and vision positioning method disclosed in CN105865449A is expensive and the overall operation layout is complicated. Meanwhile, the field installation and debugging of the wireless and ultrasonic systems are also very inconvenient.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide a method for positioning a conveying robot and managing tasks, which can monitor the position and the task completion condition of the conveying robot in real time.
Another object of the present invention is to provide a transfer robot positioning and task management device based on the above method, which can monitor the position and task completion of the transfer robot in real time.
A method for positioning and task management of a transfer robot includes the following steps:
s1: arranging RFID landmarks on a running track route of the transfer robot, collecting RFID label information and corresponding position information and transmitting the RFID label information and the corresponding position information to an upper computer;
s2: the upper computer transmits the collected RFID label information and the corresponding position information to the conveying robot through the Xbee;
s3: the conveying robot solidifies the RFID label information and the corresponding position information transmitted by the upper computer in the storage space of the control chip to complete initialization;
s4: the conveying robot runs according to the initialized path, reads the RFID tag through the high-frequency RFID card reader, and sends the position information to the upper computer through the Xbee;
s5: and the upper computer receives the position information sent by the conveying robot and monitors the operation state of the conveying robot.
Preferably, if the upper computer judges that the task is completed according to the position information sent by the robot, the task is redistributed, and the robot is specified to reach the next task point.
Preferably, if the RFID tags in the layout area are crossed, the upper computer performs shortest path planning through a map planning algorithm and transmits the shortest path planning to the transfer robot.
Specifically, the shortest path planning includes the following steps: firstly judging whether the coordinate of the target position is not on a cross node or not, judging whether a node exists on a transverse axis or not, if so, finding out a first node on the right, recording 1 by using a dynamic array, then finding out the uppermost node in the vertical axis direction of the first node as a second node, finding out the number a of nodes passing from the first node to the second node, and adding a 0 to the back of 1 and adding 1; presetting the abscissa of the position node of the conveying robot to be 0, if the abscissa of the second node is not equal to 0, repeating the operation, finding out the number b of nodes passing by the abscissa of the second node and the current abscissa of the conveying robot, adding b 0 after 1, adding one 1, if the number b is equal to 0, inquiring the number of the nodes from the current node to the conveying robot, and if c is available, adding c 0 after 1; turning over the obtained array to complete path planning; when the conveying robot meets the cross node during conveying, the conveying robot can read the path planning information transmitted by the upper computer, turn left when reading the information 1 and move straight when reading the information 0.
The conveying robot positioning and task management device based on the method comprises a plurality of RFID labels, a conveying robot and an upper computer, wherein the conveying robot comprises a first XBee module, a high-frequency RFID reader and a main control chip, the upper computer comprises a second XBee module and a task planning module, and the second XBee module can be communicated with the first XBee module.
Preferably, the high-frequency RFID reader is a radio frequency reader of a UART output interface, which reads the ID number of a 16-system RFID card.
Preferably, the first and second XBee modules are XBee Pro S2B or other wifi modules with the same function.
Preferably, several RFID tags are required to be able to cover all the paths traveled by the transfer robot.
Preferably, the RFID tag is a 13.56MHz RFID card.
Preferably, the upper computer works in a windows environment.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the upper computer sends the RFID label position to the conveying robot through the XBee, the conveying robot can identify the RFID in different positions and convey articles to the appointed position, and meanwhile, the upper computer can monitor the position and the task completion condition of the operating robot in real time according to the information returned by the conveying robot. By such an operation flow, the state of the transfer robot can be updated in real time, and the transfer robot can be kept operating at high efficiency. The device is simple and convenient to install, and can effectively solve the problems of difficult field arrangement and debugging of wireless, ultrasonic and laser radar positioning.
Drawings
FIG. 1 is a flow chart of an embodiment method;
FIG. 2 is a block diagram of an embodiment apparatus;
fig. 3 is a schematic diagram of an embodiment path planning.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
A method for positioning a transfer robot and managing a task, wherein a specific information transmission manner is shown in fig. 1.
The method comprises the following specific steps:
s1: arranging RFID landmarks on a running track route of the transfer robot, collecting RFID label information and corresponding position information and transmitting the RFID label information and the corresponding position information to an upper computer;
s2: the upper computer transmits the collected RFID label information and the corresponding position information to the conveying robot through the Xbee;
s3: the conveying robot solidifies the RFID label information and the corresponding position information transmitted by the upper computer in the storage space of the control chip to complete initialization;
s4: the conveying robot runs according to the initialized path, the RFID tag is read through the high-frequency RFID card reader, the position information is sent to the upper computer through the Xbee, and the position information and the task information are updated in real time (when the conveying robot arrives at the specified position, a task can be finished);
s5: the upper computer receives the position information and the task information sent by the conveying robot, monitors the operation state of the conveying robot and updates the task in time; and if the task of the conveying robot is completed, the task is redistributed, path initialization is carried out, and the robot is appointed to reach the next task point, so that the operation of the conveying robot is more efficient.
The initialization of the transfer robot is to solidify all the RFID tag information and the corresponding position information, and the path initialization is to initialize a path that the transfer robot needs to complete a task and to walk through.
As shown in fig. 2, a transfer robot positioning and task management device based on the above method includes a plurality of RFID tags, a transfer robot, and an upper computer.
Several RFID tags are required to be able to cover all the paths traveled by the transfer robot. The embodiment adopts an FM1108 chip of 13.56MHz or other RFID tags working at 13.56 MHz. The label is used for providing corresponding position information for the conveying robot, and the position of the conveying robot can be conveniently searched in daily operation.
Wherein the transfer robot includes a first xbe module, a high frequency RFID reader, and a master control chip. The high-frequency RFID reader is a radio frequency reader which is provided with a UART output interface and is used for reading the ID number of a 16-system RFID card.
The upper computer comprises a second XBee module and a task planning module. The upper computer runs by adopting computer software and works in a window working environment.
Each robot has an XBee module for communicating with an upper computer with the XBee module, and the XBee module in this embodiment is XBee Pro S2B or other wifi modules with the same function. While each robot has a high frequency RFID reader for reading RFID landmarks.
When the transfer robot tracks are laid, the upper computer can transmit the RFID landmark numbers to be laid and the corresponding position information to the transfer robot through Xbee, and when the transfer robot is initialized, the upper computer can receive the RFID landmark numbers and the corresponding position information and solidify the RFID landmark numbers and the corresponding position information in the storage module of the chip, and then the initialization of the software part for laying the transfer robot tracks can be completed.
The upper computer can read the RFID tags when the track initialized in advance is accessed in the transportation period of the conveying robot, and the position information of the robot is updated on the upper computer through the Xbee module; when the transport robot completes a certain task, the robot can also send feedback information of task completion through the Xbee.
Meanwhile, the upper computer can also send task scheduling information to the conveying robot through the Xbee, so that the conveying robot is simpler and more convenient to manufacture, and the working efficiency of the conveying robot is improved.
When the situation that the field RFID arrangement is crossed occurs, namely the robot meets an intersection during transportation, the path planning information transmitted by the upper computer is read, the robot turns left when reading 1 byte information, and the robot moves straight when reading 0 byte information. The available storage walking route information has 5 bytes, each byte can have 8 bits, and each bit controls left turn or straight walking. Thus, each barcode can store up to 40 node process information. If 40 nodes are not enough, the background management system can be replaced by a 13-bit bar code, and the stored node processing information is up to 80.
For example, a map planning algorithm is to judge whether the coordinates of the target dining table position are not on the nodes, whether the nodes exist on the horizontal axis or not is judged, if so, the first node on the right is found out, 1 is recorded by using a dynamic array n [ ], the uppermost node position (the second node) in the vertical axis direction of the first node is found out, the number a of the passing nodes is found out after the second node is found out, a 0 is added behind 1, and a 1 is added; if the abscissa of the second node is not equal to 0 (the preset kitchen abscissa is 0), repeating the above operations, if equal to 0, inquiring the node of the current node away from the kitchen, and if there are b nodes, adding b 0 nodes behind 1. And turning the obtained array, so that a route for sending the dishes to the designated dining table is constructed. As shown in fig. 3, the robot for meal delivery can choose to walk straight at 1, 2, 6, 12, 13, 9 points and turn left at 3, 11, 14 points according to the path planning information, so that the walking of the whole path is simple and the travel is shorter.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. A method for positioning and task management of a transfer robot, comprising the steps of:
s1: arranging RFID landmarks on a running track route of the transfer robot, collecting RFID label information and corresponding position information and transmitting the RFID label information and the corresponding position information to an upper computer;
s2: the upper computer transmits the collected RFID label information and the corresponding position information to the conveying robot through the Xbee;
s3: the conveying robot solidifies the RFID label information and the corresponding position information transmitted by the upper computer in the storage space of the control chip to complete initialization;
s4: the conveying robot runs according to the initialized path, reads the RFID tag through the high-frequency RFID card reader, and sends the position information to the upper computer through the Xbee;
s5: the upper computer receives the position information sent by the conveying robot and monitors the operation state of the conveying robot;
if the RFID tags in the arrangement site are crossed, the upper computer performs shortest path planning through a map planning algorithm and transmits the shortest path planning to the conveying robot, so that the conveying efficiency is improved;
the shortest path planning comprises the following steps: firstly judging whether the coordinate of the target position is not on a cross node or not, judging whether a node exists on a transverse axis or not, if so, finding out a first node on the right, recording 1 by using a dynamic array, then finding out the uppermost node in the vertical axis direction of the first node as a second node, finding out the number a of nodes passing from the first node to the second node, and adding a 0 to the back of 1 and adding 1; presetting the abscissa of the conveying robot to be 0, if the abscissa of the second node is not equal to 0, repeating the operation, finding out the number b of nodes through which the abscissa of the second node and the current abscissa of the conveying robot pass, adding b 0 s after 1, adding one 1, if the number b is equal to 0, inquiring the number of nodes of the current node from the conveying robot, and if the number c is equal to 0, adding c 0 s after 1; turning over the obtained array to complete path planning; when the conveying robot meets the cross node during conveying, the conveying robot can read the path planning information transmitted by the upper computer, turn left when reading the information 1 and move straight when reading the information 0.
2. The transfer robot positioning and task management method of claim 1, wherein the task is reallocated to designate the robot to reach a next task point if the upper computer judges that the task is completed according to the position information transmitted from the transfer robot.
3. A conveying robot positioning and task management device based on the method of claim 1 is characterized by comprising a plurality of RFID tags, a conveying robot and an upper computer, wherein the conveying robot comprises a first XBee module, a high-frequency RFID reader and a main control chip, the upper computer comprises a second XBee module and a task planning module, and the second XBee module can be communicated with the first XBee module.
4. The carrier robot positioning and task management device according to claim 3, wherein the high frequency RFID reader is a radio frequency reader of a UART output interface that reads an ID number of a 16-ary RFID card.
5. The transfer robot positioning and task management device of claim 3, wherein the first and second xbe modules employ XBee Pro S2B or other wifi modules with the same function.
6. The transfer robot positioning and task management device of claim 3, wherein the plurality of RFID tags are required to cover all paths traveled by the transfer robot.
7. The transfer robot positioning and task management device of claim 3, wherein the RFID tag is a 13.56MHz RFID card.
8. A transfer robot positioning and task management apparatus according to claim 3, wherein the upper computer operates in a windows environment.
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| CN107992044A (en) * | 2017-12-12 | 2018-05-04 | 东北大学秦皇岛分校 | A kind of autonomous traveling control method of robot and robot system of independently advancing |
| CN109571498B (en) * | 2018-12-20 | 2022-03-11 | 山东爱泊客智能科技有限公司 | Robot control device and method based on position |
| CN111694358B (en) * | 2020-06-19 | 2022-11-08 | 京东科技信息技术有限公司 | Method and device for controlling transfer robot, and storage medium |
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