CN107807648A - Path planning system and method based on robot and elevator device - Google Patents
Path planning system and method based on robot and elevator device Download PDFInfo
- Publication number
- CN107807648A CN107807648A CN201711210405.8A CN201711210405A CN107807648A CN 107807648 A CN107807648 A CN 107807648A CN 201711210405 A CN201711210405 A CN 201711210405A CN 107807648 A CN107807648 A CN 107807648A
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- 238000013439 planning Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000009466 transformation Effects 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 10
- 238000007405 data analysis Methods 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 238000011835 investigation Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000001954 sterilising effect Effects 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000288105 Grus Species 0.000 description 1
- 230000037147 athletic performance Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000012567 medical material Substances 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of path planning system based on robot and elevator device, including the robot control system installed in robot, elevator device, institute's sense detecting system in robot or in elevator and the robot dispatching platform for being scheduled to robot, the elevator of the elevator device includes default clean ladder and dirt ladder, institute's sense detecting system is used to judge whether the dirty ladder has turned into clean ladder, the robot is notified to call elevator by the robot dispatching platform if institute sense detecting system confirms that the dirty ladder has turned into clean ladder, otherwise the robot is notified only to call default clean ladder, the elevator includes default clean ladder and the clean ladder by the dirty ladder transformation.The present invention further simultaneously discloses a kind of paths planning method based on robot and elevator device.The present invention can make it that robot takes corresponding decision-making according to whether dirty ladder is changed into clean terraced judgement, it is possible to reduce robot stand-by period, hoisting machine people conevying efficiency and cycle.
Description
Technical field
The present invention relates to field of intelligent control, more specifically to a kind of path based on robot and elevator device
Planning system and method.
Background technology
The medical Material Transportation of conventional hospital, also mainly rely on based on manpower transport at present, but traditional manpower logistics is transported
Transmission scheme presently, there are that cost of transportation is high, error rate is high, safety is without ensureing, take management workload, easily infected, overtime work life
The major class problem of disease, unmanageable etc. seven, logistics transportation mode that is new, being adapted to modernization wisdom Constructing of Hospital urgently introduce.
It is current with the wisdom logistics transportation system that hospital's logistics distribution machine artificially represents in wisdom Constructing of Hospital system
Put into effect use in some Grade A hospitals successively, its high wisdom having, deployment be fast, very safe etc. characteristic, substantially meets
The requirement of Modern Materials Circulation transport, extensive concern and welcome by various big hospital.
Hospital logistics distribution robot is during actually runing, it has been found that flow of the people is big, elevator is a limited number of
In hospital, the path planning and Delivery Cycle of robot are a more distinct issues, such as：Robot is transporting clean thing
During, clean ladder planned in advance can only be taken and reach destination and nurse station, can not taking dirty ladder, (dirt ladder passes through
After sterilization clean ladder can be used as to use), largely effect on conevying efficiency and cycle.
Patent of the present invention, using a kind of path planning scheme based on robot and elevator device, can solve background above
The problem of in technology.
The content of the invention
The technical problem to be solved in the present invention is, there is provided a kind of control system docked based on robot with certification passage
And method.
The technical solution adopted for the present invention to solve the technical problems is：A kind of path based on robot and elevator device
Planning system, including robot control system installed in robot, elevator device and for being scheduled to robot
Robot dispatching platform, the elevator of the elevator device include presetting clean ladder and dirt ladder, in addition in robot or electric
Institute's sense detecting system in ladder, institute's sense detecting system is used to judge whether the dirty ladder has turned into clean ladder, if the institute
Sense detecting system confirms that the dirty ladder has turned into clean ladder and then notifies the robot to call electricity by the robot dispatching platform
Ladder, otherwise notifies the robot only to call default clean ladder, and the elevator is clean with being changed by the dirty ladder including default clean ladder
Ladder.
In the present invention, institute's sense detecting system includes institute's sense detection sensor, data analysis module, logic judgment module
And first communication module, institute's sense detection sensor will detect whether dirty ladder has turned into clean terraced data and send to described
After data analysis module are analyzed, then data by analysis are sent to the logic judgment module and carry out logic judgment,
Finally the result of logic judgment is sent to the robot by the first communication module by the robot dispatching platform.
In the present invention, the elevator device is additionally provided with second communication module, and the elevator device passes through second communication module
Communicated with the robot dispatching platform and the robot control system.
In the present invention, the robot control system also includes vision investigation module, the vision investigation mould
Block is used to judge the state of elevator cab and takes default decision-making, the state bag of the elevator cab according to the state in the bridge railway carriage or compartment
Include whether elevator door completes opening and closing, whether elevator is in congestion state, the default decision-making enters elevator, robot including robot
Go out elevator or robot waits next elevator.
In the present invention, the elevator device is entered by the proprietary proprietary protocol of radio communication with the robot control system
Row communication.
The present invention further simultaneously discloses a kind of paths planning method based on robot and elevator device, when robot is by machine
When device people dispatching platform is dispatched execution task and run to elevator doorway, comprise the following steps：
S1. it is arranged on institute's sense detecting system in robot or in elevator and judges whether dirty ladder has turned into clean ladder, if institute
State institute's sense detecting system and confirm that the dirty ladder has turned into clean ladder and then performs step S2, otherwise institute's sense detecting system passes through machine
People's dispatching platform notifies the robot only to call default clean ladder；
S2. institute's sense detecting system notifies the robot to call elevator, the elevator by robot dispatching platform
Including default clean ladder and the clean ladder by the dirty ladder transformation.
Step S1 of the present invention is specifically included：
S11. institute's sense detection sensor of institute's sense detecting system will detect whether dirty ladder has turned into clean terraced data
Send to the data analysis module of institute sense detecting system after being analyzed, then data by analysis are sent to the institute
The logic judgment module for feeling detecting system carries out logic judgment, finally dispatches the result of logic judgment by the robot flat
Platform is sent to the robot.
Further comprise after step S2 of the present invention：
S3. the robot judges the state of elevator cab and takes default decision-making according to the state in the bridge railway carriage or compartment, described
Whether the state of elevator cab completes opening and closing including elevator door, whether elevator is in congestion state, and the default decision-making includes machine
Device people enters elevator, robot goes out elevator or robot waits next elevator.
In step S2 of the present invention, the robot control system passes through the special private of radio communication with the elevator device
There is agreement to be communicated.
The invention has the advantages that path planning system and side of the present invention based on robot and elevator device
Method, can make it that robot takes corresponding decision-making according to whether dirty ladder is changed into clean terraced judgement, such as when dirty ladder is changed into
When clean terraced, default clean ladder and the clean ladder by the dirty ladder transformation can be called simultaneously, which portion arrives first which portion robot can take
Elevator, therefore the robot stand-by period can be reduced, hoisting machine people conevying efficiency and cycle.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the block diagram of the path planning system of the present invention based on robot and elevator device；
Fig. 2 is the block diagram of institute's sense detecting system of the present invention；
Fig. 3 is the flow chart of the paths planning method of the present invention based on robot and elevator device.
Embodiment
Fig. 1 is the block diagram of the path planning system of the present invention based on robot and elevator device, as shown in the figure.It is described
Path planning system based on robot and elevator device, including elevator device 1, the robot control system installed in robot
2nd, institute's sense detecting system 3 in robot or in elevator, and the scheduling of the robot for being scheduled to robot
Platform 4.
The elevator of elevator device 1 is divided into default clean ladder and dirt ladder, and it is elevator that is clean, sterilizing to preset clean ladder, and dirty ladder is
The elevator not carried out disinfection after contaminated.Elevator device 1 includes elevator controlling module 11, second communication module 12 and elevator bridge
Railway carriage or compartment 13.Elevator controlling module 11 is used for the operation for controlling elevator, includes the operation of control elevator cab 13.Second communication module 12
It is responsible for carrying out radio communication with robot control system 2 and robot dispatching platform 4.
Robot control system 2 includes sensor 21, controller 22, motion module 23 and vision prospecting module 24.Pass
Sensor 21 mainly allows the anthropoid consciousness function of robot class and respond, can experience as defined in be measured
Various amounts and the device or device for being converted into useful signal according to certain rules.Controller 22 is mainly that control machine people is various
The execution of task.Motion module 23 is used for the athletic performance for performing robot.Vision prospecting module 24 is used to judge elevator cab
13 state simultaneously takes default decision-making according to the state in the bridge railway carriage or compartment 13, and whether the state of the elevator cab 13 includes elevator door
Opening and closing, elevator are completed whether in congestion state etc., the default decision-making enters elevator including robot, robot goes out elevator or
Robot waits next elevator etc..
Fig. 2 is the block diagram of institute's sense detecting system of the present invention, as shown in the figure.Institute's sense detecting system 3 includes institute's sense detection
Sensor 31, data analysis module 32, logic judgment module 33 and first communication module 34.Detection sensor 31 is felt by the institute
It will detect whether dirty ladder 15 is had turned into after clean terraced 14 data send to the data analysis module 32 and analyzed, then will be through
The data for crossing analysis send to the logic judgment module 33 and carry out logic judgment, finally by the result of logic judgment by described the
One communication module 34 is sent to the robot by the robot dispatching platform 4.
In above-mentioned, detecting system 3 is felt according to being actually needed by institute, may be mounted in elevator device 1, can also be arranged on machine
On device people, but institute's sense detecting system 3 is that information is issued into robot by the robot dispatching platform 4.Institute's sense inspection
Examining system 3 is used to judge whether the dirt ladder 15 has turned into clean terraced 14, and dirty terraced 15 as described in confirming institute's sense detecting system 3
It is changed into clean terraced 14, then notifies the robot to call electricity by the robot dispatching platform 4 by the first communication module 34
Ladder, otherwise notify robot only to call default clean terraced 14, the elevator include default clean terraced 14 with changed by the dirty ladder it is clean
Ladder 14, preset clean ladder and clean ladder.
In the one or more embodiments of the present invention, the elevator of hospital is generally divided into default clean terraced 14 and dirty terraced 15 two kinds of electricity
Ladder.Default clean terraced 14 be clean and by the elevator of sterilization.Therefore, when confirming that the dirty ladder 15 has been changed to clean terraced 14, machine
Device people can then call two elevators simultaneously, and which portion arrives first which elevator is robot can take, it is possible to reduce robot etc.
Treat the time, hoisting machine people conevying efficiency and cycle.
Robot dispatching platform 4 is mainly the scheduling for realizing robot, and commander, control and detection robot perform task
Situation, robot dispatching platform 4 can realize that the one or more robots of scheduling perform one or more tasks etc. function.
In above-mentioned, side that the elevator device 1 and the robot control system 2 pass through the special proprietary protocol of radio communication
Formula is communicated, and can transmit related command and information between each other, for example, calling elevator, want the destination that reaches and
Confirm floor information etc., but the present invention is not limited thereto, and for the present invention according to being actually needed, robot can also take others
Communication mode is communicated with the elevator device 1.
Fig. 3 is the flow chart of the paths planning method of the invention based on robot and elevator device, as shown in the figure.Work as machine
When people is dispatched execution task by robot dispatching platform and run to elevator doorway, comprise the following steps：
Step S1, institute's sense detecting system in robot or in elevator judge whether dirty ladder has turned into clean ladder, such as
Institute's sense detecting system described in fruit confirms that the dirty ladder has turned into clean ladder and then performs step S2, otherwise performs step S4.
Specific, institute's sense detecting system judges whether dirty ladder has turned into clean terraced step and include step S11：
Step S11, it is clean terraced that institute's sense detection sensor of institute's sense detecting system will detect whether dirty ladder has turned into
Data are sent to the data analysis module of institute sense detecting system analyzed after, then data by analysis are sent to institute
The logic judgment module for stating institute's sense detecting system carries out logic judgment, finally adjusts the result of logic judgment by the robot
Degree platform is sent to the robot.
Step S2, institute's sense detecting system notifies the robot to call elevator by robot dispatching platform, described
Elevator includes default clean ladder and the clean ladder by the dirty ladder transformation.Wherein, the robot passes through wireless with the elevator device
The special proprietary protocol that communicates is communicated.
Step S3, the robot judge the state of elevator cab and take default decision-making according to the state in the bridge railway carriage or compartment,
Whether the state of the elevator cab completes opening and closing including elevator door, whether elevator is in congestion state, the default decision package
Include that robot enters elevator, robot goes out elevator or robot waits next elevator.
Step S4, detecting system is felt by the institute, and by robot dispatching platform to notify that the robot only calls default clean
Ladder.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (9)
1. a kind of path planning system based on robot and elevator device, including control system installed in the robot of robot
System, elevator device and the robot dispatching platform for being scheduled to robot, the elevator of the elevator device are included in advance
If clean ladder and dirt ladder, it is characterised in that also include being arranged on institute's sense detecting system in robot or in elevator, institute's sense inspection
Examining system is used to judge whether the dirty ladder has turned into clean ladder, if to confirm that the dirty ladder has turned into clean for institute sense detecting system
It is terraced then notify the robot to call elevator by the robot dispatching platform, it is default otherwise to notify that the robot only calls
Clean ladder, the elevator include default clean ladder and the clean ladder by the dirty ladder transformation.
2. the path planning system according to claim 1 based on robot and elevator device, it is characterised in that the institute
Feeling detecting system includes institute's sense detection sensor, data analysis module, logic judgment module and first communication module, the institute
Sense detection sensor will detect whether dirty ladder is had turned into after clean terraced data send to the data analysis module and analyzed,
Data by analysis are sent to the logic judgment module again and carry out logic judgment, finally by the result of logic judgment by institute
First communication module is stated to send to the robot by the robot dispatching platform.
It is 3. according to claim 1 or 2 based on robot and elevator device to path planning system, it is characterised in that institute
State elevator device and be additionally provided with second communication module, the elevator device passes through second communication module and the robot dispatching platform
Communicated with the robot control system.
It is 4. according to claim 3 based on robot and elevator device to path planning system, it is characterised in that the machine
Device people control system also includes vision investigation module, and the vision investigation module is used for the state for judging elevator cab
And default decision-making is taken according to the state in the bridge railway carriage or compartment, whether the state of the elevator cab completes opening and closing, electricity including elevator door
Whether ladder is in congestion state, and the default decision-making enters elevator including robot, robot goes out elevator or robot wait is next
Portion's elevator.
It is 5. according to claim 3 based on robot and elevator device to path planning system, it is characterised in that the electricity
Terraced system is communicated by the proprietary proprietary protocol of radio communication with the robot control system.
6. a kind of paths planning method based on robot and elevator device, it is characterised in that when robot is dispatched by robot
When dispatching platforms perform task and run to elevator doorway, comprise the following steps：
S1. it is arranged on institute's sense detecting system in robot or in elevator and judges whether dirty ladder has turned into clean ladder, if the institute
Sense detecting system confirms that the dirty ladder has turned into clean ladder and then performs step S2, and otherwise institute's sense detecting system is adjusted by robot
Degree platform notifies the robot only to call default clean ladder；
S2. institute's sense detecting system notifies the robot to call elevator by robot dispatching platform, and the elevator includes
Default clean ladder and the clean ladder by the dirty ladder transformation.
7. the paths planning method according to claim 6 based on robot and elevator device, it is characterised in that the step
Rapid S1 is specifically included：
S11. institute's sense detection sensor of institute's sense detecting system will detect whether dirty ladder has turned into clean terraced data and send
After the data analysis module of extremely institute sense detecting system is analyzed, then data by analysis are sent to the institute to feel and examined
The logic judgment module of examining system carries out logic judgment, finally sends out the result of logic judgment by the robot dispatching platform
Deliver to the robot.
8. the paths planning method based on robot and elevator device according to claim 6 or 7, it is characterised in that institute
Step S2 is stated afterwards to further comprise：
S3. the robot judges the state of elevator cab and takes default decision-making, the elevator according to the state in the bridge railway carriage or compartment
Whether the state in bridge railway carriage or compartment completes opening and closing including elevator door, whether elevator is in congestion state, and the default decision-making includes robot
Enter elevator, robot goes out elevator or robot waits next elevator.
9. the paths planning method according to claim 6 based on robot and elevator device, it is characterised in that the step
In rapid S2, the robot control system is communicated with the elevator device by the special proprietary protocol of radio communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711210405.8A CN107807648B (en) | 2017-11-28 | 2017-11-28 | Path planning system and method based on robot and elevator system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711210405.8A CN107807648B (en) | 2017-11-28 | 2017-11-28 | Path planning system and method based on robot and elevator system |
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| Publication Number | Publication Date |
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| CN107807648A true CN107807648A (en) | 2018-03-16 |
| CN107807648B CN107807648B (en) | 2020-10-30 |
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ID=61590039
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| CN109623836A (en) * | 2018-12-13 | 2019-04-16 | 拉扎斯网络科技（上海）有限公司 | Dispensing machine people |
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| Publication number | Publication date |
|---|---|
| CN107807648B (en) | 2020-10-30 |
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