CN107844117A - A kind of road locking system and method based on high in the clouds - Google Patents
A kind of road locking system and method based on high in the clouds Download PDFInfo
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- CN107844117A CN107844117A CN201710995788.8A CN201710995788A CN107844117A CN 107844117 A CN107844117 A CN 107844117A CN 201710995788 A CN201710995788 A CN 201710995788A CN 107844117 A CN107844117 A CN 107844117A
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- 238000004891 communication Methods 0.000 claims description 8
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- 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
- G05D1/0287—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] or 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] or 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] or 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] or 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] or 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots 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, 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
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- 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
- G05D1/0268—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]
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Abstract
The present invention relates to a kind of road locking system based on high in the clouds, including：Server end and robotic end, the server end includes being used for the road information configuration module for configuring road information, and the configuration road information is synchronized into robotic end, and road locking or unlock instruction are issued to robot according to the request that robotic end is sent；The robotic end includes robot road processing module, robot road processing module task according to corresponding to the instruction execution that the server end issues., can be by the section locking mechanism of the present invention that system is dispatched based on robot, effectively scheduling the invention also discloses a kind of road locking means based on high in the clouds, the problem of avoiding section from blocking.
Description
Technical field
The present invention relates to robot to dispatch system, more specifically to a kind of road locking system based on high in the clouds and
Method.
Background technology
Released with the development of society, robot can solve people from heavy manual labor and dangerous environment
Come, people can be helped to do more things, robot can help us to complete the hot mission that we obtain and not accomplished.
But robot is during execution task, it will usually it is special to encounter slype, elevator, automatically-controlled door etc.
The same time can only be when can only be by the road scene of unidirectional robot by a robot or same time, can
By the section locking mechanism of the present invention based on high in the clouds, effectively scheduling, to avoid section from blocking, improve multirobot
Percent of pass.
The content of the invention
The technical problem to be solved in the present invention is, there is provided a kind of road locking system and method based on high in the clouds.
The technical solution adopted for the present invention to solve the technical problems is：A kind of road locking system based on high in the clouds, bag
Include：
Server end, including for configuring the road information configuration module of road information, and by the configuration road information
Robotic end is synchronized to, road locking or unlock instruction are issued to robot according to the request that robotic end is sent；
Robotic end, including robot road processing module, the robot road processing module is according to the server
Hold task corresponding to the instruction execution issued.
In the present invention, the road information configuration module is used to configure the region that road need to be added to lock, region setting is added
Whether lock test point and unblock region point and road allow equidirectional robot to pass through.
In the present invention, the server end also includes road information maintenance module, high in the clouds and received and sent messages interface and first
Database, the road information maintenance module be used for according to the high in the clouds receive and send messages the information that interface receives handled after it is right
The road information configuration module is updated and preserved to first database.
In the present invention, the robotic end is also received and sent messages interface and the second database including robotic end, the machine
People's interface of receiving and sending messages at end is used to receiving instruction that the server end issues and sends request and by number to the server end
According to preserving to second database, the robot road processing module forwards according to robotic end interface of receiving and sending messages
Instruction perform the driver of corresponding hardware device, and drive the corresponding hardware device to perform task.
In the present invention, the robotic end, which has prestored, to be performed the map of task in default scene and is set provided with positioning
Standby, robot is in the task of execution according to location equipment renewal from the position of the map.
In the present invention, the server end passes through websocket/http/socket communication protocols and the robotic end
Connection, the robotic end are connected by websocket/http/socket communication protocols with the hardware device.
The present invention further simultaneously discloses a kind of road locking means based on high in the clouds, is locked when robot is detected up to road
During test point, following steps are performed：
S1. judge whether the server end road locks, step S2 is performed if road is locked, otherwise performs step
S3；
S2. determine whether equidirectional robot by and locking robot run it is whether equidirectional and equidirectional
The default maximum whether the robot quantity passed through is not up to the road and allows can be combed by robot；If allow same
Direction robot by and locking robot operation be that the equidirectional and equidirectional robot quantity passed through is not up to
The maximum that the road allows can then perform step S3 by robot quantity, and otherwise the server end notice robot waits
Detection trigger road locks task and performs the step S1 after preset time；
S3. the server end locks the section, and records the robot identification code and robot traffic direction, notice
The robot can pass through the road.
In the present invention, after step S3, further comprise：
S4. after the robot is by the road, the request of unblock road, the server are sent to the server end
End unlocks corresponding road according to the identification code.
In the present invention, after the step S3, in addition to：
S31. judge whether the robot needs to control hardware device, if it is, performing step S32；Otherwise step is performed
Rapid S4；
S32. the robot controls the hardware device according to default control logic.
In the present invention, after step S32, in addition to：
S321. judge whether the hardware device feedback succeeds, if it is, performing step S4；Otherwise return and perform step
Rapid S32.
In the present invention, the robot includes before detecting up to road lock-in detection point：
S01. the region that road need to be added to lock, the region for locking the need plus road has been pre-configured with the server end to set
Put and lock test point and unblock region point, prestored the map in default scene execution task in the robotic end and set
There is location equipment；
S02. robot is updated certainly in the position of the map, if institute in the task of execution according to the location equipment
State robot detect self-position reach the road lock-in detection point when, perform the step S1.
The invention has the advantages that can by section locking system and method for the present invention based on high in the clouds,
Can effectively it dispatch, the problem of avoiding section from blocking.
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 road locking system Organization Chart of the invention based on high in the clouds；
Fig. 2 is one of unidirectional one-way road schematic diagram of the road locking system of the present invention based on high in the clouds；
Fig. 3 is the two of the unidirectional one-way road schematic diagram of the road locking system of the present invention based on high in the clouds；
Fig. 4 is one of two-way one-way road schematic diagram of the road locking system of the present invention based on high in the clouds；
Fig. 5 is the two of the two-way one-way road schematic diagram of the road locking system of the present invention based on high in the clouds；
Fig. 6 is one of two-way two-way street schematic diagram of the road locking system of the present invention based on high in the clouds；
Fig. 7 is the two of the two-way two-way street schematic diagram of the road locking system of the present invention based on high in the clouds；
Fig. 8 is more turnout schematic diagrames of the road locking system of the present invention based on high in the clouds；
Fig. 9 is one of door schematic diagram of road locking system of the present invention based on high in the clouds；
Figure 10 is the two of the door schematic diagram of the road locking system of the present invention based on high in the clouds；
Figure 11 is the elevator schematic diagram of the road locking system of the present invention based on high in the clouds；
Figure 12 is the flow chart of the road locking means of the present invention based on high in the clouds.
Embodiment
Fig. 1 is the road locking system of the invention based on high in the clouds, as shown in the figure.Presentation layer 11 is of the invention one or more
JSP/Servlet technologies can be used in embodiment, for building user interface presentation data；And Business Logic 12 is at this
Bean/EJB technologies can be used by inventing in one or more embodiments, for processing business logic, general if judges, circulation etc.；
And Data Persistence Layer 13 can use JDBC technologies in the one or more embodiments of the present invention, number is preserved for providing data-interface
According to access data；Driving layer 14 is for connection to hardware and operating system, e.g. navigation, elevator, automatically-controlled door, voice
Deng driver；Layers of physical devices 15 is the various equipment being connected with system, e.g. Navigational Movements hardware, voice related hardware
Deng.
Server end 1 includes the road information configuration module 4 positioned at presentation layer 11, the road positioned at Business Logic 12 is believed
Breath maintenance module 5 and high in the clouds are received and sent messages interface 6, and the first database 9 positioned at Data Persistence Layer 13.Robotic end 1 is wrapped
Include the robotic end positioned at Business Logic 12 to receive and send messages interface 7 and robot road processing module 8, and held positioned at data
Second database 10 of long layer 13.The drivers such as navigation, elevator, automatically-controlled door, voice are positioned at driving layer 14；Navigational Movements are hard
Part, voice related hardware are located at layers of physical devices 15；Hardware device 3 includes elevator, automatically-controlled door etc..
Wherein, region that road need to be added to lock can be configured in the road information configuration module 4 of server end 1, and described
The region (such as some points in the edges of regions) that road need to be added to lock, which is set, locks test point and unblock region point and road
Equidirectional robot whether is allowed the information such as to pass through.
In the one or more embodiments of the present invention, indicated whether to allow equidirectional machine with field allowSamePass
People is represented to allow equidirectional machine by (for true to allow, false is not allow) with field allowSamePassNumber
(after road reaches equidirectional maximum quantity by machine, road condition can be also set to for maximum robot quantity that people passes through
For locking, no longer allow new robot entrance), each region marks the lock-out state (true in the region with field lock
For locking, false is unlocked), represent which robot locks with field lockRobotCode, use field
LockDirection represents to lock the traffic direction parameter of the road area robot.It is provided with the configuration of these rear fields
Information can be stored in the first database 9 of server end 1, and the configuration information will be issued to the institute of robotic end 2 simultaneously
There is robot to synchronize preservation.
Robot has prestored the map of the scene before default scene execution task.When robot receives
The task sequence that server end 1 is sent, in the map during walking execution task, robot can be according to the location equipment of itself
Ceaselessly update from the position on map.Robot is locally provided with the planning of intelligent path planning algorithm from self-position to mesh
Position walking path.Robot is locally provided with intelligent barrier avoiding algorithm, and when robot, local avoidance sensor finds machine
When having barrier on device people's walking path, robot meeting Independent attempt acted around barrier, causes robot when path is blocked
During around barrier failure, robot can stop in situ, stop walking.
In one or more embodiments of the invention, because robot is during walking, it will usually described
The special same time such as slype, elevator, automatically-controlled door is encountered on figure can only be by a robot or same time
Can be by the road scene of unidirectional robot, therefore, it is necessary to the region that road is locked need to added (such as in the edges of regions
Some points) set lock test point 22 and unblock region point 21, as shown in Fig. 2-Figure 11, in these road scenes, hold very much
Multirobot is easily caused because being dispatched without unified planning, causes robot local avoidance triggering, such as more to go in the same direction
Robot congestion is gathered in somewhere in limited road, and all robots, which are rested on road, causes road to block, it is therefore necessary to
Road locking mechanism is set in order to effectively dispatching, the problem of avoiding section from blocking.
On one-way road and two-way street in Fig. 2-Fig. 6, in the one or more embodiments of the present invention, two-way street is beyond the clouds
(i.e. server end) is stored and locked in a manner of two one-way.So no matter two-way street is two-way two-way street, still
Two-way street in the same direction, high in the clouds can all be defined as two one-way roads and go to store.Remaining more trade the like.
In the one or more embodiments of the present invention, the locking test point 22 and unblock region point of Fig. 2-Figure 11 schematic diagram
21, not necessarily overlap, Fig. 2-Figure 11 is schematic diagram, and the present invention is not limited thereto.Fig. 9-Figure 10 door may also have its other party
Formula, it is also not limited to Fig. 9-Figure 10 both of these cases.As shown in figure 11, elevator is because the region of also more floors, elevator
When locking, all areas that the elevator can reach can be locked.Figure 11 schematic diagram does not represent more floors, but this hair
Bright one or more embodiments are to lock the elevator object of all floors simultaneously.
Wherein, the ' locked ' zone in above-mentioned figure refers to lock point to the robot path between unblock point.In the present invention one
In individual or multiple embodiments, the width in path is identical with road, such as in more branch road scenes, each crossing is designed with locking point
With unblock point, as long as having a robot request to locking, then high in the clouds can lock all related machines of more branch road scenes
People path, width are identical with road.Similarly, elevator scene, it is designed with locking and unlocks a little per floor, once a robot please
Locking is asked, then high in the clouds can lock the path of the robot disengaging elevator of all floors of the elevator (compared to the machine with floor
People's operating path, the access lane of elevator scene are divided into two sections, and the floor that sets out is from point is locked into the path of elevator interior, is arrived
It is the path of the point from elevator interior to unblock up to floor).
Robot itself is provided with positioner, after locking point is run to nearby, request locking task is performed, if do not obtained
Allow to high in the clouds, then robot can not enter the region being locked.The actually each crossing of more branch road roads described in Fig. 8
Provided with locking and unblock point, such as robot is operationally, and locking point from one enters, and can have multiple unlock to put away, Fig. 8
Simply one of embodiment, but the present invention is not limited thereto.
Figure 12 is the flow chart of the road locking means of the present invention based on high in the clouds, the flow chart be the present invention wherein
One embodiment, as shown in the figure.
Step A1, when robot reaches road lock-in detection point, robot deposits in advance before certain scene execution task
The map of the scene is stored up.When robot receive scheduling system transmission task sequence, in map walk execution task when,
Robot can be ceaselessly updated according to the location equipment of itself from the position on map.
When robot detects that self-position is near road lock-in detection point, detection trigger road locking task, meeting
By robot and the communication interface in high in the clouds, robot is led to high in the clouds by the long connection websocket passages established in advance
Letter (uses the communication protocol, but is actually to be not limited to which, other are such as in the one or more embodiments of the present invention
The protocol communications such as http, socket are all possible).Robotic end sends packet to server end, and the packet contains road
Road lock-in detection point information (being represented with areaParam fields), current robot traffic direction (use runDirection field lists
Show), current request robot numbering (being represented with runRobotCode fields), the request query high in the clouds road lock-in detection point institute
Whether the road area of category locks.
Step A2, high in the clouds judge whether road locks, and are the road lock-in detection point information reported according to robot
(areaParam) lock-out state (being represented with lock fields) of the data base querying area road is removed, if road is fed back in high in the clouds
The information of (i.e. lock values are false) is not locked, then performs step A5；If road has locked, (i.e. lock values are
True), then robot performs step A3.
Step A3, the allowSamePass configurations for the area road that high in the clouds is inquired by judging above-mentioned steps A2 are i.e.
Whether allow equidirectional robot by, and current operation robot with lock the robot of road run it is whether equidirectional, i.e.,
Whether lockDirection fields are consistent with runDirection fields；If allowSamePass fields are true, and
LockDirection fields are consistent with runDirection fields, and the current equidirectional machine number run in the road
Amount M (M is integer) is less than the equidirectional maximum robot quantity that presetting present road allows to pass through
AllowSamePassNumber, then perform step A5；Otherwise step A4 is performed.
Step A4, high in the clouds return to robot check results by websocket, and robot waits preset time, and (this is default
Second time x is good by the software configured in advance of robotic end, after the task is triggered, software can the timing since 0, until the x seconds
Afterwards again perform step A1) after retry step A1.
Step A5, A6, high in the clouds can set regional database field lock values to represent to lock the section for true, and store
The runRobotCode fields of robot are reported to record the robot to the database lockRobotCode fields in the region
Identification code, and store and report the runDirection fields of robot to the database lockDirection fields in the region, note
The current direction of the robot is recorded, the equidirectional robot quantity M=M+1 run in present road.Then high in the clouds can pass through
Websocket, which is issued, to be instructed by the road to robot, notify the robot to continue executing with step by the road
A7。
Step A7, robotic end judge whether to need to control other hardware devices.If desired, then step A8 is performed；
If it is not required, then perform step A10.
Step A8, robot according to other default hardware device control logics to other hardware devices (such as elevator, from
Dynamic door) it is controlled, and perform step A9.
Step A9, robot continue to judge whether other hardware devices feedback succeeds.Step is performed if feeding back successfully
A10, otherwise it is further continued for return to step A8 and retries other described hardware devices of control.
Step A10, A11, robot receive described in the step A6 of high in the clouds can by the road instruct after, autonomous passes through
The road, and after detecting that self-position is reached near the release region point of the edges of regions (expression passes through the road), machine
Device people sends the packet of unblock road request instruction by websoket communication protocols to high in the clouds, and the packet contains the machine
The identification code of people.
Step A12, high in the clouds unlock corresponding road, run in present road equidirectional according to the identification code of the robot
Robot quantity M=M-1.
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 (11)
- A kind of 1. road locking system based on high in the clouds, it is characterised in that including：Server end, including for configuring the road information configuration module of road information, and the configuration road information is synchronous To robotic end, road locking or unlock instruction are issued to robot according to the request that robotic end is sent；Robotic end, including robot road processing module, the robot road processing module is according under the server end Task corresponding to the instruction execution of hair.
- 2. the road locking system according to claim 1 based on high in the clouds, it is characterised in that the road information configures mould Block is used to configure the region that road need to be added to lock, sets whether locking test point and unblock region point and road allow to the region Equidirectional robot passes through.
- 3. the road locking system according to claim 2 based on high in the clouds, it is characterised in that the server end also includes Road information maintenance module, high in the clouds are received and sent messages interface and the first database, and the road information maintenance module is used for basis Receive and send messages after the information that interface receives is handled and the road information configuration module is updated and preserved in the high in the clouds To first database.
- 4. the road locking system based on high in the clouds according to claim 1 or 3, it is characterised in that the robotic end is also Received and sent messages interface and the second database including robotic end, robotic end interface of receiving and sending messages is used to receive the service The instruction and send request to the server end and preserve data to second database, the robot that device end issues Road processing module performs the driver of corresponding hardware device according to the receive and send messages instruction of interface forwarding of the robotic end, And the corresponding hardware device is driven to perform task.
- 5. the road locking system according to claim 4 based on high in the clouds, it is characterised in that the robotic end is deposited in advance Store up and performed the map of task in default scene and be provided with location equipment, robot is in the task of execution according to the location equipment Renewal is from the position of the map.
- 6. the road locking system according to claim 1 based on high in the clouds, it is characterised in that the server end passes through Websocket/http/socket communication protocols are connected with the robotic end, and the robotic end passes through websocket/ Http/socket communication protocols are connected with the hardware device.
- A kind of 7. road locking means based on high in the clouds, it is characterised in that when robot is detected up to road lock-in detection point, Perform following steps：S1. judge whether the server end road locks, step S2 is performed if road is locked, otherwise perform step S3；S2. determine whether equidirectional robot by and locking robot operation whether it is equidirectional and it is equidirectional Whether the robot quantity passed through is not up to the default maximum that the road allows can be by robot quantity；If allow equidirectional Robot by and locking robot operation be that the equidirectional and equidirectional robot quantity passed through is not up to the road The maximum that road allows can then perform step S3 by robot quantity, and otherwise the server end notice robot waits default Detection trigger road locks task and performs the step S1 after time；S3. the server end locks the section, and records the robot identification code and robot traffic direction, described in notice Robot can pass through the road.
- 8. the road locking means according to claim 7 based on high in the clouds, it is characterised in that stepAfter S3, further comprise：S4. after the robot is by the road, the request of unblock road, the server end root are sent to the server end According to the identification code, corresponding road is unlocked.
- 9. the road locking means based on high in the clouds according to claim 7 or 8, it is characterised in that after the step S3, Also include：S31. judge whether the robot needs to control hardware device, if it is, performing step S32；Otherwise step S4 is performed；S32. the robot controls the hardware device according to default control logic.
- 10. the road locking means according to claim 9 based on high in the clouds, it is characterised in that after step S32, also wrap Include：S321. judge whether the hardware device feedback succeeds, if it is, performing step S4；Otherwise return and perform step S32。
- 11. the road locking means according to claim 7 based on high in the clouds, it is characterised in that the robot detects Include before up to road lock-in detection point：S01. the region of road lock need to be added, the region setting that need to add road lock is added by being pre-configured with the server end Test point and unblock region point are locked, has been prestored in the robotic end and has performed the map of task and provided with fixed in default scene Position equipment；S02. robot is updated certainly in the position of the map, if the machine in the task of execution according to the location equipment When device people detects that self-position reaches the road lock-in detection point, the step S1 is performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710995788.8A CN107844117B (en) | 2017-10-23 | 2017-10-23 | Road locking system and method based on cloud |
Applications Claiming Priority (1)
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| 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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| CN110349314A (en) * | 2019-07-10 | 2019-10-18 | 北京云迹科技有限公司 | Robot passes through gate inhibition or the control method of gate |
| CN112388624A (en) * | 2019-08-15 | 2021-02-23 | 纳恩博（北京）科技有限公司 | Robot control method and apparatus, storage medium, and electronic apparatus |
| CN112506198A (en) * | 2020-12-11 | 2021-03-16 | 京信智能科技(广州)有限公司 | Robot scheduling method, device, equipment and medium |
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