CN108108850A - A kind of telecontrol equipment and its pathfinding control method and the device with store function - Google Patents
A kind of telecontrol equipment and its pathfinding control method and the device with store function Download PDFInfo
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- CN108108850A CN108108850A CN201711499146.5A CN201711499146A CN108108850A CN 108108850 A CN108108850 A CN 108108850A CN 201711499146 A CN201711499146 A CN 201711499146A CN 108108850 A CN108108850 A CN 108108850A
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- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract
The invention discloses a kind of telecontrol equipment pathfinding control method, which includes：Periodically receive the positioning signal that the sender unit carried by target is sent for 360 degree；Itself position is positioned, with reference to the positioning signal of reception, determines relative position, the travelling route of the target is gone in planning；The place of the pre-determined distance close to the target is moved to according to the travelling route.By the above-mentioned means, the present invention can effectively promote the efficiency of logistics campaign, lower manpower and materials cost.
Description
Technical field
The present invention relates to telecontrol equipment field, more particularly to a kind of telecontrol equipment and its pathfinding control method and with depositing
Store up the device of function.
Background technology
With the continuous development of computer technology and control technology, the application field of robot also constantly expands, minicomputer
Device people is used widely in freight logistics etc..E-commerce in recent years develops rapidly, and people are in the number of consumption on network
It is more and more, bring very big pressure to logistics work.Number of articles is more especially in warehouse, kind is adulterated, commodity are big
It is small it is irregular in the case of, using manually low, of high cost to carry out transport efficiency, and easily malfunction.Nowadays make
Transporter normally only moves on fixed circuit, and operating mode is single, underaction, can not realize fully automated
Change.
In addition, in some other application scenarios, such as movement in the sweeping robot or public place of family expenses is set
It applies (such as moveable intelligent garbage bin) etc. and is also required to possess increasingly automated and flexible and changeable locomitivity.
The content of the invention
The main purpose of the present invention is to provide a kind of telecontrol equipment and its pathfinding control method and the dress with store function
Put, can contexture by self moving line, reach appointed place.
To achieve the above object, one aspect of the present invention is：A kind of telecontrol equipment pathfinding controlling party is provided
Method, including：The positioning signal that the sender unit that timing receipt is carried by target is sent；Itself position is determined
Position with reference to the positioning signal of reception, determines relative position, and the travelling route of the target is gone in planning；According to the row
The place of the pre-determined distance close to the target is moved into route.
To achieve the above object, another technical solution used in the present invention is：A kind of telecontrol equipment is provided, including：Place
Manage device, man-machine circuit, telecommunication circuit, sensing circuit and motion motor, the processor couples the telecommunication circuit, described man-machine
Circuit, the sensing circuit and the motion motor realize method as described above.
To achieve the above object, another technical solution used in the present invention is：A kind of dress with store function is provided
It puts, have program stored therein data, and described program data can be performed to realize the step in method as described above.
The beneficial effects of the invention are as follows：The situation of the prior art is different from, the present invention can cause telecontrol equipment to pass through sense
Know target location and obtain self-position and make suitable route, reach the place specified automatically, promote logistics campaign
Efficiency and mitigation manpower consumption.
Description of the drawings
Fig. 1 is the flow diagram of an embodiment of telecontrol equipment pathfinding control method provided by the invention；
Fig. 2 is the first embodiment structure diagram of telecontrol equipment provided by the invention；
Fig. 3 is the second embodiment structure diagram of telecontrol equipment provided by the invention
Fig. 4 is the structure diagram of the device provided by the invention with store function.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
Referring to Fig. 1, Fig. 1 is the flow signal of an embodiment of telecontrol equipment pathfinding control method provided by the invention
Figure.As shown in Figure 1, telecontrol equipment pathfinding control method provided by the invention includes the following steps：
S101：Periodically receive the positioning signal that the sender unit carried by target is sent for 360 degree；
In a specific implement scene, telecontrol equipment is received from 360 degree and taken with oneself by target (for example, logistics worker)
The positioning signal that the signal generation apparatus of band is emitted, this positioning signal can be ultrasonic signal, Bluetooth signal, WIFI letters
Number, the wireless communication signals such as zigbee.The area that task can be handled according to required for signal transmission distance and telecontrol equipment selects
Select suitable signal.It is set in this implement scene, in sender unit there are one positioning circuit, the positioning circuit is to target institute
It is positioned in position, the result of positioning is sent to telecontrol equipment by subsequent sender unit.
Telecontrol equipment is equipped with the telecommunication circuit that positioning signal can be received from 360 degree, once sender unit is sent
Go out positioning signal, either any angle, telecontrol equipment can receive the positioning signal at once, and read the positioning signal
Comprising content.
S102：Itself position is positioned, with reference to the positioning signal of reception, determines relative position, is planned
Go to the travelling route of the target；
In a specific implement scene, telecontrol equipment receives the positioning signal that sender unit is sent out, and
Content therein is read, the location information for getting sender unit is also the location information of target.Meanwhile telecontrol equipment
Itself position is positioned, obtains the location information of itself.In this implement scene, prestored in telecontrol equipment
There is a map in the region (for example, warehouse) that telecontrol equipment can move, telecontrol equipment is according to the location information meter of itself and target
It calculates the relative position of the two and the route for going to target location is cooked up according to the map in the region.
In other implement scenes, map can not also be prestored in telecontrol equipment, telecontrol equipment is directly according to itself
Go out the relative position of the two with the positional information calculation of target, directly moved to the direction in target location, run into barrier (example
Such as wall, counter) when, selection, which is got around, to move ahead.
In another implement scene, for telecontrol equipment during movement, can be potentially encountered has depositing for barrier in way
.Sensing circuit is provided on telecontrol equipment for sensing the presence of barrier.Sensing circuit on telecontrol equipment can perceive
The size and orientation of barrier in direction of advance in pre-determined distance, while the road according to where barrier in pre-stored map
The width in section where the information of the width of section either perceives barrier by sensing circuit, in conjunction with needed for displacement
Width calculate present road whether can be by, if barrier is excessive, when telecontrol equipment is unable to safety, sportswear
Itself present position can be positioned by putting, and travelling route is planned in combining target position again, to target position
Movement.If barrier volume very little, does not interfere with the movement of telecontrol equipment, then telecontrol equipment temporarily changes the direction of movement,
Recover original direction of motion again after getting around barrier, moved according to set travelling route.In addition, the surrounding of telecontrol equipment can
To set sensing circuit, for perceiving the environmental change of surrounding immediately, and the environment of surrounding is perceived according to sensing circuit
The direction even speed of adjustment movement in time.A safe distance can be preset, when sensing circuit has perceived object distance
When telecontrol equipment is less than or equal to safe distance, telecontrol equipment will change direction or the speed of movement.In addition telecontrol equipment may be used also
To install the device of physics anticollision, such as rubber ring etc..
In another implement scene, there are multiple telecontrol equipments to be determined according to what the sender unit of same target was sent
Position information movement, these telecontrol equipments can perceive mutual presence, sportswear when apart from certain pre-determined distance
Mutual target or target position can be exchanged with each other between putting, if be different from, then can be with a sportswear
Put pause, wait another telecontrol equipment by or telecontrol equipment by sensing circuit perceive road surface width, if allow
Two or more telecontrol equipments move side by side, and telecontrol equipment continues each set direction of motion.If two or more fortune
Dynamic device target or target position are identical, then these telecontrol equipments will follow movement each other.For example, it can give every
One telecontrol equipment sets number, and when multiple telecontrol equipments meet and target is identical, telecontrol equipment trails number to number rearward
Forward telecontrol equipment movement.Such as number be 002 telecontrol equipment and number be 001 telecontrol equipment meet and the two target
Unanimously, then the telecontrol equipment pause motion that number is 001, the telecontrol equipment that number is 002 move to the sportswear that number is 001
After staying, and safe distance is kept, be followed by the telecontrol equipment that number is 001 and move to target location.In order to save money
Source, the telecontrol equipment that number is 002 will no longer timing receipt signal emit after the telecontrol equipment that number is 001 is followed to move
The positioning signal that device is sent, because consistent with the telecontrol equipment target that number is 001, therefore, the telecontrol equipment that number is 002
The telecontrol equipment that number is 001 can be followed to move according only to the perception of sensing circuit.
In another implement scene, target is constantly in the state of movement, then telecontrol equipment can be according to continuous more
The location information of the secondary target got analyzes the movement tendency of target, in conjunction with the map in the pre-stored region, sentences
Break and the moving line of target.To on the moving line, waiting target occurs for telecontrol equipment first motion, and keeps pacifying with target
Full distance.
S103：The place of the pre-determined distance close to the target is moved to according to the travelling route；
In a specific implement scene, after telecontrol equipment moves to target location according to travelling route, with target
Keep default distance.The pre-determined distance can be pre-set, and telecontrol equipment passes through the signal strength that is sent to signal projector
Judge whether to have arrived at apart from the place of the target pre-determined distance or can according to the position of itself positioning this moment with
The location information that signal projector is launched is compared, and judges whether to reach apart from the place of the target pre-determined distance.Such as
Fruit reach behind the place of the target pre-determined distance, with regard to stop motion, if do not reach apart from the target preset away from
From place then adjust position, meet the pre-determined distance between target.
In another implement scene, target is constantly in the state of movement, then telecontrol equipment can be at interval of default
Time obtains the position where target, and adjusts the position of itself immediately and keep default distance with target.So when target is moved
When dynamic, telecontrol equipment can also move, and be always maintained at default distance.Such as when target is moved away from telecontrol equipment,
Telecontrol equipment can also advance therewith, realize to target followed by, and when target face moves telecontrol equipment, telecontrol equipment meeting
It retreats, is realized to being followed before target therewith.
In another implement scene, telecontrol equipment after motor task is completed, detects after target location is reached
Return instruction is triggered, itself position is positioned, and relative position is determined with reference to default designated position, according to advance
The map programme path in the region of storage, moves to designated position.Designated position can uniformly set and be stored in movement
It can input in device or artificially.Whether complete telecontrol equipment detects itself current kinetic task after return instruction triggering
Into, such as when telecontrol equipment is the transporter in storage, detect whether itself has load, if there is load proves currently
Also motor task, then telecontrol equipment continues set movement travelling route, (that is, is loaded as 0) after the completion of motor task
Designated position is returned, if itself is not loaded, it was demonstrated that without motor task or completed motor task and then return at once
To designated position.It can be by centering clock in sportswear to trigger return instruction, returned within the default time default
Position or artificial transmission return instruction, such as can be sent by the wireless signals such as bluetooth, WiFi, ZigBee,
Can have return push-button on telecontrol equipment, it is to trigger return instruction artificially to trigger this button.
By foregoing description, the telecontrol equipment in the present embodiment can receive sender unit transmitting with 360 degree
Positioning signal, and travelling route is voluntarily planned according to the positioning signal, move to the position of distance objective pre-determined distance, movement side
It to flexible, can be adjusted according to actual conditions, can greatly save manpower and materials required in actual use, improve effect
Rate saves the time.
Referring to Fig. 2, Fig. 2 is the structure diagram of the first embodiment of telecontrol equipment provided by the invention.Telecontrol equipment
10 include processor 11, man-machine circuit 12, telecommunication circuit 13, sensing circuit 14 and motion motor 15, and processor 11 couples man-machine
Circuit 12, telecommunication circuit 13, sensing circuit 14 and motion motor 15.Man-machine circuit 12 is used to implement telecontrol equipment 10 and user's
Human-computer interaction, what the positioning signal and user that telecommunication circuit 13 is sent for reception by the sender unit that target carries were sent
It other command signals and communicates with other telecontrol equipments, sensing circuit 14 is for perceiving in 10 advance way of telecontrol equipment
Road and surrounding environmental aspect, such as detected whether barrier, ensured the security of the movement of telecontrol equipment 10, fortune
Direction and speed of the dynamic motor 15 for the movement of controlled motion device 10.
Before work starts, user carries out telecontrol equipment 10 initial setting up, such as input fortune by man-machine circuit 12
The map in the region that dynamic device 10 is moved selectes one of position and completes to move what is returned after work as telecontrol equipment 10
Appointed place and the number that telecontrol equipment 10 is set.At work, the processor 11 of telecontrol equipment 10 controls telecommunication circuit 13
It is searched for from 360 degree and receives the positioning signal emitted by target (for example, logistics worker) portable signal generation apparatus,
This positioning signal can be the wireless communication signals such as ultrasonic signal, Bluetooth signal, WIFI signal, zigbee.Positioning signal
In include the location information in target location, which can be specific longitude and latitude or pre-set
Divisional symble, such as A areas, B areas or 1 row 2 arrange, 3 rows 4 arrange etc..Processor 11 reads the positioning that telecommunication circuit 13 receives
The content of information voluntarily cooks up the route for going to target location according to the map in the pre-stored region, and according to this
15 setting in motion of route controlled motion motor.In order to ensure the safety of personnel, processor 11 can select moving target in distance
At the pre-determined distance in the actual location of target, prevent distance objective from closely bringing inconvenience excessively.
During the motion, sensing circuit 14 is in running order, and moment monitoring 10 direction of advance of telecontrol equipment is preset
Apart from interior whether there are obstacles, if there is barrier, then the obstacle information notifier processes device 11 that will be monitored, processor
11 obstacle informations transmitted according to sensing circuit combine the road information in the pre-stored region, and judge whether can be by,
If it could not, processor 11 plans new route again at once, and controlled motion motor 15 is according to new line-of-road movement, if energy
By the way that then processor 11 is according to the direction of motion of obstacle information, temporarily change motion motor 15, cut-through object, continuation root
It is moved according to set moving line.
In addition, during the motion, if multiple telecontrol equipments 10 meet, respective processor 11 can control respective logical
Believe circuit 13 by respective target and number mutually notice, if this multiple 10 target of telecontrol equipment is consistent, multiple movements
Device 10 goes to target location according to respective numbering queueing.
After reaching near target location, target is likely to be at motion state, and processor 11 can pass through communication at this time
Circuit 13 or sensing circuit 14 prejudge the movement tendency of target, and the movement of controlled motion motor 15 on this basis, so
When the object moves, telecontrol equipment 10 can also move, and be always maintained at default distance.Such as when target is away from sportswear
When putting 10 movement, telecontrol equipment 10 can also advance therewith, realize to target followed by, and when target face to telecontrol equipment move
When 10, telecontrol equipment 10 can retreat therewith, realize to being followed before target.
After the completion of movement, user can trigger the return instruction of telecontrol equipment by man-machine circuit 12, and processor 11 connects
It receives after the return instruction is triggered, obtains telecontrol equipment itself present position, it is automatic to advise with reference to default appointed place
Route is marked, controlled motion motor 15 moves to appointed place.
In other implement scenes, return instruction can be by wireless signal transmission, therefore processor 11 receives return
, it is necessary to which first whether detection current kinetic task is completed, if do not completed after needing first to complete current motor task after instruction
Returning to appointed place.
By foregoing description, the telecontrol equipment in the present embodiment by 360 degree of searches of telecommunication circuit and receives positioning
Signal near the positioning signal processor controlled motion motor movement to target location, passes through biography during the motion
Whether there are barrier, the obstacle information that processor is monitored according to sensing circuit in inductive circuit monitoring direction of motion pre-determined distance
Cut-through object or again programme path are selected, after the completion of motor task, processor detects that return instruction is triggered then
Automatic programme path moves to appointed place, and motion mode is flexible, and safety coefficient is high, can effectively reduce in actual use
Manpower and materials cost, improve work efficiency.
Referring to Fig. 3, Fig. 3 is the structure diagram of the second embodiment of telecontrol equipment provided by the invention.Telecontrol equipment
10 include processor 11, man-machine circuit 12, telecommunication circuit 13, sensing circuit 14, motion motor 15 and crash structure 16.Processing
Device 11, man-machine circuit 12, telecommunication circuit 13, the structure and function of sensing circuit 14 and motion motor 15 and fortune provided by the invention
Basically identical in the first embodiment of dynamic device, details are not described herein again.Crash structure 16 is located at the outside of telecontrol equipment 10, uses
The possibility that telecontrol equipment collides is prevented or reduced when preventing telecontrol equipment 10 from running into emergency situations, protects telecontrol equipment
10 and its cargo that is moved.Crash structure 16 can include spring, rubber pad, baffle etc..
By foregoing description, the present embodiment, can be in sportswear by adding crash structure on telecontrol equipment
Putting prevents or reduces the possibility that telecontrol equipment collides when emergency situations are run into, and protects telecontrol equipment.
Referring to Fig. 4, Fig. 4 is the structure diagram of the device provided by the invention with store function.With storage work(
At least one program or instruction 21 are stored in the device 20 of energy, program or instruction 21 are used to perform sportswear as shown in Figure 1
The method for putting pathfinding control.In one embodiment, the device with store function can be storage chip, the hard disk in terminal
The either instrument of other read-write storages such as mobile hard disk or flash disk, CD, can also be server etc..
By foregoing description, the program that is stored in the device embodiment with store function in the present embodiment or refer to
Order can be used for 360 degree of searches and receive positioning signal, according to the positioning signal processor controlled motion motor movement to target
Near location, monitor in direction of motion pre-determined distance whether have barrier during the motion, and selected according to obstacle information
Cut-through object or again programme path are selected, after the completion of motor task, plans road automatically if return instruction is triggered
Line moves to appointed place, and motion mode is flexible and safety coefficient is high, can effectively save the manpower spent in actual use
Material resources improve the efficiency of movement.
Be different from the prior art, the telecontrol equipment in the present invention can with 360 degree receive that sender units emit determine
Position signal, and travelling route is voluntarily planned according to the positioning signal, the position of distance objective pre-determined distance is moved to, and can profit
Barrier is got around with sensing circuit to avoid bumping against, and when multiple target same movement devices meet, movement can be followed, in target
When being kept in motion, pre-determined distance can be kept to be followed or followed by can be voluntarily after the completion of motor task before realizing
Appointed place is returned to, can effectively save manpower and materials required in actual use, improves work efficiency, when saving movement
Between.
The foregoing is merely embodiments of the present invention, are not intended to limit the scope of the invention, every to utilize this
It is relevant to be directly or indirectly used in other for the equivalent structure or equivalent flow shift that description of the invention and accompanying drawing content are made
Technical field is included within the scope of the present invention.
Claims (16)
1. a kind of telecontrol equipment pathfinding control method, which is characterized in that including：
Periodically receive the positioning signal that the sender unit carried by target is sent for 360 degree；
Itself position is positioned, with reference to the positioning signal of reception, determines relative position, the mesh is gone in planning
Target travelling route；
The place of the pre-determined distance close to the target is moved to according to the travelling route.
2. pathfinding control method according to claim 1, which is characterized in that the method further includes：
The map in the region of the telecontrol equipment movement is obtained in advance.
3. pathfinding control method according to claim 2, which is characterized in that the travelling route of the target is gone in planning
Step includes：
Go out the relative position of the two according to the positional information calculation of the telecontrol equipment itself and target；
The route for going to target location is cooked up according to the map and the relative position.
4. pathfinding control method according to claim 1, which is characterized in that the travelling route of the target is gone in planning
Step includes：
Go out the relative position of the two according to the positional information calculation of the telecontrol equipment itself and target；
It is directly moved to the direction where the target, if running into barrier during the movement, gets around the resistance
Every continuing to move to the direction.
5. pathfinding control method according to claim 1, which is characterized in that the mesh is moved to according to the travelling route
Include after the step of place of target pre-determined distance：
The location information of the target is periodically obtained, when the target moves, the target is followed to move, is protected with the target
Hold the pre-determined distance.
6. pathfinding control method according to claim 5, which is characterized in that when the target moves, follow the mesh
Mark movement includes with the step of target holding pre-determined distance：
When the target is moved away from the telecontrol equipment, the telecontrol equipment advances and keeps the pre-determined distance therewith,
Realize to the target followed by；
When the target face moves the telecontrol equipment, the telecontrol equipment can retreat therewith and keep it is described it is default away from
From realizing to being followed before target.
7. pathfinding control method according to claim 1, which is characterized in that the signal that timing receipt is carried by target emits
The step of positioning signal that device is sent, includes：
The front and rear positioning signal received is compared, obtains the movement tendency of the target；
Itself position is positioned, with reference to the positioning signal of reception, determines relative position, the mesh is gone in planning
The step of target travelling route, includes：
According to the movement tendency of the target, the moving line of the target is prejudged, plans the traveling for going to the target again
Route.
8. pathfinding control method according to claim 1, which is characterized in that the mesh is moved to according to the travelling route
Step in target pre-determined distance includes：
By sensing circuit sense direction of advance in pre-determined distance whether there are obstacles, if it is present change advance
Direction gets around the barrier.
9. pathfinding control method according to claim 1, which is characterized in that the mesh is moved to according to the travelling route
Step in target pre-determined distance further comprises：
By sensing circuit sense direction of advance in pre-determined distance whether there are obstacles, if there is again planning advance
Route.
10. pathfinding control method according to claim 1, which is characterized in that the pathfinding control method further comprises：
The telecontrol equipment is detected nearby with the presence or absence of other telecontrol equipments；
If there is other described telecontrol equipments, the target of this telecontrol equipment and the target of other telecontrol equipments are judged
It is whether identical；
If the target is identical, other telecontrol equipments movement is followed.
11. pathfinding control method according to claim 10, which is characterized in that other telecontrol equipments described in the judgement
The whether identical step of target includes：
The target of this telecontrol equipment or the location information are sent to other telecontrol equipments described in detecting, and is received by institute
State the target of other telecontrol equipments transmission or the location information；
Compare the target of this telecontrol equipment either location information and the target or location information of other telecontrol equipments
Whether consistent, the target is identical if consistent, and the target is different if inconsistent.
12. pathfinding control method according to claim 10, which is characterized in that described to follow other telecontrol equipments fortune
Dynamic step includes：
The default number of this telecontrol equipment is sent to other described telecontrol equipments, and obtains what is sent by other described telecontrol equipments
Default number；
Compare the size of default number and default number described in other described telecontrol equipments described in this telecontrol equipment；
Small to big or descending order according to having according to the size of the preset numbers, the selection of this telecontrol equipment follows
Other telecontrol equipments movement is led in other telecontrol equipments movement.
13. pathfinding control method according to claim 1, which is characterized in that the pathfinding control method further comprises：
It detects that return instruction is triggered, itself position is positioned, opposite position is determined with reference to default designated position
It puts, automatic programme path moves to the designated position.
14. a kind of telecontrol equipment, which is characterized in that including：
Processor, man-machine circuit, telecommunication circuit, sensing circuit and motion motor, the processor couple the man-machine circuit, institute
It states telecommunication circuit, the sensing circuit and the motion motor and realizes such as claim 1-13 any one of them methods.
15. telecontrol equipment according to claim 14, which is characterized in that the periphery of the telecontrol equipment is equipped with anticollision knot
Structure.
16. a kind of device with store function, which is characterized in that have program stored therein data, and described program data can be held
It goes to realize such as the step in any one of claim 1-13 the method.
Priority Applications (1)
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| CN201711499146.5A CN108108850B (en) | 2017-12-29 | 2017-12-29 | Motion device, path searching control method thereof and device with storage function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711499146.5A CN108108850B (en) | 2017-12-29 | 2017-12-29 | Motion device, path searching control method thereof and device with storage function |
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| CN108108850B CN108108850B (en) | 2020-07-10 |
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| CN109634282A (en) * | 2018-12-25 | 2019-04-16 | 奇瑞汽车股份有限公司 | Automatic driving vehicle, method and apparatus |
| CN110329688A (en) * | 2019-03-14 | 2019-10-15 | 金树玉 | A kind of intelligent storage management equipment and its working method based on measurement of cargo |
| CN112596440A (en) * | 2020-12-17 | 2021-04-02 | 广东顺联动漫科技有限公司 | Method, device and equipment for controlling object motion and storage medium |
| CN116858229A (en) * | 2023-07-12 | 2023-10-10 | 广东喜讯智能科技有限公司 | Bridge defect positioning method |
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