CN108388249A - Robotic Dynamic path planning system based on high in the clouds and method - Google Patents
Robotic Dynamic path planning system based on high in the clouds and method Download PDFInfo
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- CN108388249A CN108388249A CN201810233212.2A CN201810233212A CN108388249A CN 108388249 A CN108388249 A CN 108388249A CN 201810233212 A CN201810233212 A CN 201810233212A CN 108388249 A CN108388249 A CN 108388249A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The present invention relates to a kind of Robotic Dynamic path planning system based on high in the clouds, including：Default map is established in robotic end and the default map is uploaded to server end；Server end the barrier point of the default map is marked and pair can pass be attached, server end according to the first preset algorithm be arranged described in can pass weights, the same barrier point of multiple default maps match and postpones dyspoiesis point path, and multiple described default maps are attached to generate dynamic map after the weights in the barrier point path are arranged according to the second preset algorithm, the dynamic map is issued to robotic end and is stored in the database of server end, and it is calculated according to third preset algorithm and is handed down to robot after optimal dynamic route and executes.The invention also discloses a kind of Robotic Dynamic paths planning method based on high in the clouds, the present invention can solve to dispatch automatic path planning across the robot of multizone, it can be achieved that dynamically overall plan, improves operational efficiency.
Description
Technical field
The present invention relates to field of intelligent control, are advised more specifically to a kind of Robotic Dynamic path based on high in the clouds
Draw system and method.
Background technology
It is 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 do not accomplish.
Service robot is operated in people's coexistence, highly dynamic complex environment, relies solely on itself the sensor of outfit
And computing capability hinders a series of problems, such as can not fundamentally solving that robot autonomy is poor, level of intelligence is low and is of high cost
Its popularization and application.And lean on legacy paths planning algorithm that can not solve more zone of dispersion path plannings merely, it is not possible in real time
Dynamically overall plan.For this purpose, the present invention provides a kind of Robotic Dynamic path planning scheme based on high in the clouds, to one or more
A robot realizes active path planning when executing high in the clouds task.
Invention content
The technical problem to be solved in the present invention is, provides a kind of robot scheduling system and method based on high in the clouds.
The technical solution adopted by the present invention to solve the technical problems is：A kind of Robotic Dynamic path rule based on high in the clouds
The system of drawing, including：
Multiple robotic ends are established in the establishment mapping module of the robotic end and preset map and by the default map
It is uploaded to server end；
Server end is marked the barrier point of the default map in the barrier point mark module of the server end
And pair can pass be attached, the algoritic module of the server end is according to the road that can pass through described in the setting of the first preset algorithm
The weights of diameter carry out the same barrier point of multiple default maps with postponing dyspoiesis point path, and pre- according to second
Multiple described default maps are attached to generate dynamic map by imputation method after the weights in the barrier point path are arranged, will
The dynamic map is issued to the robotic end and is stored in the database of the server end, and according to third preset algorithm
It is handed down to robot execution after calculating optimal dynamic route.
In the present invention, the barrier point includes door, elevator.
In the present invention, the third preset algorithm dijkstra's algorithm.
In the present invention, it is described can pass weights be set as it is described can pass length value, the barrier point
Path is set as preset value.
The present invention further simultaneously discloses a kind of Robotic Dynamic planing method based on high in the clouds, including：
S1. it is established in the establishment mapping module of the robotic end and presets map, and the default map is uploaded to clothes
Business device end；
S2. the barrier point mark module of the server end is marked the barrier point of the default map and pair can lead to
Walking along the street diameter is attached, the algoritic module of the server end according to the first preset algorithm by it is described can the weights of pass set
It postpones, the barrier point of multiple default maps is carried out with postponing dyspoiesis point path, and will according to the second preset algorithm
Multiple described default maps are attached to generate dynamic map after the weights setting in the barrier point path, by the dynamic
Map is issued to the robotic end and is stored in the database of the server end.
S3. the server end is handed down to robot execution after calculating optimal dynamic route according to third preset algorithm.
In step S1 of the present invention, according to the first preset algorithm by it is described can pass weights be set as it is described can
The length value of pass.
In step S2 of the present invention, the weights in the barrier point path are set as default according to the second preset algorithm
Value.
In step S3 of the present invention, the server end according to third preset algorithm choose described in can pass power
Value and the total weight value minimum of the weights in the barrier point path are optimal dynamic route.
In step S3 of the present invention, further include the server end according to predetermined condition to the optimal dynamic route
Total weight value is modified.
The invention has the advantages that of the present invention be based on high in the clouds multirobot active path planning system and method,
It can solve to dispatch automatic path planning across the robot of multizone, it can be achieved that dynamically overall plan, improves operational efficiency.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is the Organization Chart of the present invention based on high in the clouds multirobot active path planning system；
Fig. 2 is the flow chart of the present invention based on high in the clouds multirobot dynamic path planning method.
Specific implementation mode
Fig. 1 is the Organization Chart of the present invention based on high in the clouds multirobot active path planning system, as shown in the figure.At this
In the one or more embodiments of invention, the Robotic Dynamic path planning system based on high in the clouds of the present invention based on a kind of, packet
Include multiple robotic ends 1 and server end 2.
Robotic end 1 is in addition to including controller, navigation module, motion module and memory module (not identified in figure) etc.
Deng, further include creating mapping module 11, is established in the establishment mapping module 11 of robotic end 1 and preset map, the default map
Can be single area map, but the present invention is not limited thereto.The default map can be stored in the memory module of robotic end
In, such navigation module can call the default map, motion module that can control robot under the control of the controller
Movement.
Wherein, default map can (such as the document form of ros systems official of robot, pgm lattice in the form of a file
Formula) it is stored, can also in other forms, the present invention is not limited thereto.Memory module can be the solid state disk of robot,
Can also be other storage devices, the present invention is also not limited to this, and navigation module calls above-mentioned file that can read default ground
The data of figure.
The default map is uploaded to server end 2 by robotic end 1.The barrier point mark module 12 of server end 2 is right
Barrier point (such as door, elevator etc.) be marked and pair can pass be attached, the mode of connection includes leading to described
Believe that path carries out the connection of directed line segment, but the mode that the present invention is not limited thereto connects.Server end 2 is in algoritic module 22
According to the first preset algorithm to it is described can the weights of pass be configured.Wherein, in one or more embodiments of the invention
In, robotic end 1 can according to the first preset algorithm by it is described can pass weights be set as it is described can pass length
Angle value.First preset algorithm is for weights are arranged, and first preset algorithm can be expressed as：Total weight value=acquiescence power
Value+Dynamic Weights.If the default weight of back method description is arranged to the length of route, the first preset algorithm accounting
Calculate straight line or curved segments length summation；In embodiment if there is haulage time, the congestion of robot feedback etc. are pre-
If situation can dynamically adjust this Dynamic Weights.It is finally that input is used as with total weight value, is carried out to third preset algorithm optimal
Path computing.
The same barrier point of multiple default maps match by the algoritic module 22 of server end 2 postpones dyspoiesis
Point path.Wherein, the default map is the individual map that each robot is respectively sent, and can be single area map, example
First layer building in this way area map, second layer building area map, third layer building area map etc..The same barrier point refers to
Same barrier point on different default maps, for example, can be first layer building area map, second layer building area map,
Same portion's elevator of third layer building area map etc. or same Yishanmen, that is to say, that the barrier point can be trans-regional.
The algoritic module 22 of server end 2 will be more after the weights in the barrier point path are arranged according to the second preset algorithm
Zhang Suoshu presets map and is attached to generate dynamic map, and the dynamic map is issued to the robotic end 1 and is stored
In the database 23 of the server end 2, server end 2 simultaneously issues after calculating optimal dynamic route according to third preset algorithm
It is executed to the robot.Second preset algorithm is that two maps are manually marked for carrying out the algorithm of map connection
A false virtual route is created between the same barrier point of note, and with same the first algorithm, weights are set：Total weight value
=default weight+Dynamic Weights.A default value, such as 999 are first set as, when this door or elevator damage, just dynamic
State weights are set as an extremely big value, and such total weight value will be extremely big.First preset algorithm and described
Second preset algorithm as a result, being all the input as the third preset algorithm.
In one or more embodiments of the invention, server end 2 can set the weights in the barrier point path to
Preset value 200, server end 2 can be chosen according to third preset algorithm described in can pass weights and the barrier point road
The total weight value minimum of the weights of diameter is optimal dynamic route.Optimal path is calculated using the third preset algorithm and is being taken
Business device end 2 (i.e. high in the clouds) is cached, and the format of caching is not limited to the forms such as database, file.
Wherein, the third preset algorithm can be dijkstra's algorithm, i.e. Dijkstra's algorithm.Di Jiesitela is calculated
Method is to be proposed in nineteen fifty-nine by Dutch computer scientist Dick Si Tela, therefore be called Dijkstra algorithm.It is from one
To the shortest path first on remaining each vertex, solution is shortest route problem in digraph on a vertex.Dijkstra's algorithm
It is mainly characterized by centered on starting point extending layer by layer outward, until expanding to terminal.Third of the present invention is imputed in advance
Method is also not necessarily limited to dijkstra's algorithm.
Fig. 2 is the flow chart of the present invention based on high in the clouds multirobot dynamic path planning method, as shown in the figure.This hair
The bright Robotic Dynamic planing method based on high in the clouds, includes the following steps：
Step S1 is established in the establishment mapping module of the robotic end and is preset map, and the default map is uploaded
To server end.
Such as need the practical application from 1 building intravenous administration allotment center PIVAS drug delivery Pin Dao, 12 buildings nurse stations in hospital
In scene, when establishing default map, 1 building map can be established with No. 1 robot, is established 12 buildings with No. 2 robots
Map.No. 1 robot uploads 1 building map and arrives high in the clouds, the map that No. 2 robots uploads are 12 buildings to high in the clouds, the ground of the version
Figure does not include special obstacle point.
In one or more embodiments of the invention, the robotic end can lead to according to the first preset algorithm by described in
The weights of walking along the street diameter be set as it is described can pass length value.
The barrier point mark module of step S2, the server end are marked the barrier point of the default map and right
Can pass be attached, the algoritic module of the server end according to the first preset algorithm by it is described can pass power
After value setting, the barrier point of multiple default maps is carried out with postponing dyspoiesis point path, and according to the second pre- imputation
Multiple described default maps are attached to generate dynamic map by method after the weights in the barrier point path are arranged, will be described
Dynamic map is issued to the robotic end and is stored in the database of the server end.
It in the aforementioned embodiment, can be by manually label robot waits on map beyond the clouds after uploading map to high in the clouds
Point, all relevant barrier points for taking the robot ambulations paths such as snack made with traditional Chinese medicines, doors, elevator point.In this practical drug delivery applied field
Jing Zhong opens the point of the elevator in map by handmarking two and indicates same portion's elevator, the map between different zones is made to have connection relation.
High in the clouds can integrate the map of Liang Tai robots upload, and be handed down to the robot of more executable tasks simultaneously.More execution are appointed
The robot of business can store map after receiving new version map.
In embodiments of the invention one or more, the server end can be according to the second preset algorithm by the obstacle
The weights in point path are set as preset value.
Step S3, the server end is calculated according to third preset algorithm to be handed down to robot after optimal dynamic route and holds
Row.
In the aforementioned embodiment, after the completion of the preparation in high in the clouds, robot can start dispatching task.By artificial
It places an order beyond the clouds and informs that robot wherefrom freights and where unload, high in the clouds can be based on above-mentioned algorithm, cook up one most rationally
Path.
For example, when detecting distribution time, on daytime by 1 building intravenous administration allotment center PIVAS drug delivery to 12 buildings
Nurse station walks the special ladder of employee and generally requires cost 10 minutes, walks the special ladder of patient and generally requires cost 20 minutes.Today employee's elevator
Since personnel occupy for a long time, cause robot that elevator, the time waited for thereat can not be used to greatly exceed average always
Distribution time, for example waited for 40 minutes, high in the clouds can be specially 40 minutes terraced thus in accordance with employee is walked>Patient specially ladder 20 minutes are walked, are faced
The weights of Shi Tigao employee's elevator routes are issued to 200* (40 minutes/20 minutes)=400 according to new weights again planning path
To also in the robot of the task of execution.And so on.
On daytime, since people is relatively more in hospital hall, robot camera detection to road have a large amount of intensive personnel or
The barriers such as cargo are in the way, and robot waited for 2 minutes after still do not change, robot can report the information to cloud
End, high in the clouds can improve the weights of the public elevator routes of patient temporarily, for example be arranged to 999999 (a prodigious number, expressions
Elementary path is obstructed), then when planning path, employee's special lift will be planned for away.And at night, due to hospital
Employee's special lift is come off duty, and the elevator of half can be closed, and leading to available elevator quantity, elevator more public than patient is few many again, and
The public elevator of patient is substantially at night idle, which can be sent to high in the clouds by building management system BIM, so this
Shi Yunduan can reduce the weights of the public elevator routes of patient, for example default value 200 is arrived in setting, and improve the power of employee's special lift
It is worth 999999.In this way when planning path, the public elevator of patient will be gone to robot planning.
In embodiments of the invention one or more, the server end can be chosen according to third preset algorithm described in can
The weights of pass and the total weight value minimum of the weights in the barrier point path are optimal dynamic route.
According to previous embodiment it is found that robot is in actually executing task process, it may occur that various predetermined conditions, such as
Road has barrier, road personnel more, and door, elevator etc. have failed, so needing according to predetermined condition to described optimal dynamic
The total weight value in state path is modified.For example, the server end can be according to following data dynamic modification path planning weights：
(1) data are uploaded by robotic end itself, such as road has barrier, road personnel are more, the event of the peripheral hardwares such as door, elevator
Barrier.
(2) data are uploaded by the building management system BIM of high in the clouds docking, for example, building management system BIM alarm or
Failure etc..
(3) it can attempt to carry temporarily by planning Liao Duotai robots by the data of high in the clouds self monitor, such as certain roads
The weights of these high roads.
(4) data of road time-out detection, high in the clouds can detect the average transit time of every road robot, when certain
Some robot transit time of road is more than average time a certain range, and the weights of this road can be improved temporarily.
In above-mentioned data dynamic, if the road that weights change, high in the clouds can all recalculate new path, and update slow
Re-issue after depositing and executed to robot, that is to say, that all robots execute the motion paths of tasks by high in the clouds plan and under
Hair.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
Subject to.
Claims (9)
1. a kind of Robotic Dynamic path planning system based on high in the clouds, which is characterized in that including：
Multiple robotic ends establish default map in the establishment mapping module of the robotic end and upload the default map
To server end；
Server end is marked the barrier point of the default map and right in the barrier point mark module of the server end
Can pass be attached, the algoritic module of the server end is according to can pass described in the setting of the first preset algorithm
Weights carry out the same barrier point of multiple default maps with postponing dyspoiesis point path, and according to the second pre- imputation
Multiple described default maps are attached to generate dynamic map by method after the weights in the barrier point path are arranged, will be described
Dynamic map is issued to the robotic end and is stored in the database of the server end, and is calculated according to third preset algorithm
It is handed down to robot execution after going out optimal dynamic route.
2. the Robotic Dynamic path planning system according to claim 1 based on high in the clouds, which is characterized in that the obstacle
Point includes door, elevator.
3. the Robotic Dynamic path planning system according to claim 1 or 2 based on high in the clouds, which is characterized in that described
Third preset algorithm D i jkstra algorithms.
4. the Robotic Dynamic path planning system according to claim 1 based on high in the clouds, which is characterized in that in the calculation
Method module by it is described can pass weights be set as it is described can pass length value, the barrier point path is arranged
For preset value.
5. a kind of Robotic Dynamic planing method based on high in the clouds, which is characterized in that including：
S1. it is established in the establishment mapping module of the robotic end and presets map, and the default map is uploaded to server
End；
S2. the barrier point mark module of the server end is marked the barrier point of the default map and the road that pair can pass through
Diameter is attached, the algoritic module of the server end according to the first preset algorithm by it is described can the weights of pass be arranged
Afterwards, the barrier point of multiple default maps is carried out with postponing dyspoiesis point path, and according to the second preset algorithm by institute
Multiple described default maps are attached after stating the weights setting in barrier point path to generate dynamic map, by described in dynamically
Figure is issued to the robotic end and is stored in the database of the server end；
S3. the server end is handed down to robot execution after calculating optimal dynamic route according to third preset algorithm.
6. the Robotic Dynamic planing method according to claim 5 based on high in the clouds, which is characterized in that in step S2, root
According to the first preset algorithm by it is described can pass weights be set as it is described can pass length value.
7. the Robotic Dynamic planing method according to claim 5 or 6 based on high in the clouds, which is characterized in that in step S2,
It sets the weights in the barrier point path to preset value according to the second preset algorithm.
8. the Robotic Dynamic planing method according to claim 7 based on high in the clouds, which is characterized in that in step S3, institute
State server end according to third preset algorithm choose described in can pass weights and the weights in the barrier point path it is total
Weights minimum is optimal dynamic route.
9. the Robotic Dynamic planing method according to claim 7 based on high in the clouds, which is characterized in that in step S3, also
It is modified to the total weight value of the optimal dynamic route according to predetermined condition including the server end.
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| CN109250593B (en) * | 2018-11-05 | 2021-01-05 | 上海木木聚枞机器人科技有限公司 | Scheduling method and system for multiple robots and multiple elevators |
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