CN109108973A - One-way fashion path dispatching method and system - Google Patents
One-way fashion path dispatching method and system Download PDFInfo
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- CN109108973A CN109108973A CN201810996280.4A CN201810996280A CN109108973A CN 109108973 A CN109108973 A CN 109108973A CN 201810996280 A CN201810996280 A CN 201810996280A CN 109108973 A CN109108973 A CN 109108973A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of one-way fashion path dispatching method provided by the invention and system, are related to robot task dispatching technique field.Wherein, one-way fashion path dispatching method includes: when the first robot is located at dispatch area, to server request task, server, which is based on received task, requests to distribute a goal task information and destination path from task list information for the first robot, and it is sent to the first robot, first robot executes first movement task, it is moved along destination path, until arriving to goal task location point, to execute operation task, and first robot after obtaining operation task END instruction, execute the second mobile task, the goal task location point is sailed out of along the respective path direction of destination path, to return to dispatch area.It is, reducing the occupancy of the autonomous route to environment space of more robots using unified unidirectional path and method for allocating tasks, the mobile movable influence on people in same environment of robot is reduced.
Description
Technical field
The present invention relates to robot dispatching technique fields, in particular to a kind of one-way fashion path dispatching method and are
System.
Background technique
With advances in technology, robot is no longer only the role in scientific and technological film, but vivid appears in reality
In life.Robot is as the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.It can undertake in life and much work,
Realize the saving to human cost.
In the related technology, robot usually voluntarily plans driving path.Under the scene of multiple robots operation, if often
If one robot all voluntarily plans driving path, the space of mankind's activity in traveling space can be occupied, robot executes row
It sails task to impact the activity of the mankind in the same space, while there is also interfere with each other, stop between robot.
Summary of the invention
The purpose of the present invention is to provide a kind of one-way fashion path dispatching method and systems, to improve the above problem.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows:
In a first aspect, the embodiment of the invention provides a kind of one-way fashion path dispatching methods, applied to the clothes communicated with each other
Be engaged in device and the first robot, and a plurality of unidirectional path and task list information is stored in advance in the server；It is single described in each
It include at least one task location point to path, one-way fashion path dispatching method includes: positioned at dispatch area and in the free time
First robot of state sends task requests to the server；The server is asked based on the task received
Ask from the task list information is that first robot distributes a goal task information；Wherein, the goal task letter
Breath includes the first movement task that goal task location point is moved to from the dispatch area, by goal task location point movement
To the second mobile task of the dispatch area and operation task corresponding with the goal task location point；The server is by institute
It states goal task information hair and destination path is sent to first robot；Wherein, the destination path is by the server
That selects from a plurality of unidirectional path moves the matched path of task with the first movement task and second；Described first
Robot executes the first movement task, moves along the destination path, until the goal task location point is arrived to, so as to
Execute the operation task；First robot executes the described second mobile task after obtaining operation task END instruction,
The goal task location point is sailed out of along the respective path direction of the destination path, to return to the dispatch area.
Second aspect, the embodiment of the invention provides a kind of one-way fashion paths to dispatch system, the one-way fashion path scheduling
System includes server and the first robot, is communicated to connect between the server and the first robot, pre- in the server
First store a plurality of unidirectional path and task list information；Unidirectional path described in each includes at least one task location point, institute
Stating one-way fashion path dispatching method includes: first robot, for when being placed in dispatch area and being in idle condition, to institute
It states server and sends task requests；The server, for being believed based on the task requests received from the task list
It is that first robot distributes a goal task information in breath；Wherein, the goal task information includes from the dispatch area
It is moved to the first movement task of goal task location point, is moved to the second of the dispatch area by the goal task location point
Mobile task and operation task corresponding with the goal task location point；The server is also used to the goal task
Information hair and destination path are sent to first robot；Wherein, the destination path is by the server from described a plurality of
That selects in unidirectional path moves the matched path of task with the first movement task and second；First robot, also
For executing the first movement task, moved along the destination path, until the goal task location point is arrived to, to hold
The row operation task；First robot is also used to after obtaining operation task END instruction, and it is mobile to execute described second
Task sails out of the goal task location point along the respective path direction of the destination path, to return to the dispatch area.
Compared with prior art, a kind of one-way fashion path dispatching method provided by the invention, by preparatory in server
The a plurality of unidirectional path for including at least a task location point is stored, is located at dispatch area in first robot and in the free time
When state, to server request goal task information, while server can will be moved with first in the goal task information
Dynamic task and the corresponding destination path of the second movement task are sent to first robot.First is executed by the first robot again
Mobile task, runs according to destination path, to arrive at the corresponding goal task location point of the mission bit stream and execute institute
The corresponding operation of mission bit stream is stated, and in the first robot after obtaining operation task END instruction, it is mobile to execute described second
Task sails out of the goal task location point along the respective path direction of the destination path, to return to the dispatch area.Also
It is to avoid the appearance that voluntarily planning path occurs of multiple robots from interfering with each other using unified unidirectional path distribution, stop
Problem loop deadlock or obstruction decrease respectively influence of the programme path to mankind's activity in the same space of more robots.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram that system is dispatched in a kind of one-way fashion path provided in an embodiment of the present invention.
Fig. 2 is the schematic diagram of a plurality of unidirectional path.
Fig. 3 is the structural schematic diagram of server shown in Fig. 1.
Fig. 4 is a kind of step flow chart of one-way fashion path dispatching method provided in an embodiment of the present invention.
Fig. 5 is a kind of another part of the step flow chart of one-way fashion path dispatching method provided in an embodiment of the present invention.
Icon: 100- server；111- memory；112- processor；113- communication unit；200- robot；300- is mono-
System is dispatched to formula path.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
The following each embodiments of the present invention can be applied to scheduling system in one-way fashion path as shown in Figure 1 unless otherwise instructed
300, as shown in Figure 1, one-way fashion path scheduling system 300 may include server 100 and multiple transportable robots
200, above-mentioned server 100 is communicated to connect with multiple transportable robots 200 respectively.
The map in operation place is preset in above-mentioned robot 200, and the sensor that can use outfit combines operation
The map in place determines the real time position of the robot 200, for example, above-mentioned real time position can be the grid coordinate on map.
The size of robot 200, safe distance can be pre-configured in robot 200, such as the height and width of robot 200.
Robot 200 can also identify the barrier (such as other robot of operation) in the direction of motion.
It can preparatory a plurality of unidirectional path in above-mentioned server 100.Fig. 2 is the instance graph of a plurality of unidirectional path.Above-mentioned list
It can be the fixed irreversible path of path direction to path, it is, when robot 200 is run according to unidirectional path, only
It can be run according to the corresponding path direction of the unidirectional path, it can not reverse direction operation.Further, unidirectional path can be by more
The set of a raster path point composition.
Referring to FIG. 3, above-mentioned server 100 includes memory 111, processor 112, communication unit 113.
The memory 111, processor 112, each element of communication unit 113 directly or indirectly electrically connect between each other
It connects, to realize the transmission or interaction of data.For example, these elements can pass through one or more communication bus or signal between each other
Line, which is realized, to be electrically connected.The processor 112 is for executing the executable module stored in the memory 111.
Wherein, the memory 111 may be, but not limited to, (the Random Access of random access memory 111
Memory, RAM), read-only memory 111 (Read Only Memory, ROM), programmable read only memory 111
(Programmable Read-Only Memory, PROM), 111 (Erasable of erasable read-only memory
Programmable Read-Only Memory, EPROM), (the Electric Erasable of electricallyerasable ROM (EEROM) 111
Programmable Read-Only Memory, EEPROM) etc..Wherein, memory 111 is for storing program or data.Institute
Communication unit 113 is stated for establishing the communication connection between robot 200 and other communication terminals by the network, and is used for
Pass through the network sending and receiving data.
It should be understood that structure shown in Fig. 3 is only the structural schematic diagram of server 100, the server 100 may be used also
Including component more perhaps more less than shown in Fig. 3 or with the configuration different from shown in Fig. 3.Each group shown in Fig. 3
Part can be realized using hardware, software, or its combination.
First embodiment
Referring to FIG. 4, Fig. 4 is a kind of flow chart for one-way fashion path dispatching method that present pre-ferred embodiments provide.
Above-mentioned one-way fashion path dispatching method the following steps are included:
Step S101, positioned at dispatch area and the first robot for being in idle condition is to the 100 transmission task of server
Request.
In embodiments of the present invention, it when first robot enters idle state, and recognizes its current position and belongs to
When the dispatch area divided in advance, task requests are sent to server 100.
Step S102, the server 100 are from the task list information based on the task requests received
First robot distributes a goal task information.
In embodiments of the present invention, preset task list information in the server 100, above-mentioned task list information include
Multiple tasks information.Each mission bit stream includes operation task corresponding with a task location point, by dispatch area is moved to this
The first movement task of task location point and the second mobile task that the dispatch area is moved to by the task location point.Server
100 select a mission bit stream as the mesh of the first robot in response to the task requests of the first robot from task list information
Mark mission bit stream.
Aforesaid operations task may include at least one Mission Operations, and Mission Operations can be charging operations, unloading operation
Deng.It should be noted that above-mentioned task location point can be the corresponding grid for executing task operating on the map in operation place
Path point, and the task location point for running the map setting in place can also pass through update (example of modifying on server 100
Such as, task location point, newly-increased task location point are cancelled).Meanwhile the task position on the map in 100 pairs of server operation places
After setting a update, unidirectional path and the storage for returning dispatch area by task location point from dispatch area can be newly planned, so that institute
The source location set and final position point for stating unidirectional path belong to in dispatch area and in source location set and final position point
Between at least through a task location point.
Step S103, the server 100 sends out the goal task information and destination path is sent to first machine
Device people.
In embodiments of the present invention, above-mentioned destination path is that server 100 is determined from currently stored unidirectional path
With the first movement task and the second mobile matched path of task.Optionally, destination path can be according to goal task
The corresponding goal task location point of information, the path determined from a plurality of unidirectional path.First robot is moved according to destination path
It is dynamic to may be implemented to arrive to corresponding goal task location point by dispatch area, and goal task location point can be sailed out of and return to scheduling
Area.
It is obtained from unidirectional path including the goal task location point optionally it is determined that the mode of destination path can be
Unidirectional path is as destination path.Further, when including goal task location point if there is a plurality of unidirectional path, will work as
It is preceding that destination path of the least unidirectional path of number as destination path as the first robot is chosen by other robot.Example
Such as, unidirectional path a and unidirectional path b includes the corresponding goal task location point of path request of the first robot, unidirectional road
Diameter a has currently been elected to be destination path by an other robots 200, and unidirectional path b is currently by 2 other robots
It is elected to be destination path, then unidirectional path a is determined as the corresponding destination path of the first robot.
Step S104, the first robot execute first movement task, move along the destination path, appoint until arriving to target
Business location point, to execute operation task.
In embodiments of the present invention, the first robot starts first movement task, moves along destination path, until arriving to
Goal task location point.It should be noted that at a distance from the current location of the first robot is between goal task location point
When less than preset threshold, it is believed that arrive to goal task location point.
Step S105, the first robot execute the described second mobile task, along institute after obtaining operation task END instruction
The goal task location point is sailed out of in the respective path direction for stating destination path, to return to the dispatch area.
Further, in the first robot during executing first movement task or the second mobile task, if institute
It states on the first robot detection traffic direction that there are barriers, then executes autonomous evacuation according to the type of the barrier.It is above-mentioned
The type of barrier can be fixed obstacle, be also possible to moving obstacle.It should be noted that moving obstacle can be
Other robot is also possible to the people to walk about.The method of fixed obstacle and moving obstacle is distinguished in addition to using Image Acquisition
Except identification, it can also be determined by the movement speed of the barrier detected.
Optionally, the above-mentioned type according to the barrier executes the mode independently avoided and can be when the barrier
When type is fixed obstacle, then avoiding operation is executed according to preset evacuation algorithm.When the type of the barrier is movement
When barrier, then the operating status by adjusting first robot is avoided.
For example, being located on destination path detecting the current position of moving obstacle, but its moving direction and target road
The path direction of diameter is different, then controls the first robot deceleration evacuation or pause movement.Specifically, it is detected in the first robot
To the specified multiple for being less than safe distance with the distance between moving obstacle, then suspend movement.It is detected in the first robot
The distance between moving obstacle is not less than the specified multiple of safe distance, then evacuation of slowing down.
For another example being located on destination path detecting the current position of moving obstacle, and its moving direction and target
The path direction in path is identical, then controls the first robot deceleration evacuation or change lane surmounts.Specifically, rather spacious
Run place (for example, library, dining room, warehouse etc.) operation.Each unidirectional path can plan on wider channel,
Unidirectional path is equipped with A-road and the secondary lane parallel with A-road, master of usual first robot in unidirectional path in the channel
Moved on lane, when recognizing A-road has the other robot of blocking, can control the first robot be moved to it is corresponding
Secondary lane continues to run, until the first robot surmounts the robot 200 on path direction, then controls the first robot and returns to
A-road operation.Specifically, when the living body biologicals such as moving obstacle behaviour, then evacuation of slowing down.
Further, when the second robot of the appearance identical destination path corresponding with the first robot in dispatch area
When, the method also includes: the second robot obtains first robot from the server 100 and leaves the dispatch area
Leave duration, when it is described leave duration and reach preset time when, the second robot starting executes corresponding first movement and appoints
Business.To avoid the interference in same paths between robot 200.
Further, when the first robot arrives at the goal task location point, as shown in figure 5, above-mentioned one-way fashion road
Diameter dispatching method further include:
Step S201, the first robot stop movement.
In our embodiment, above-mentioned arrival goal task location point can be the real time position and target of the first robot
Distance of the task location point on the map in operation place between corresponding raster path point is less than predetermined value.In the first robot
It arrives at the goal task location point and goal task location point is there is no when barrier, the first robot is moved to goal task
Location point, and stop moving.
Into one, goal task location point can also be detected after stopping movement, if first robot detects
To the goal task location point, there are the barriers, then after waiting the preset time, repeat to the goal task position
Point is detected.If detecting the goal task location point again there are the barrier, first robot is generated
The operation task END instruction, and according to the operation task END instruction, the mesh is sailed out of along the path direction of destination path
Mark task location point.If detecting the goal task location point there is no the barrier, process enters step S202, by
Start the first robot and executes operation task.
Step S202, first robot execute the operation task, until the operation task is completed or stopped
Mobile duration reaches preset time threshold, generates the operation task END instruction, and the operation task is marked to execute knot
Fruit.
In our embodiment, a preset time threshold can also be set, and the first robot is from the beginning of in the first robot
It executes operation task and starts timing.If having executed corresponding task operating in preset time threshold, stop executing operation
The corresponding task action result of goal task location point simultaneously is labeled as being completed by task.If in preset time threshold not
Corresponding operation task has been executed, then has also stopped executing the operation task and by the corresponding task execution of goal task location point
Result queue is to execute not completing.
Step S203 is sailed after the first robot stops executing task operating along destination path respective path direction
From the goal task location point.
Further, when the corresponding final position point of first robot arrival destination path, described in reading
The implementing result of operation task.
If the implementing result is that task has been completed, first robot enters the idle state.It needs
It is bright, it returns to dispatch area and can continue to send task requests to server 100 into the first robot of idle state again.
If the implementing result does not complete for task, the first robot, which enters, waits artificial treatment state, until receiving
The instruction for restarting the goal task information that sends to the server 100 receives the server 100 and deletes the mesh
The notice message of mission bit stream is marked, the first machine talent, which exits, waits artificial treatment state.Appoint it should be noted that restarting target
The notice message that the instruction for information of being engaged in and server 100 delete the goal task information responds user by the server 100
Operation generates.It should be noted that in the task point for waiting the robot 200 of artificial treatment state that cannot receive server 100
Match, can only waiting for server 100 retransmit instruction give first robot that it is made to re-execute original goal task information,
Or the goal task information is deleted by server 100.And the above-mentioned side for making the first robot exit waiting artificial treatment state
Formula is required to manual operation realization.
Second embodiment
As shown in Figure 1, a kind of one-way fashion path scheduling system 300 that present pre-ferred embodiments provide may include: clothes
Be engaged in device 100 and multiple robots 200, and server 100 and multiple robots 200 communicate to connect.It is stored in advance in server 100 more
Unidirectional path and task list information, unidirectional path described in each includes at least one task location point, the one-way fashion
Path dispatching method includes:
First robot, for sending and appointing to the server 100 when being placed in dispatch area and being in idle condition
Business request.
The server 100, for being described from the task list information based on the task requests received
First robot distributes a goal task information；Wherein, the goal task information includes being moved to target from the dispatch area
The first movement task of task location point, the second mobile task that the dispatch area is moved to by the goal task location point and
Operation task corresponding with the goal task location point.
The server 100 is also used to send out the goal task information and destination path is sent to first machine
People；Wherein, what the destination path was selected from a plurality of unidirectional path by the server 100 appoints with the first movement
Business and the second mobile matched path of task.
First robot is also used to execute the first movement task, moves along the destination path, until arriving to
The goal task location point, to execute the operation task.
First robot is also used to after obtaining operation task END instruction, executes the described second mobile task, edge
The goal task location point is sailed out of in the respective path direction of the destination path, to return to the dispatch area.
Further, first robot is during executing the first movement task and the second mobile task,
Specifically it is also used to:
If detecting there are barrier on traffic direction, the type according to the barrier executes autonomous evacuation.
Preferably, first robot is specifically used for:
When the type of the barrier is fixed obstacle, then avoiding operation is executed according to preset evacuation algorithm.
When the type of the barrier be moving obstacle when, then by adjusting the operating status of first robot into
Row evacuation.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
Specific work process, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In conclusion a kind of one-way fashion path dispatching method provided by the invention and system, above-mentioned one-way fashion path scheduling
Method can be applied to one-way fashion path scheduling system.Wherein, it is stored in advance in the server in one-way fashion path scheduling system
A plurality of unidirectional path and task list information；Unidirectional path described in each includes at least one task location point.It is described unidirectional
Formula path dispatching method includes: positioned at dispatch area and first robot that is in idle condition sends to the server and appoints
Business request；The server is first robot from the task list information based on the task requests received
Distribute a goal task information；Wherein, the goal task information includes being moved to goal task location point from the dispatch area
First movement task, be moved to by the goal task location point dispatch area the second mobile task and with the target
The corresponding operation task of task location point, the server sends out the goal task information and destination path is sent to described
One robot；Wherein, what the destination path was selected from a plurality of unidirectional path by the server moves with described first
Dynamic task and the second mobile matched path of task；First robot executes the first movement task, along the target
Path is mobile, until the goal task location point is arrived to, to execute the operation task；First robot is obtaining
After operation task END instruction, the described second mobile task is executed, the mesh is sailed out of in the respective path direction along the destination path
Task location point is marked, to return to the dispatch area.It is, being reduced using unified unidirectional path and method for allocating tasks
The autonomous route of more robots to the occupancy of environment space, reduce robot it is mobile in same environment people it is movable
It influences.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of one-way fashion path dispatching method, applied to the server communicated with each other and the first robot, which is characterized in that institute
It states and a plurality of unidirectional path and task list information is stored in advance in server；Unidirectional path described in each includes at least one
Business location point, one-way fashion path dispatching method include:
Positioned at dispatch area and first robot that is in idle condition to the server sends task requests；
The server is first robot point from the task list information based on the task requests received
With a goal task information；Wherein, the goal task information includes being moved to goal task location point from the dispatch area
First movement task, the second mobile task that the dispatch area is moved to by the goal task location point and appoint with the target
The corresponding operation task of business location point；
The server sends out the goal task information and destination path is sent to first robot；Wherein, the mesh
What mark path was selected from a plurality of unidirectional path by the server moves task with the first movement task and second
Matched path；
First robot executes the first movement task, moves along the destination path, appoints until arriving to the target
Business location point, to execute the operation task；
First robot executes the described second mobile task, along the target road after obtaining operation task END instruction
The goal task location point is sailed out of in the respective path direction of diameter, to return to the dispatch area.
2. one-way fashion path as described in claim 1 dispatching method, which is characterized in that described in being executed in first robot
When first movement task or the second mobile task, the method also includes:
If there are barrier on the first robot detection traffic direction, the type execution according to the barrier is independently kept away
It allows.
3. one-way fashion path as claimed in claim 2 dispatching method, which is characterized in that the type according to the barrier
Executing the mode independently avoided includes:
When the type of the barrier is fixed obstacle, then avoiding operation is executed according to preset evacuation algorithm；
When the type of the barrier is moving obstacle, then the operating status by adjusting first robot is kept away
It allows.
4. one-way fashion path as described in claim 1 dispatching method, which is characterized in that when appearance and first robot pair
When answering the second robot of the identical destination path, the method also includes:
What second robot obtained that first robot leaves the dispatch area from the server leaves duration；
When it is described leave duration and reach preset time when, the second robot starting executes corresponding first movement task.
5. one-way fashion path as described in claim 1 dispatching method, which is characterized in that described in being arrived at when first robot
When goal task location point, one-way fashion path dispatching method further include:
First robot stops movement；
First robot executes the operation task, until the operation task is completed or stopped mobile duration and reaches
Preset time threshold generates the operation task END instruction, and marks the operation task implementing result.
6. one-way fashion path as claimed in claim 5 dispatching method, which is characterized in that described in being arrived at when first robot
When goal task location point, one-way fashion path dispatching method further include:
If first robot detects the goal task location point, there are the barriers, wait the preset time
Afterwards, it repeats to detect the goal task location point；
If detecting the goal task location point again there are the barrier, first robot generates the operation
Task END instruction；
If detecting the goal task location point there is no the barrier, first robot executes the operation and appoints
Business.
7. one-way fashion path as claimed in claim 5 dispatching method, which is characterized in that one-way fashion path dispatching method is also
Include:
When the corresponding final position point of first robot arrival destination path, the described of the operation task is read
Implementing result；
If the implementing result is that task has been completed, first robot enters the idle state；
If the implementing result does not complete for task, first robot, which enters, waits artificial treatment state, until receiving
The instruction for restarting the goal task information that sends to the server receives the server and deletes the goal task
The notice message of information, first robot, which exits, waits artificial treatment state；Wherein, described to restart the goal task letter
The notice message that instruction and the server of breath delete the goal task information is raw by server response user's operation
At.
8. system is dispatched in a kind of one-way fashion path, which is characterized in that the one-way fashion path scheduling system includes server and the
One robot communicates to connect between the server and the first robot, and a plurality of unidirectional path is stored in advance in the server
And task list information；Unidirectional path described in each includes at least one task location point, one-way fashion path dispatching party
Method includes:
First robot, for sending task requests to the server when being placed in dispatch area and being in idle condition；
The server, for being first machine from the task list information based on the task requests received
People distributes a goal task information；Wherein, the goal task information includes being moved to goal task position from the dispatch area
The first movement task of point, the second mobile task for being moved to by the goal task location point dispatch area and with the mesh
Mark the corresponding operation task of task location point；
The server is also used to send out the goal task information and destination path is sent to first robot；Wherein,
What the destination path was selected from a plurality of unidirectional path by the server moves with the first movement task and second
The dynamic matched path of task；
First robot is also used to execute the first movement task, moves along the destination path, until arriving to described
Goal task location point, to execute the operation task；
First robot is also used to after obtaining operation task END instruction, the described second mobile task is executed, along described
The goal task location point is sailed out of in the respective path direction of destination path, to return to the dispatch area.
9. system is dispatched in one-way fashion path as claimed in claim 8, which is characterized in that first robot is described in the execution
When first movement task and the second mobile task, specifically it is also used to:
If detecting there are barrier on traffic direction, the type according to the barrier executes autonomous evacuation.
10. system is dispatched in one-way fashion path as claimed in claim 9, which is characterized in that first robot is specifically used for:
When the type of the barrier is fixed obstacle, then avoiding operation is executed according to preset evacuation algorithm；
When the type of the barrier is moving obstacle, then the operating status by adjusting first robot is kept away
It allows.
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