CN110091332A - The free parking scheme of robot - Google Patents
The free parking scheme of robot Download PDFInfo
- Publication number
- CN110091332A CN110091332A CN201910391409.3A CN201910391409A CN110091332A CN 110091332 A CN110091332 A CN 110091332A CN 201910391409 A CN201910391409 A CN 201910391409A CN 110091332 A CN110091332 A CN 110091332A
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- CN
- China
- Prior art keywords
- robot
- area
- stop
- stops
- stop area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
Abstract
The present invention provides a kind of free parking schemes of robot, it include: that the robot rests against stop area, each stop area has different priority, the described method includes: the robot successively judges whether the stop area is occupied from high to low according to the priority, until the robot is stopped to the stop area when judging the stop area for the free time.The free parking scheme of robot provided by the invention, robot independently can orderly judge to stop the service condition in area, stop multiple robots orderly, avoid congestion or confusion, to improve the efficiency of multirobot collaborative work.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of free parking scheme of robot.
Background technique
Mobile robot has been applied to the fields such as service industry, including food and drink, hotel, office, storage at present.Actually answer
It is typically that multirobot is in running order simultaneously in.The working condition of robot include moving condition, parking waiting connect
By task status and off-mode etc..Multirobot cooperates, and when being applied to food catering field, can encounter more machines
The case where people appears in rear kitchen simultaneously.In this case, robot needs to be parked in rear kitchen (the pick-up point in kitchen after such as) waiting
New task distribution, at this point, may get congestion between robot, even resulting in more robots be can not work normally, and be influenced
The normal operation of dispatching.
Summary of the invention
The present invention completes in view of above-mentioned current condition, and its purpose is to provide a kind of free sides of stop, robot
Method is, it can be achieved that robot autonomous stop.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of free parking scheme of robot, comprising:
The robot, which rests against, stops area, and each stop area has different priority, which comprises
The robot successively judges whether the stop area is occupied from high to low according to the priority, until judgement
When the stop area is idle, the robot is stopped to the stop area.
In this case, robot independently can orderly judge to stop the service condition in area, keep multiple robots orderly
It stops, avoids congestion or confusion, to improve the efficiency of multirobot collaborative work.
Wherein, the stop area includes at least first and stops area and the second stop area, and described first stops the described excellent of area
First grade is higher than the described second priority for stopping area；The robot successively judges institute from high to low according to the priority
It states and stops whether area is occupied, and when judging the stop area for the free time, the robot is stopped to the side for stopping area
Method specifically includes:
The robot judges whether first stop area is occupied；
If described first stops area as the free time, the robot stops to described first and stops area；
If first stop area is occupied, the robot stops to described second and stops area, alternatively, if described first
It is occupied to stop area, the robot judges whether second stop area is occupied, if described second stops area as free time, institute
Robot is stated to stop to second stop area.
Robot can stop area and second according to first and stop the priority in area as a result, successively judge occupancy situation, do
The preferential stop high to priority.
Wherein, the priority is to preset.
In this case, robot maintenance personnel can in advance set the priority for stopping area, and can be with
Flexibly it is adjusted.
Wherein, the robot successively judges whether the stop area is occupied from high to low according to the priority, directly
To when judging the stop area for the free time, the robot is stopped to the method for stopping area, is specifically included:
It is communicated between the robot and determines whether the stop area is occupied.
As a result, by communicating between robot, whether the robot for needing to stop can obtain corresponding stop area occupied
With.
Wherein, it is communicated between the robot and determines the whether occupied method in stop area, specifically included:
It is communicated between the robot and other robots and determines that other robots make each stop area
Use situation；
If other machines do not rest against the stop area currently judged per capita, the robot, which is stopped to described, to stop
By area.
In this case, by the real time communication between robot, quickly the stop area currently judged can be made
It is judged with situation, improves the efficiency of robot stop.
The free parking scheme of provided robot according to the present invention, robot independently can orderly judge to stop making for area
It with situation, stops multiple robots orderly, avoids congestion or confusion, to improve the effect of multirobot collaborative work
Rate.
Detailed description of the invention
Fig. 1 shows the flow diagram of the free parking scheme of robot involved in embodiments of the present invention；
Fig. 2 shows the floor map that robot involved in embodiments of the present invention freely stops scene；
Fig. 3 shows another flow diagram of the free parking scheme of robot involved in embodiments of the present invention；
Fig. 4 shows the plane signal for another scene that robot involved in embodiments of the present invention freely stops
Figure.
Specific embodiment
Hereinafter, explaining the preferred embodiment of the present invention in detail with reference to attached drawing.In the following description, for identical
Component assign identical symbol, the repetitive description thereof will be omitted.Scheme in addition, attached drawing is only schematical, the mutual ruler of component
Very little shape of ratio or component etc. can be with actual difference.
Robot involved in present embodiment, which rests against, stops area, and each stop area has different priority.
The free parking scheme of robot involved in present embodiment includes:
Robot successively judges whether stop area is occupied from high to low according to priority, until judging to stop area for the free time
When, robot is stopped to stop area.
In this case, robot independently can orderly judge to stop the service condition in area, keep multiple robots orderly
It stops, avoids congestion or confusion, to improve the efficiency of multirobot collaborative work.
In some instances, it stops area and includes at least the first stop area and the second stop area.First stops the priority in area
The priority in area is stopped higher than second.
As shown in Figure 1, robot successively judges whether stop area is occupied from high to low according to priority, until judgement stops
When by area being idle, robot is stopped to the method for stopping area, is specifically included:
101, robot judges whether the first stop area is occupied.
If 102, first stopping area as the free time, robot stops to first and stops area.
If 103, the first stop area is occupied, robot stops to second and stops area, alternatively, if the first stop area is occupied
With robot judges whether the second stop area is occupied, if second stops area as the free time, robot stops to second and stops area.
Robot can stop area and second according to first and stop the priority in area as a result, successively judge occupancy situation, do
The preferential stop high to priority.
In some instances, it stops area and only includes the first stop area and the second stop area, robot only includes the first machine
People and the second robot.In the case that first stop area has occupied, robot can rest directly against to second and stop area, without
The service condition in the second stop area is made a decision.
In some instances, step 103, first stop area it is occupied when, robot whether to second stop area use
Situation judgement, the total number depending on robot.If robot only includes 2, robot be not necessarily to second stop area into
Row judgement, can rest directly against to second and stop area.If the total number of robot is more than 2, it is occupied that area is stopped first
In the case where, robot needs the service condition to the second stop area to judge.
As shown in Fig. 2, the first stop area and the second stop area can be located at corridor 10.Corridor 10 can have outlet 11.
The distance that first stop offset separates out mouth 11 is greater than the distance that the second stop offset separates out mouth 11.First stops the priority height in area
In the priority that second stops area.Robot preferentially judges whether the first stop area is occupied when stopping.It is in the first stop area
When idle, robot can stop to first and stop area.When the first stop area is occupied, robot need to stop area to second
Service condition judges, and stops area to determine whether to stop to second.
In the present embodiment, priority is to preset.
In this case, robot maintenance personnel can in advance set the priority for stopping area, and can be with
Flexibly it is adjusted.
In some instances, priority is preset, can be based on the autonomous selection of user.As Fig. 2, first stops area
Area is stopped compared to second, farther away from the outlet 11 in corridor 10, then the priority that can set the first stop area is higher than second
Stop area.
It is understood that priority is preset it is also contemplated that other factors.
In the present embodiment, robot successively judges whether stop area is occupied from high to low according to priority, until
When judging to stop area as the free time, robot is stopped to the method for stopping area, is specifically included:
It is communicated between robot and determines whether stop area is occupied.
As a result, by communicating between robot, whether the robot for needing to stop can obtain corresponding stop area occupied
With.
The whether occupied method in area of stopping, tool are determined as shown in figure 3, communicating in the present embodiment, between robot
Body includes:
201, it is communicated between robot and other robots and determines other robots to each service condition for stopping area；
If 202, other machines do not rest against the stop area currently judged per capita, robot is stopped to stop area.
In this case, by the real time communication between robot, quickly the stop area currently judged can be made
It is judged with situation, improves the efficiency of robot stop.
In some instances, as shown in figure 4, stopping area may include that the first stop area 100, second stops area 200, third
Stop area 300.First, which stops area 100, second, stops the priority in area 200, third stop area 300 successively from high to low arrangement.
It stops area and is set to corridor 10.Corridor 10 has outlet 11.Robot includes the first robot 301, the second robot 302, the
Three robots 303.Robot 301, which needs to enter at this time, stops area.Robot 301 preferentially judge first stop area 100 whether by
It occupies.Robot 301 is communicated with robot 302 and robot 303 respectively, is got robot 303 and has been occupied the first stop area
100, any one vacant stop area, robot 302.Then robot 301 judges that the first stop area 100 is occupied, and the
Two stop areas are unoccupied, and robot 301 stops to second and stops area 200.Robot 301 realizes autonomous intelligence as a result,
It stops.
It is understood that the free parking scheme of robot according to the present invention is equal to the quantity for stopping area and robot
With no restriction.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modification, equivalent replacement and improvement etc., should be included in the protection model of the technical solution within the spiritual and principle of mode
Within enclosing.
Claims (5)
1. a kind of free parking scheme of robot characterized by comprising
The robot, which rests against, stops area, and each stop area has different priority, which comprises
The robot successively judges whether the stop area is occupied from high to low according to the priority, until described in judgement
When stop area is idle, the robot is stopped to the stop area.
2. the free parking scheme of robot as described in claim 1, which is characterized in that the stop area includes at least first and stops
Area is stopped by area and second, the described first priority for stopping area is higher than the described second priority for stopping area；Institute
It states robot and successively judges whether the stop area is occupied from high to low according to the priority, until judging the stop area
When for the free time, the robot is stopped to the method for stopping area, is specifically included:
The robot judges whether first stop area is occupied；
If described first stops area as the free time, the robot stops to described first and stops area；
If first stop area is occupied, the robot stops to described second and stops area, alternatively, if described first stops
Area is occupied, and the robot judges whether second stop area is occupied, if described second stops area as free time, the machine
Device people stops to described second and stops area.
3. the free parking scheme of robot as described in claim 1, which is characterized in that the priority is to preset.
4. the free parking scheme of robot as described in claim 1, which is characterized in that the robot is according to the priority
Successively judge whether the stop area is occupied from high to low, until the robot stops when judging the stop area for the free time
By specifically including to the method for stopping area:
It is communicated between the robot and determines whether the stop area is occupied.
5. the free parking scheme of robot as claimed in claim 4, which is characterized in that communicated between the robot and determine institute
It states and stops the whether occupied method in area, specifically include:
It is communicated between the robot and other robots and determines other robots to each use feelings for stopping area
Condition；
If other machines do not rest against the stop area currently judged per capita, the robot is stopped to the stop
Area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910391409.3A CN110091332A (en) | 2019-05-12 | 2019-05-12 | The free parking scheme of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910391409.3A CN110091332A (en) | 2019-05-12 | 2019-05-12 | The free parking scheme of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110091332A true CN110091332A (en) | 2019-08-06 |
Family
ID=67447672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910391409.3A Pending CN110091332A (en) | 2019-05-12 | 2019-05-12 | The free parking scheme of robot |
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| Country | Link |
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| CN (1) | CN110091332A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110956327A (en) * | 2019-11-29 | 2020-04-03 | 上海有个机器人有限公司 | Multi-robot automatic parking method, medium, terminal and device |
| CN112338894A (en) * | 2019-08-09 | 2021-02-09 | 深圳市普渡科技有限公司 | Dispatching method based on distribution system |
| CN113110437A (en) * | 2021-04-06 | 2021-07-13 | 深圳优地科技有限公司 | Robot scheduling method, device, equipment and storage medium |
| CN113961006A (en) * | 2021-10-20 | 2022-01-21 | 上海擎朗智能科技有限公司 | Robot bit supplementing method and device, electronic equipment and storage medium |
| CN110956327B (en) * | 2019-11-29 | 2024-04-26 | 上海有个机器人有限公司 | Multi-robot automatic parking method, medium, terminal and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112338894A (en) * | 2019-08-09 | 2021-02-09 | 深圳市普渡科技有限公司 | Dispatching method based on distribution system |
| CN110956327A (en) * | 2019-11-29 | 2020-04-03 | 上海有个机器人有限公司 | Multi-robot automatic parking method, medium, terminal and device |
| CN110956327B (en) * | 2019-11-29 | 2024-04-26 | 上海有个机器人有限公司 | Multi-robot automatic parking method, medium, terminal and device |
| CN113110437A (en) * | 2021-04-06 | 2021-07-13 | 深圳优地科技有限公司 | Robot scheduling method, device, equipment and storage medium |
| CN113961006A (en) * | 2021-10-20 | 2022-01-21 | 上海擎朗智能科技有限公司 | Robot bit supplementing method and device, electronic equipment and storage medium |
| CN113961006B (en) * | 2021-10-20 | 2023-02-03 | 上海擎朗智能科技有限公司 | Robot bit complementing method and device, electronic equipment and storage medium |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190806 |