CN110531725A - A kind of map sharing method based on cloud - Google Patents
A kind of map sharing method based on cloud Download PDFInfo
- Publication number
- CN110531725A CN110531725A CN201910885277.XA CN201910885277A CN110531725A CN 110531725 A CN110531725 A CN 110531725A CN 201910885277 A CN201910885277 A CN 201910885277A CN 110531725 A CN110531725 A CN 110531725A
- Authority
- CN
- China
- Prior art keywords
- map
- mobile robot
- client software
- mobile
- robot
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of map sharing methods based on cloud, it is characterized in that, the following steps are included: user establishes connection by client software and multiple mobile robots, each mobile robot has the slave computer being located locally and establishes data communication with Cloud Server；Using any one mobile robot after all available mobile robots, is selected in client software scanning current goal environment, and to map is edited, setting working terminal and walking path as constructing map after father's mobile robot；Map is uploaded into Cloud Server；The map to match with current goal environment is pushed on the slave computer of sub- mobile robot.The present invention has the advantages that accessing Cloud Server by client software using when map, map is pushed to sub- mobile robot, substantially increases the utilization rate of map, realizes obstacle information, website and routing information that a map is shared by more robots.
Description
Technical field
The present invention relates to a kind of map sharing methods based on cloud, when for improving more mobile robots collaborative works
The service efficiency of figure.
Background technique
Laser navigation is one of the main trend of the following AGV development, and laser sensor research and development at this stage are presented multiplicity and become
Gesture, if technology complicate, high-endization, performance requirement is then biased to can similar combination, multiple combinations, more scenes apply etc., in property
Cost less expensiveization simultaneously can be improved.With continuing to optimize for AGV, so that man-machine coordination, machine person to person works in same place,
Machine person cooperative work is possibly realized.
In recent years with booming and factory automation process the acceleration of domestic and international logistic industry, the application of AGV
Range constantly expands, and the environment that AGV needs to face is also more diversified, and the requirement to the relevant technologies of AGV is also higher and higher, but
Currently, AGV is also not implemented really information-based, intelligent.As the key equipment of wisdom logistics, how AGV is better blended into
It is extremely important to entire automatic Material Handling System.Technology integration is carried out with AGV product, from industrial lift truck to full-automatic storage system
System, provides one-stop automated warehousing solution.
Summary of the invention
The technical problem to be solved by the present invention is how to realize that multiple AGV share Same Scene map.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is to provide a kind of shared sides of map based on cloud
Method, which comprises the following steps:
Step 1, user establish connection by client software and multiple mobile robots, and each mobile robot has position
In local slave computer and data communication is established with Cloud Server；
Step 2 is scanned in current goal environment after all available mobile robots using client software, and selection is any
One mobile robot is as father's mobile robot, and after client software establishes connection with father's mobile robot, control father is mobile
Robot scans in target environment and constructs map, and user is by client software according to use demand to father's mobile robot
The map of upload is edited, and is set according to the process that mobile robot works in true environment in map for mobile robot
Set working terminal and walking path；
It is arranged in the map audit function inspection previous step map obtained that step 3, user pass through client software
After the no mistake of website and path, map is uploaded into Cloud Server；
Step 4, user access Cloud Server by client software according to actual use demand, will be with current goal environment
The map to match is pushed on the slave computer of sub- mobile robot, and all mobile robots in addition to father's mobile robot are
Sub- mobile robot；
The task chain function that step 5, user pass through client software is that the sub- mobile robot of each participation work exists
Website needed for selecting its work on map and path realize more robots and share the obstacle information of a map, stand
Point and routing information.
Preferably, in step 1, client software and mobile robot establish connection the following steps are included:
Step 101, mobile robot enter robot industrial personal computer before connecting for the first time with client software, through cable,
Robot and robot industrial personal computer are connected under the same local area network；
Step 102, by mobile robot and the setting of robot industrial personal computer in same network segment, ping once mobile robot
Gateway, judges whether robot industrial personal computer connect with mobile robot；
Step 103 opens client software, and the IP address that whens First Contact Connections is manually entered mobile robot, which is established, to be connected
Connect, later every time connection client software can automatically scanning to history connection equipment；
The mobile robot that each needs is connect with client software for the first time is repeated step 103 by step 104, with visitor
Family end software establishes connection.
Preferably, in step 2, scan and construct map in current goal environment by father's mobile robot, and according to
The map that use demand uploads father's mobile robot edit the following steps are included:
Step 201 after all available mobile robots, selects any one shifting into environment in client software scanning
Mobile robot is connected into the building mapping module of client software as father's mobile robot and foundation；
Step 202 scans building by the laser sensor in father's mobile robot in true current goal environment
Grating map, the barrier in true environment are indicated in the form of two-dimensional coordinate point in map, then use client software
Erasing rubber function erasing map in noise spot, using existing in the auxiliary line function completion true environment of client software
The barrier lacked in map, the flow setting Bus stop planning path finally to be worked in true environment according to mobile robot.
Preferably, step 3 the following steps are included:
Step 301, the anticollision region that mobile robot is arranged, the anticollision region are mobile robot geometric profile
Circumcircle；The anticollision region in path is set, and it is that symmetrical axial extent is wide equal to mobile robot which, which is with path,
The region of degree；
Step 302, check mobile robot anticollision region and path anticollision region whether with barrier point contact, if
Anticollision region and bar contact, the website and path setting in map are unreasonable, modify website and path to reasonable position
It sets and saves map；
Step 303 will check on the map in errorless other already present environment of map and mobile robot slave computer
Pass to Cloud Server.
The present invention provides a kind of map sharing method based on cloud, the advantage is that:
(1) it is stored in Cloud Server by the map for scanning father's mobile robot, passes through client when using map
Map is pushed to sub- mobile robot, substantially increases the utilization rate of map by softward interview Cloud Server, realizes more machines
Device people shares obstacle information, website and the routing information of a map.
(2) it proposes map existing in mobile robot slave computer pulling Cloud Server, reduces mobile robot
The load pressure of slave computer.
Detailed description of the invention
Fig. 1 is the flow diagram of the embodiment of the present invention；
Fig. 2 is the logical schematic that cloud shares map；
Fig. 3 (a) and Fig. 3 (b) is website and path anticollision area schematic.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
As shown in Figure 1, the present invention provides a kind of map sharing method based on cloud, comprising the following steps:
Step 1, user establish connection by client software and multiple mobile robots, as shown in Figure 2.Client software
It is based on a for debugging the application software of mobile robot of Windows exploitation, which can access simultaneously
Mobile robot upper computer and lower computer memory.Client software and each mobile robot establish connection the following steps are included:
Step 101, mobile robot enter mobile robot industry control before connecting for the first time with client software, through cable
Mobile robot and industrial personal computer are connected under the same local area network by machine；
Step 102, by mobile robot and industrial personal computer setting in same network segment, the gateway of ping once mobile robot,
Judge whether industrial personal computer connect with mobile robot；
Step 103 opens client software, and the IP address that whens First Contact Connections needs to be manually entered mobile robot is established
Connection, later client software can automatically scanning to history connection equipment；
Step 104, the mobile robot that each needs is connect with client software for the first time is repeated into step 103, with visitor
Family end software establishes connection.
Step 2 selects and controls father's mobile robot map is scanned and constructed in current goal environment, according to using need
It asks to map to be edited, working terminal and walking path is set for mobile robot in map, comprising the following steps:
Step 201 after all available mobile robots, selects any one shifting into environment in client software scanning
Mobile robot is connected into the building mapping module of client software as father's mobile robot and foundation；
Step 202 scans building grid by the sensor in father's mobile robot in true current goal environment
Map, the barrier in true environment are indicated in the form of two-dimensional coordinate point in map, then use the rubber of client software
Wipe function erasing map in noise spot, using exist in the auxiliary line function completion true environment of client software and in map
The barrier of missing, the flow setting Bus stop planning path finally to be worked in true environment according to mobile robot.
Step 3, the map audit function by client software check that the website being arranged in map and path do not have mistake
Afterwards, map is uploaded into Cloud Server, comprising the following steps:
Step 301, the anticollision region 2 that mobile robot 1 is arranged, the anticollision region 2 are 1 geometry wheel of mobile robot
Wide circumcircle；The anticollision region 4 in path 3 is set, and it is that symmetrical axial extent is equal to movement which, which is with path 3,
The region of 1 width of robot, as shown in Fig. 3 (a) and Fig. 3 (b)；
Step 302, check mobile robot anticollision region 2 and path anticollision region 4 whether with obstacle object point
Contact, if anticollision region and bar contact, the website and path setting in map are unreasonable, modify website and path to conjunction
The position of reason simultaneously saves map；
Step 303 will check on the map in errorless other already present environment of map and mobile robot slave computer
Pass to Cloud Server.
Step 4, user access Cloud Server by client software according to demand, and the map with environments match is pushed to
On the slave computer of sub- mobile robot, all mobile robots in addition to father's mobile robot are sub- mobile robot；
Step 5, user pass through the task chain function of client software, participate in the mobile robot of work on ground for each
Website needed for selecting its work on figure and path realize obstacle information, website that a map is shared by more robots
And routing information.
Claims (4)
1. a kind of map sharing method based on cloud, which comprises the following steps:
Step 1, user establish connection by client software and multiple mobile robots, and each mobile robot, which has, is located at this
The slave computer on ground and data communication is established with Cloud Server；
Step 2, using after all available mobile robots, selecting any one in client software scanning current goal environment
Mobile robot is as father's mobile robot, after client software establishes connection with father's mobile robot, the mobile machine of control father
Map is scanned in target environment and constructed to people, and user uploads father's mobile robot according to use demand by client software
Map edited, the process to be worked in true environment according to mobile robot in map for mobile robot be arranged work
Make website and walking path；
Step 3, user check the website being arranged in previous step map obtained by the map audit function of client software
After the no mistake in path, map is uploaded into Cloud Server；
Step 4, user access Cloud Server by client software according to actual use demand, will be with current goal environment phase
The map matched is pushed on the slave computer of sub- mobile robot, and all mobile robots in addition to father's mobile robot are sub- shifting
Mobile robot；
The task chain function that step 5, user pass through client software is the sub- mobile robot of each participation work in map
Website and path needed for upper its work of selection, realize more robots share the obstacle information of a map, website and
Routing information.
2. a kind of map sharing method based on cloud as described in claim 1, which is characterized in that in step 1, client software
Establish connection with mobile robot the following steps are included:
Step 101, mobile robot enter robot industrial personal computer before connecting for the first time with client software, through cable, by machine
Device people and robot industrial personal computer are connected under the same local area network；
Step 102, by mobile robot and the setting of robot industrial personal computer in same network segment, the net of ping once mobile robot
It closes, judges whether robot industrial personal computer connect with mobile robot；
Step 103 opens client software, and the IP address that whens First Contact Connections is manually entered mobile robot establishes connection, it
Afterwards every time connection client software can automatically scanning to history connection equipment；
The mobile robot that each needs is connect with client software for the first time is repeated step 103 by step 104, with client
Software establishes connection.
3. a kind of map sharing method based on cloud as described in claim 1, which is characterized in that mobile by father in step 2
Robot scans in current goal environment and constructs map, and the map that father's mobile robot is uploaded according to use demand into
Edlin the following steps are included:
Step 201 after all available mobile robots, selects any one moving machine into environment in client software scanning
Device people is connected into the building mapping module of client software as father's mobile robot and foundation；
Step 202 scans building grid by the laser sensor in father's mobile robot in true current goal environment
Map, the barrier in true environment are indicated in the form of two-dimensional coordinate point in map, then use the rubber of client software
Skin wipes the noise spot in function erasing map, using existing and map in the auxiliary line function completion true environment of client software
The barrier of middle missing, the flow setting Bus stop planning path finally to be worked in true environment according to mobile robot.
4. a kind of map sharing method based on cloud as described in claim 1, which is characterized in that step 3 the following steps are included:
Step 301, the anticollision region that mobile robot is arranged, the anticollision region are the circumscribed of mobile robot geometric profile
Circle；The anticollision region in path is set, and it is that symmetrical axial extent is equal to mobile robot width which, which is with path,
Region；
Step 302, check mobile robot anticollision region and path anticollision region whether with barrier point contact, if anti-collision
Region and bar contact are hit, website in map and path setting are unreasonable, modify website and path to reasonable position simultaneously
Save map；
Step 303 will check that the map in errorless other already present environment of map and mobile robot slave computer uploads to
Cloud Server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910885277.XA CN110531725B (en) | 2019-09-19 | 2019-09-19 | Cloud-based map sharing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910885277.XA CN110531725B (en) | 2019-09-19 | 2019-09-19 | Cloud-based map sharing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110531725A true CN110531725A (en) | 2019-12-03 |
| CN110531725B CN110531725B (en) | 2022-11-04 |
Family
ID=68669235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910885277.XA Active CN110531725B (en) | 2019-09-19 | 2019-09-19 | Cloud-based map sharing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110531725B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111010661A (en) * | 2019-12-24 | 2020-04-14 | 上海机器人产业技术研究院有限公司 | Method for discovering mobile robot in navigation software |
| CN112925467A (en) * | 2021-01-27 | 2021-06-08 | 江苏天策机器人科技有限公司 | Commercial cleaning robot human-computer interaction system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101000507A (en) * | 2006-09-29 | 2007-07-18 | 浙江大学 | Method for moving robot simultanously positioning and map structuring at unknown environment |
| DE102008050206A1 (en) * | 2008-10-01 | 2010-05-27 | Micro-Star International Co., Ltd., Jung-Ho City | Route planning method for mobile robot device, involves consecutively spreading map grid from point of origin to target in direction to adjacent map grids until map grids contact with each other, and defining map grids as movement route |
| CN101945492A (en) * | 2010-08-09 | 2011-01-12 | 哈尔滨工程大学 | Clustering-based multi-robot task allocation method |
| CN106767827A (en) * | 2016-12-29 | 2017-05-31 | 浙江大学 | A kind of mobile robot point cloud map creating method based on laser data |
| CN107515002A (en) * | 2016-06-17 | 2017-12-26 | 趣之科技（深圳）有限公司 | A kind of systems approach and device that the real-time indoor map structure of robot and location navigation are realized based on LiDAR and cloud computing |
| CN109363586A (en) * | 2018-12-26 | 2019-02-22 | 江苏美的清洁电器股份有限公司 | Sweeping robot and its communication means, device and system and mobile terminal |
-
2019
- 2019-09-19 CN CN201910885277.XA patent/CN110531725B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101000507A (en) * | 2006-09-29 | 2007-07-18 | 浙江大学 | Method for moving robot simultanously positioning and map structuring at unknown environment |
| DE102008050206A1 (en) * | 2008-10-01 | 2010-05-27 | Micro-Star International Co., Ltd., Jung-Ho City | Route planning method for mobile robot device, involves consecutively spreading map grid from point of origin to target in direction to adjacent map grids until map grids contact with each other, and defining map grids as movement route |
| CN101945492A (en) * | 2010-08-09 | 2011-01-12 | 哈尔滨工程大学 | Clustering-based multi-robot task allocation method |
| CN107515002A (en) * | 2016-06-17 | 2017-12-26 | 趣之科技（深圳）有限公司 | A kind of systems approach and device that the real-time indoor map structure of robot and location navigation are realized based on LiDAR and cloud computing |
| CN106767827A (en) * | 2016-12-29 | 2017-05-31 | 浙江大学 | A kind of mobile robot point cloud map creating method based on laser data |
| CN109363586A (en) * | 2018-12-26 | 2019-02-22 | 江苏美的清洁电器股份有限公司 | Sweeping robot and its communication means, device and system and mobile terminal |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111010661A (en) * | 2019-12-24 | 2020-04-14 | 上海机器人产业技术研究院有限公司 | Method for discovering mobile robot in navigation software |
| CN111010661B (en) * | 2019-12-24 | 2021-06-18 | 上海机器人产业技术研究院有限公司 | Method for discovering mobile robot in navigation software |
| CN112925467A (en) * | 2021-01-27 | 2021-06-08 | 江苏天策机器人科技有限公司 | Commercial cleaning robot human-computer interaction system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110531725B (en) | 2022-11-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102449618B (en) | For the manufacture of the cloud computing of executive system | |
| CN110531725A (en) | A kind of map sharing method based on cloud | |
| Buntak et al. | Internet of things and smart warehouses as the future of logistics | |
| CN104737085A (en) | Robot and method for autonomous inspection or processing of floor areas | |
| MX2013014927A (en) | Automated demand response system. | |
| CN109858859A (en) | Warehouse management method, device, computer equipment and medium based on maincenter monitoring | |
| CN112698925B (en) | Container mixed operation processing method of server cluster | |
| CN110488820A (en) | A kind of the area coverage method and chip of self-movement robot | |
| CN108803586A (en) | A kind of working method of sweeping robot | |
| CN111596617A (en) | Method and device for drawing working space of palletizing robot | |
| CN111275378A (en) | Data processing system, data processing method and storage medium based on storage control system | |
| CN105207989A (en) | Multi-dimensional user workbench system and control method thereof | |
| CN111105076A (en) | Weather forecast data generation method and device, computer equipment and storage medium | |
| CN110795848A (en) | Large-scale commercial complex logistics intelligent operation and maintenance method based on building information model | |
| CN102857553A (en) | Car and engineering machinery industrial chain cluster cooperative service system based on Internet of things | |
| CN105579920B (en) | The control method of programmable controller and programmable controller | |
| CN112884298A (en) | Building construction model based on big data and modeling method | |
| CN112163708A (en) | Monitoring management system and method based on intelligent display terminal | |
| CN112200907B (en) | Map data generation method and device for sweeping robot, computer equipment and medium | |
| CN107730164A (en) | A kind of WCS intelligent storages dispatching management information system and its control method | |
| CN104155957B (en) | A kind of industry control acquisition system based on multinode | |
| CN111010661B (en) | Method for discovering mobile robot in navigation software | |
| Mora et al. | Towards an energy management system of systems: An industrial case study | |
| CN107818394A (en) | A kind of intelligent marketing system based on technology of Internet of things | |
| CN115393234A (en) | Map region fusion method and device, autonomous mobile equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |