CN110531725B - Cloud-based map sharing method - Google Patents
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- CN110531725B CN110531725B CN201910885277.XA CN201910885277A CN110531725B CN 110531725 B CN110531725 B CN 110531725B CN 201910885277 A CN201910885277 A CN 201910885277A CN 110531725 B CN110531725 B CN 110531725B
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- 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
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- 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]
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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
- G05D1/0287—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
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- 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]
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Abstract
The invention relates to a cloud-based map sharing method, which is characterized by comprising the following steps: the method comprises the steps that a user establishes connection with a plurality of mobile robots through client software, each mobile robot is provided with a local lower computer and establishes data communication with a cloud server; after scanning all available mobile robots in the current target environment by using client software, selecting any one mobile robot as a parent mobile robot, then constructing a map, editing the map, and setting a work station and a walking path; uploading the map to a cloud server; and pushing the map matched with the current target environment to a lower computer of the sub-mobile robot. The invention has the advantages that: when the map is used, the cloud server is accessed through client software, the map is pushed to the sub-mobile robots, the utilization rate of the map is greatly improved, and the multiple robots can share the obstacle information, the site information and the path information of one map.
Description
Technical Field
The invention relates to a cloud-based map sharing method, which is used for improving the use efficiency of a map when a plurality of mobile robots work cooperatively.
Background
Laser navigation is one of the main trends of future AGV development, and laser sensor research and development at the present stage presents various trends, such as technical complexity and high-end, performance requirements are biased to similar combination, various combinations, multi-scene application and the like, and the cost is lower while the performance is improved. With continuous optimization of the AGV, man-machine cooperation is achieved, the robot works in the same place with people, and the robot can work in a cooperation mode.
In recent years, with the vigorous development of the logistics industry at home and abroad and the acceleration of the factory automation process, the application range of the AGVs is continuously expanded, the environments to which the AGVs need to face are diversified, and the requirements on the related technologies of the AGVs are higher and higher, but at present, the AGVs do not realize real informatization and intellectualization. As a key device for intelligent logistics, how the AGV is better integrated into the whole automated logistics system is very important. And the system is technically integrated with an AGV product, and provides a one-stop automatic warehousing solution from an industrial forklift to a full-automatic warehousing system.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to achieve that multiple AGVs share the same scene map.
In order to solve the technical problem, the technical scheme of the invention is to provide a cloud-based map sharing method, which is characterized by comprising the following steps:
and step 5, selecting the sites and the paths required by the work of each sub-mobile robot on the map by the user through the task chain function of the client software, so that a plurality of robots share the barrier information, the sites and the path information of one map.
Preferably, in step 1, the connection establishment between the client software and the mobile robot includes the following steps:
step 101, before the mobile robot is connected with client software for the first time, the mobile robot enters a robot control machine through a network cable, and the robot control machine are connected under the same local area network;
102, arranging the mobile robot and a robot control machine in the same network segment, ping a gateway of the mobile robot, and judging whether the robot control machine is connected with the mobile robot or not;
step 103, opening client software, manually inputting the IP address of the mobile robot to establish connection during first connection, and then automatically scanning historical connection equipment when connecting the client software each time;
and 104, repeating the step 103 for each mobile robot needing to be connected with the client software for the first time, and establishing connection with the client software.
Preferably, in step 2, scanning and constructing a map in the current target environment through the parent mobile robot, and editing the map uploaded by the parent mobile robot according to the use requirement includes the following steps:
step 201, after client software scans all available mobile robots in the environment, selecting any one mobile robot as a parent mobile robot and establishing connection to enter a map building module of the client software;
step 202, scanning and constructing a raster map in a real current target environment through a laser sensor on a parent mobile robot, wherein obstacles in the real environment are represented in the map in a two-dimensional coordinate point mode, then erasing noise points in the map by using an eraser function of client software, completing obstacles existing in the real environment but missing in the map by using an auxiliary line function of the client software, and finally setting a station planning path according to a working process of the mobile robot in the real environment.
Preferably, step 3 comprises the steps of:
step 301, setting an anti-collision area of the mobile robot, wherein the anti-collision area is an circumscribed circle of a geometric outline of the mobile robot; setting an anti-collision area of a path, wherein the width of the anti-collision area is equal to that of the mobile robot by taking the path as a symmetry axis;
step 302, checking whether a collision-proof area and a path collision-proof area of the mobile robot are in contact with an obstacle point, if the collision-proof area is in contact with the obstacle and the site and the path in the map are unreasonable in arrangement, modifying the site and the path to reasonable positions and storing the map;
and step 303, uploading the error-free map and the map in other environments where the lower computer of the mobile robot exists to a cloud server.
The invention provides a cloud-based map sharing method, which has the advantages that:
(1) The map scanned by the parent mobile robot is stored in the cloud server, the cloud server is accessed through client software when the map is used, and the map is pushed to the child mobile robot, so that the utilization rate of the map is greatly improved, and a plurality of robots share the obstacle information, the site information and the path information of one map.
(2) The existing map in the lower computer of the mobile robot is pulled to the cloud server, so that the load pressure of the lower computer of the mobile robot is reduced.
Drawings
FIG. 1 is a schematic flow diagram of an embodiment of the present invention;
FIG. 2 is a logical schematic of a cloud sharing map;
fig. 3 (a) and 3 (b) are schematic diagrams of stations and collision avoidance zones of a path.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention can be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the claims appended to the present application.
As shown in fig. 1, the present invention provides a cloud-based map sharing method, including the following steps:
step 101, before the mobile robot is connected with client software for the first time, the mobile robot enters an industrial personal computer of the mobile robot through a network cable, and the mobile robot and the industrial personal computer are connected under the same local area network;
102, arranging the mobile robot and the industrial personal computer in the same network segment, and ping a gateway of the mobile robot to judge whether the industrial personal computer is connected with the mobile robot;
step 103, opening client software, wherein the IP address of the mobile robot needs to be manually input to establish connection when the client software is connected for the first time, and then the client software can automatically scan historical connection equipment;
and step 104, repeating step 103 for each mobile robot needing to be connected with the client software for the first time, and establishing connection with the client software.
step 201, after client software scans all available mobile robots in the environment, selecting any one mobile robot as a parent mobile robot and establishing connection to enter a map building module of the client software;
step 202, a grid map is constructed by scanning a sensor on a parent mobile robot in a real current target environment, obstacles in the real environment are represented in the map in a two-dimensional coordinate point mode, then noise points in the map are erased by using an eraser function of client software, the obstacles existing in the real environment but missing in the map are supplemented by using an auxiliary line function of the client software, and finally a station planning path is set according to a working process of the mobile robot in the real environment.
And 3, uploading the map to a cloud server after checking that the sites and paths set in the map are not wrong through a map checking function of the client software, wherein the map checking method comprises the following steps:
step 301, setting an anti-collision area 2 of the mobile robot 1, wherein the anti-collision area 2 is an circumscribed circle of a geometric outline of the mobile robot 1; setting a collision-prevention area 4 of the path 3, wherein the collision-prevention area 4 is an area with the width equal to the width of the mobile robot 1 by taking the path 3 as a symmetry axis, as shown in fig. 3 (a) and 3 (b);
step 302, checking whether an anti-collision area 2 of the mobile robot and an anti-collision area 4 of a path are in contact with an obstacle point, if the anti-collision area is in contact with the obstacle and the site and the path in the map are unreasonable in arrangement, modifying the site and the path to reasonable positions, and storing the map;
and step 303, uploading the error-free map and the map in other environments where the lower computer of the mobile robot exists to a cloud server.
and 5, selecting the sites and paths required by the work of each mobile robot on the map by the user through the task chain function of the client software, so that the plurality of robots share the barrier information, the sites and the path information of one map.
Claims (3)
1. A cloud-based map sharing method is characterized by comprising the following steps:
step 1, a user establishes connection with a plurality of mobile robots through client software, each mobile robot is provided with a local lower computer and establishes data communication with a cloud server;
step 2, after scanning all available mobile robots in the current target environment by using client software, selecting any one mobile robot as a parent mobile robot, controlling the parent mobile robot to scan and construct a map in the target environment after the client software is connected with the parent mobile robot, editing the map uploaded by the parent mobile robot according to the use requirement by a user through the client software, and setting a work site and a walking path for the mobile robot in the map according to the working process of the mobile robot in the real environment;
the method comprises the following steps of scanning and constructing a map in a current target environment through a parent mobile robot, and editing the map uploaded by the parent mobile robot according to use requirements, wherein the steps comprise:
step 201, after client software scans all available mobile robots in the environment, selecting any one mobile robot as a parent mobile robot and establishing connection to enter a map building module of the client software;
step 202, scanning and constructing a raster map in a real current target environment through a laser sensor on a parent mobile robot, wherein obstacles in the real environment are represented in the map in a two-dimensional coordinate point mode, then erasing noise points in the map by using an eraser function of client software, completing obstacles existing in the real environment and missing in the map by using an auxiliary line function of the client software, and finally setting a station planning path according to a working process of the mobile robot in the real environment;
step 3, after a user checks that the sites and the paths set in the map obtained in the last step are not wrong through a map checking function of client software, uploading the map to a cloud server;
step 4, a user accesses the cloud server through client software according to actual use requirements, a map matched with the current target environment is pushed to a lower computer of a child mobile robot, and all mobile robots except a parent mobile robot are child mobile robots;
and step 5, selecting the sites and the paths required by the work of each sub-mobile robot on the map by the user through the task chain function of the client software, so that a plurality of robots share the barrier information, the sites and the path information of one map.
2. The cloud-based map sharing method of claim 1, wherein in step 1, the step of establishing connection between the client software and the mobile robot comprises the following steps:
step 101, before the mobile robot is connected with client software for the first time, the mobile robot enters a robot control machine through a network cable, and the robot control machine are connected under the same local area network;
102, arranging the mobile robot and a robot control machine in the same network segment, ping a gateway of the mobile robot, and judging whether the robot control machine is connected with the mobile robot or not;
step 103, opening client software, manually inputting the IP address of the mobile robot to establish connection during first connection, and then automatically scanning historical connection equipment when connecting the client software each time;
and step 104, repeating step 103 for each mobile robot needing to be connected with the client software for the first time, and establishing connection with the client software.
3. The cloud-based map sharing method of claim 1, wherein step 3 comprises the steps of:
step 301, setting an anti-collision area of the mobile robot, wherein the anti-collision area is an circumscribed circle of a geometric outline of the mobile robot; setting an anti-collision area of a path, wherein the width of the anti-collision area is equal to that of the mobile robot by taking the path as a symmetry axis;
step 302, checking whether a collision-proof area and a path collision-proof area of the mobile robot are in contact with an obstacle point, if the collision-proof area is in contact with the obstacle and the site and the path in the map are unreasonable in arrangement, modifying the site and the path to reasonable positions and storing the map;
and step 303, uploading the error-free map and the map in other environments where the lower computer of the mobile robot exists to a cloud server.
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| 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 |
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