CN110879594B - Big data-based robot path planning data management system - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention discloses a data management system for robot path planning based on big data, which is used for solving the problem that a transportation robot cannot normally execute a path when passing through an obstacle because the stored path cannot be updated in time due to the fact that the robot path has the obstacle in the prior art; the system comprises a data acquisition module, a path input module, a server, a path replacement module, a path management module, a path calculation module, a staff login module and a storage allocation module; the invention can obtain the replacement path of the moving robot by analyzing and calculating the path obstacle on the transportation path, and the data management module analyzes the rectangular area of the obstacle, so that the transportation path passing through the rectangular area of the obstacle in the server can be changed, and the transportation path is distributed to the computer terminal of the staff for backup storage through the storage distribution module, thereby facilitating the backup storage of the data of the transportation path.
Description
Technical Field
The invention relates to the technical field of data management, in particular to a data management system for robot path planning based on big data.
Background
With the rapid development of computer technology, sensor technology, artificial intelligence and other technologies, robot technology is becoming more and more mature, and the mobile robot type among them is most widely used and plays an increasingly important role in numerous industries such as home service, aerospace, industry and the like, and these various robots can well complete work in specific environments.
In the existing transportation industry, goods are transported from a starting point to a specified terminal through a transporting robot, the robot needs to be subjected to path planning, and the path data of the existing transporting robot cannot be updated in a timing manner during management; therefore, the robot path has obstacles, and the stored path cannot be updated in time, so that the transportation robot passing through the obstacles cannot perform normal path execution.
Disclosure of Invention
The invention aims to provide a data management system for robot path planning based on big data; the invention can obtain the replacement path of the moving robot by analyzing and calculating the path barriers on the transportation path, and the data management module analyzes the rectangular region of the barriers and can change the transportation path passing through the rectangular region of the barriers in the server, thereby leading the transportation robot to better execute the transportation path; the storage allocation module is used for allocating the transportation path to the computer terminal of the employee for backup storage, so that the data of the transportation path can be conveniently backed up and stored;
the technical problems to be solved by the invention are as follows:
(1) how to obtain a replacement path of the moving robot and analyze a rectangular region of the obstacle by analyzing and calculating the path obstacle on the transportation path, and change the transportation path passing through the rectangular region of the obstacle in the server, so that the problem that the transportation robot cannot normally execute the path when passing through the obstacle due to the fact that the obstacle exists on the robot path and the stored path cannot be updated in time in the prior art is solved;
the purpose of the invention can be realized by the following technical scheme: a data management system for robot path planning based on big data comprises a data acquisition module, a path input module, a server, a path replacement module, a path management module, a path calculation module, an employee login module and a storage distribution module;
the data acquisition module is used for acquiring barrier information in the process of moving the transportation path of the transportation robot again and sending the barrier information to the server; the obstacle information comprises an image video, a position coordinate and a size of the obstacle, the path changing module is used for acquiring the obstacle information and carrying out the change processing of the transportation path, and the specific processing steps are as follows:
the method comprises the following steps: setting the transport route as Li, i is 1, 2, … …, n; n is a positive integer; when the transport robot walks in the transport path, when the data acquisition module acquires the obstacle information, a path change instruction is generated at the same time, and the obstacle information is sent to a server;
step two: collecting the distance between the transportation robot and the obstacle by a laser range finder and recording the distance as A1; the position coordinates at this time are denoted as G1;
step three: when A1 is equal to a set threshold value, the transport robot moves leftwards, when the laser range finder collects the obstacle information, the transport robot stops moving, the distance of the leftward movement is h1, then the transport robot moves rightwards, when the laser range finder collects the obstacle information, the transport robot stops moving, and the total distance of the rightward movement at the moment is the distance of the leftward movement subtracted by the distance of the leftward movement to obtain the distance of the rightward movement which is h 2;
step four: when h1> h 2; the moving robot moves to the right, and the maximum left-right width of the moving robot is set as A2; the obstacle detouring distance of the mobile robot on the transportation path Li is YHi ═ h2+ a 2/2;
step five: when the round distance that the moving robot moves to the right is YHi, the moving trolley moves forwards, the infrared sensor arranged on the left side of the moving trolley detects an obstacle, timing is started when the infrared sensor detects the obstacle, timing is stopped when the infrared sensor does not detect the obstacle, the length of the obstacle is obtained according to the timing duration and the speed of the moving robot and is recorded as A3, and the distance that the moving robot moves forwards is QHi-A3 + 2-A1;
step six: after the transport robot moves forward for a distance QHi, the transport robot moves to the left for a distance YHi so that the moving trolley returns to the original transport path Li; the replacing path of the trolley is marked as 1Li, the replacing path is represented as the starting point of the transportation path Li of the transportation robot to run, the trolley runs to the position coordinate G1, the movement robot moves YHi to the right, moves QHi forwards, moves YHi to the left finally, and moves to the end point according to the transportation path Li; calculating the area according to the leftward movement distance h1, the rightward movement distance h2 and the length of the obstacle to obtain an obstacle rectangular area;
step seven: the path replacing module sends the replacing path to a server for storage; sending the rectangular region of the barrier to a data management module;
the data management module receives the rectangular area of the obstacle, acquires all transportation paths stored in the server and processes the transportation paths to obtain a new changed path; the data management module sends the new change path to a server and the moving robot corresponding to the new change path; when the transport robot does not detect the obstacle information at the position G1 again, deleting the new change path stored by the motion robot, and generating and sending a deletion instruction to the server; and after receiving the deletion instruction, the server acquires the corresponding rectangular region of the obstacle at the position G1, and deletes the new changed path modified by the rectangular region of the obstacle from the server and the corresponding mobile robot.
Preferably, the data acquisition module is arranged on a moving robot, and the moving robot is a transport trolley; the data acquisition module comprises three laser range finders arranged on the front side wall and the two side walls of the transport trolley, a speed sensor for detecting the speed of the transport trolley, a timer for acquiring the running time of the transport trolley and a memory for storing a new change path; the path input module is used for inputting a transportation path of the moving robot and a corresponding drawing by a worker.
Preferably, the specific processing steps of the data management module for processing all the transportation routes to obtain a new changed route are as follows:
s1: screening the transportation path to obtain the transportation path passing through the rectangular region of the obstacle; and marking the path as a path to be modified;
s2: establishing a central point of the rectangular region of the obstacle with a horizontal line and a vertical line;
s3: when the path to be modified is parallel to the horizontal line, calculating the parallel distance between the path to be modified and the horizontal line, and marking the distance as F1; acquiring a distance A1 between the transport robot and the obstacle by the corresponding moving robot on the path to be modified through a laser range finder, and when the distance is equal to a set threshold value, changing the path by the moving robot; the changing steps are as follows:
SS 1: when the path to be modified is located on the left side of the horizontal line, the path is moved to the left by ZD1, and ZD1 is A3/2-F1+ a 2/2; in forward motion, the distance of motion is ZD2, ZD2 ═ h1+ h2+2 × a 1; finally, moving to the right for ZD 1; returning the original path to be modified and executing the original path to be modified; combining the path change and the original path to be modified to form a new changed path;
SS 2: when the path to be modified is positioned on the right side of the horizontal line, the path to be modified moves rightwards, the moving distance is YD1, and YD1 is A3/2-F1+ A2/2; in forward movement, the movement distance is YD2, YD2 is h1+ h2+ 2A 1; finally moving to the right for a distance of YD 1; returning the original path to be modified and executing the original path to be modified; combining the path change and the original path to be modified to form a new changed path;
s4: when the path to be modified is parallel to the vertical line, calculating the parallel distance between the path to be modified and the vertical line, and marking as F2; acquiring a distance A1 between the transport robot and the obstacle by the corresponding moving robot on the path to be modified through a laser range finder, and when the distance is equal to a set threshold value, changing the path by the moving robot; the changing steps are as follows:
SS 1: when the path to be modified is located on the left side of the vertical line, the path is moved to the left by a distance CD1, and the distance CD1 is (h1+ h 2)/2-F2; in forward motion, the distance of motion is CD2, CD2 ═ A3+2 × a 1; finally move to the right for a distance CD 1; returning the original path to be modified and executing the original path to be modified; combining the path change and the original path to be modified to form a new changed path;
SS 2: when the path to be modified is positioned at the right side of the vertical line, the path is moved to the right by DD1, and the DD1 is (h1+ h 2)/2-F2; in forward movement, the movement distance is DD2, DD2 is A3+ 2A 1; finally moving to the right for a distance of YD 1; returning the original path to be modified and executing the original path to be modified; the path change and the original path to be modified are combined to form a new changed path.
Preferably, the employee login module is used for submitting employee information, registering and accessing the server to send the employee information which is successfully registered to the server for storage; the employee information comprises a name, a computer model, a mobile phone number and an enrollment time; the employee calculation module is used for a user to obtain employee information in the server and calculate employee values of employees, and comprises the following specific calculation steps:
s1: setting employees as Rk, k being 1, … …, n; n is a positive integer;
s2: acquiring the job time of the user according to the job time of the employee and the current time of the system, and marking the job time as TRk；
S3: setting an integral value corresponding to the computer model, matching the computer model with the integral value corresponding to the set computer model to obtain the integral value of the employee computer, and marking the integral value as DRk；
S4: using formulas
Obtaining employee value Y of an employeeRk(ii) a Wherein h1 and h2 are both preset proportionality coefficients, and lambda is a correction factor and takes the value of 0.765398;
s5: and sending the employee value of the employee to a server for storage.
Preferably, the storage allocation module is used for allocating the transportation path to a computer terminal of an employee for backup storage, and the specific allocation steps are as follows:
SS 1: setting a storage threshold value, acquiring employees of which the employee values are greater than the storage threshold value, and marking the employees as employees to be backed up; setting the employee to be backed up as URk,
SS 2: when the transport robot moves from the starting point to the end point, the execution times of the transport path are increased once; counting the execution times of the transportation path;
SS 3: the number of executions of the transport route Li is set as PLi(ii) a Using the formula FLi＝PLiH3 obtaining backup value F of transportation path LiLi(ii) a When the backup value FLiIf the number of the routes is larger than the set threshold value, the transportation route is marked as a route to be backed up;
SS 4: using the formula PURk＝YRk*h4+(1/BURk) H5 calculating to obtain the matching value PU of the employee to be backed upRk(ii) a Wherein h4 and h5 are both preset proportionality coefficients; BURkDistributing total times for the employees to be backed up;
SS 5: selecting the employee to be backed up with the largest matching value as the selected employee; and simultaneously, the total distribution times of the selected user is increased once, and the path to be backed up is encrypted and compressed and then is sent to the computer terminal of the selected employee for backup storage.
Preferably, the data acquisition module further comprises a frequency counting unit; the number counting unit is used for collecting the execution number of the transportation robot from the starting point to the end point and sending the execution number to the server for storage.
Compared with the prior art, the invention has the beneficial effects that:
1. the method has the advantages that the replacement path of the moving robot can be obtained by analyzing and calculating the path obstacles on the transportation path, meanwhile, the data management module analyzes the rectangular region of the obstacles, and the transportation path passing through the rectangular region of the obstacles in the server can be changed, so that the transportation robot can better execute the transportation path, and the problem that the transportation robot cannot normally execute the path when passing through the obstacles due to the fact that the stored path cannot be updated in time because the robot path has the obstacles in the prior art is solved;
2. the storage allocation module is used for allocating the transportation path to the computer terminal of the staff for backup storage, so that data of the transportation path can be conveniently backed up and stored, and the problem that the transportation path is lost due to server failure or damage and the data of the transportation path cannot be recovered is avoided.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a functional block diagram of the present invention;
FIG. 2 is a schematic diagram of obstacle information collection of the transfer robot of the present invention;
FIG. 3 is a schematic diagram of horizontal and vertical line divisions of a rectangular region of an obstacle according to the present invention;
fig. 4 is a schematic view of the installation of three laser rangefinders of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, a data management system for robot path planning based on big data includes a data acquisition module, a path input module, a server, a path replacement module, a path management module, a path calculation module, an employee login module, and a storage allocation module;
the data acquisition module is used for acquiring barrier information in the process of moving the transportation path of the transportation robot again and sending the barrier information to the server; the obstacle information comprises an image video, a position coordinate and a size of the obstacle, the path changing module is used for acquiring the obstacle information and carrying out the change processing of the transportation path, and the specific processing steps are as follows:
the method comprises the following steps: setting the transport route as Li, i is 1, 2, … …, n; n is a positive integer; when the transport robot walks in the transport path, when the data acquisition module acquires the obstacle information, a path change instruction is generated at the same time, and the obstacle information is sent to a server;
step two: collecting the distance between the transportation robot and the obstacle by a laser range finder and recording the distance as A1; the position coordinates at this time are denoted as G1;
step three: when A1 is equal to a set threshold value, the transport robot moves leftwards, when the laser range finder collects the obstacle information, the transport robot stops moving, the distance of the leftward movement is h1, then the transport robot moves rightwards, when the laser range finder collects the obstacle information, the transport robot stops moving, and the total distance of the rightward movement at the moment is the distance of the leftward movement subtracted by the distance of the leftward movement to obtain the distance of the rightward movement which is h 2;
step four: when h1> h 2; the moving robot moves to the right, and the maximum left-right width of the moving robot is set as A2; the obstacle detouring distance of the mobile robot on the transportation path Li is YHi ═ h2+ a 2/2;
step five: when the round distance that the moving robot moves to the right is YHi, the moving trolley moves forwards, the infrared sensor arranged on the left side of the moving trolley detects an obstacle, timing is started when the infrared sensor detects the obstacle, timing is stopped when the infrared sensor does not detect the obstacle, the length of the obstacle is obtained according to the timing duration and the speed of the moving robot and is recorded as A3, and the distance that the moving robot moves forwards is QHi-A3 + 2-A1;
step six: after the transport robot moves forward for a distance QHi, the transport robot moves to the left for a distance YHi so that the moving trolley returns to the original transport path Li; the replacing path of the trolley is marked as 1Li, the replacing path is represented as the starting point of the transportation path Li of the transportation robot to run, the trolley runs to the position coordinate G1, the movement robot moves YHi to the right, moves QHi forwards, moves YHi to the left finally, and moves to the end point according to the transportation path Li; calculating the area according to the leftward movement distance h1, the rightward movement distance h2 and the length of the obstacle to obtain an obstacle rectangular area;
step seven: the path replacing module sends the replacing path to a server for storage; sending the rectangular region of the barrier to a data management module;
the data management module receives the rectangular area of the obstacle, acquires all transportation paths stored in the server and processes the transportation paths to obtain a new changed path; the data management module sends the new changed path to the server and the moving robot corresponding to the new changed path; when the transport robot does not detect the obstacle information at the position G1 again, deleting the new change path stored by the motion robot, and generating and sending a deletion instruction to the server; the server acquires the rectangular region of the obstacle corresponding to the G1 position after receiving the deletion instruction, and deletes the new modified path of the rectangular region of the obstacle from the server and the corresponding moving robot;
the data acquisition module is arranged on the moving robot, and the moving robot is a transport trolley; the data acquisition module comprises three laser range finders arranged on the front side wall and the two side walls of the transport trolley, a speed sensor for detecting the speed of the transport trolley, a timer for acquiring the running time of the transport trolley and a memory for storing a new change path; the path input module is used for inputting a transportation path of the mobile robot and a corresponding drawing by a worker;
the specific processing steps of the data management module for processing all the transportation paths to obtain a new changed path are as follows:
s1: screening the transportation path to obtain the transportation path passing through the rectangular region of the obstacle; and marking the path as a path to be modified;
s2: establishing a central point of the rectangular region of the obstacle with a horizontal line and a vertical line;
s3: when the path to be modified is parallel to the horizontal line, calculating the parallel distance between the path to be modified and the horizontal line, and marking the distance as F1; acquiring a distance A1 between the transport robot and the obstacle by the corresponding moving robot on the path to be modified through a laser range finder, and when the distance is equal to a set threshold value, changing the path by the moving robot; the changing steps are as follows:
SS 1: when the path to be modified is located on the left side of the horizontal line, the path is moved to the left by ZD1, and ZD1 is A3/2-F1+ a 2/2; in forward motion, the distance of motion is ZD2, ZD2 ═ h1+ h2+2 × a 1; finally, moving to the right for ZD 1; returning the original path to be modified and executing the original path to be modified; combining the path change and the original path to be modified to form a new changed path;
SS 2: when the path to be modified is positioned on the right side of the horizontal line, the path to be modified moves rightwards, the moving distance is YD1, and YD1 is A3/2-F1+ A2/2; in forward movement, the movement distance is YD2, YD2 is h1+ h2+ 2A 1; finally moving to the right for a distance of YD 1; returning the original path to be modified and executing the original path to be modified; combining the path change and the original path to be modified to form a new changed path;
s4: when the path to be modified is parallel to the vertical line, calculating the parallel distance between the path to be modified and the vertical line, and marking as F2; acquiring a distance A1 between the transport robot and the obstacle by the corresponding moving robot on the path to be modified through a laser range finder, and when the distance is equal to a set threshold value, changing the path by the moving robot; the changing steps are as follows:
SS 1: when the path to be modified is located on the left side of the vertical line, the path is moved to the left by a distance CD1, and the distance CD1 is (h1+ h 2)/2-F2; in forward motion, the distance of motion is CD2, CD2 ═ A3+2 × a 1; finally move to the right for a distance CD 1; returning the original path to be modified and executing the original path to be modified; combining the path change and the original path to be modified to form a new changed path;
SS 2: when the path to be modified is positioned at the right side of the vertical line, the path is moved to the right by DD1, and the DD1 is (h1+ h 2)/2-F2; in forward movement, the movement distance is DD2, DD2 is A3+ 2A 1; finally moving to the right for a distance of YD 1; returning the original path to be modified and executing the original path to be modified; combining the path change and the original path to be modified to form a new changed path;
the employee login module is used for submitting employee information, registering and accessing the server to send the employee information which is successfully registered to the server for storage; the employee information comprises a name, a computer model, a mobile phone number and an enrollment time; the employee calculation module is used for a user to obtain employee information in the server and calculate employee values of employees, and comprises the following specific calculation steps:
s1: setting employees as Rk, k being 1, … …, n; n is a positive integer;
s2: acquiring the job time of the user according to the job time of the employee and the current time of the system, and marking the job time as TRk；
S3: setting an integral value corresponding to the computer model, matching the computer model with the integral value corresponding to the set computer model to obtain the integral value of the employee computer, and marking the integral value as DRk；
S4: using formulas
Obtaining employee value Y of an employeeRk(ii) a Wherein h1 and h2 are both preset proportionality coefficients, and lambda is a correction factor and takes the value of 0.765398;
s5: sending the employee value of the employee to a server for storage;
the storage allocation module is used for allocating the transportation path to the computer terminal of the employee for backup storage, and the specific allocation steps are as follows:
SS 1: setting a storage threshold value, acquiring employees of which the employee values are greater than the storage threshold value, and marking the employees as employees to be backed up; setting the employee to be backed up as URk,
SS 2: when the transport robot moves from the starting point to the end point, the execution times of the transport path are increased once; counting the execution times of the transportation path;
SS 3: the number of executions of the transport route Li is set as PLi(ii) a Using the formula FLi＝PLiH3 obtaining backup value F of transportation path LiLi(ii) a When the backup value FLiIf the number of the routes is larger than the set threshold value, the transportation route is marked as a route to be backed up;
SS 4: using the formula PURk＝YRk*h4+(1/BURk) H5 calculating to obtain the matching value PU of the employee to be backed upRk(ii) a Wherein h4 and h5 are both preset proportionality coefficients; BURkDistributing total times for the employees to be backed up;
SS 5: selecting the employee to be backed up with the largest matching value as the selected employee; meanwhile, the total distribution times of the selected user is increased once, and the path to be backed up is encrypted and compressed and then is sent to the computer terminal of the selected employee for backup storage;
the data acquisition module also comprises a frequency counting unit; the times counting unit is used for collecting the execution times of the transportation robot from a starting point to an end point and sending the execution times to the server for storage;
when the robot is used, the data acquisition module acquires barrier information in the process that the transportation path of the transportation robot moves again and sends the barrier information to the server; the route replacing module is used for acquiring the barrier information and replacing the transportation route, and the route replacing module sends the replacement route to the server for storage; sending the rectangular region of the barrier to a data management module; the data management module receives the rectangular area of the obstacle, acquires all transportation paths stored in the server and processes the transportation paths to obtain a new changed path; the data management module sends the new changed path to the server and the moving robot corresponding to the new changed path; when the transport robot does not detect the obstacle information at the position G1 again, deleting the new change path stored by the motion robot, and generating and sending a deletion instruction to the server; the server acquires the rectangular region of the obstacle corresponding to the G1 position after receiving the deletion instruction, and deletes the new modified path of the rectangular region of the obstacle from the server and the corresponding moving robot; the method has the advantages that the replacement path of the moving robot can be obtained by analyzing and calculating the path obstacles on the transportation path, meanwhile, the data management module analyzes the rectangular region of the obstacles, and the transportation path passing through the rectangular region of the obstacles in the server can be changed, so that the transportation robot can better execute the transportation path, and the problem that the transportation robot cannot normally execute the path when passing through the obstacles due to the fact that the stored path cannot be updated in time because the robot path has the obstacles in the prior art is solved; the storage allocation module is used for allocating the transportation path to the computer terminal of the staff for backup storage, so that data of the transportation path can be conveniently backed up and stored, and the problem that the transportation path is lost due to server failure or damage and the data of the transportation path cannot be recovered is avoided.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. A data management system for robot path planning based on big data is characterized by comprising a data acquisition module, a path input module, a server, a path replacement module, a path management module, a path calculation module, an employee login module and a storage allocation module;
the data acquisition module is used for acquiring barrier information of a transportation path of the transportation robot in the moving process and sending the barrier information to the server; the obstacle information comprises an image video, a position coordinate and a size of the obstacle, the path changing module is used for acquiring the obstacle information and carrying out the change processing of the transportation path, and the specific processing steps are as follows:
the method comprises the following steps: setting a transport path to Li, i =1, 2, … …, n; n is a positive integer; when the transport robot walks in the transport path, the data acquisition module acquires the obstacle information, generates a path change instruction and sends the obstacle information to the server;
step two: collecting the distance between the transportation robot and the obstacle through a laser range finder, and recording the distance as A1; the position coordinates at this time are denoted as G1;
step three: when A1 is equal to a set threshold value, the transport robot moves leftwards, stops moving when the laser range finder does not acquire barrier information, the leftward movement distance is h1, then the transport robot moves rightwards, stops moving when the laser range finder does not acquire the barrier information, the rightward movement distance is the total distance minus the leftward movement distance, and the rightward movement distance is h 2;
step four: when h1> h 2; the transport robot moves to the right, and the maximum left-right width of the transport robot is set as A2; the barrier distance of the transport robot on the transport path Li is YHi = h2+ a 2/2;
step five: when the obstacle detouring distance of the transport robot moving to the right is YHi, the moving trolley moves forwards, the infrared sensor arranged on the left side of the moving trolley detects an obstacle, timing is started when the infrared sensor detects the obstacle, timing is stopped when the infrared sensor does not detect the obstacle, the length of the obstacle is obtained according to the timing duration and the speed of the transport robot and is recorded as A3, and the distance of the transport robot moving forwards is QHi = A3+ 2A 1;
step six: after the transport robot moves forward for a distance QHi, the transport robot moves to the left for a distance YHi so that the moving trolley drives back to the original transport path Li; the change path of the trolley is marked 1Li and is indicated as the transport robot driving from the start of the transport path Li to the position coordinate G1, the transport robot moving in sequence right YHi, forward QHi and left YHi and finally following the transport path Li to the end at the position coordinate G1; calculating the area according to the leftward movement distance h1, the rightward movement distance h2 and the length of the obstacle to obtain an obstacle rectangular area;
step seven: the path replacing module sends the replacing path to a server for storage; sending the rectangular region of the barrier to a data management module;
the data management module receives the rectangular area of the obstacle, acquires all transportation paths stored in the server and processes the transportation paths to obtain a new changed path; the data management module sends the new changed path to a server and a transportation robot corresponding to the new changed path; when the transport robot does not detect the obstacle information at the position G1 again, deleting the new change path stored by the transport robot, and generating and sending a deletion instruction to the server; and the server acquires the corresponding rectangular area of the obstacle at the position G1 after receiving the deletion instruction, and deletes the new changed path modified according to the rectangular area of the obstacle from the server and the corresponding transport robot.
2. The big data based robot path planning data management system according to claim 1, wherein the data acquisition module is installed on a transport robot, and the transport robot is a transport trolley; the data acquisition module comprises three laser range finders arranged on the front side wall and the two side walls of the transport trolley, a speed sensor for detecting the speed of the transport trolley, a timer for acquiring the running time of the transport trolley and a memory for storing a new change path; the path input module is used for inputting the transportation path and the corresponding drawing of the transportation robot by a worker.
3. The data management system for robot path planning based on big data according to claim 1, wherein the specific processing steps of the data management module for processing all transportation paths to obtain a new changed path are as follows:
s1: screening the transportation path to obtain the transportation path passing through the rectangular region of the obstacle; and marking the path as a path to be modified;
s2: establishing a horizontal line and a vertical line at the center point of the rectangular region of the obstacle;
s3: when the path to be modified is parallel to the horizontal line, calculating the parallel distance between the path to be modified and the horizontal line, and marking the distance as F1; acquiring a distance A1 between the transportation robot and the obstacle by the corresponding transportation robot on the path to be modified through a laser range finder, and when the distance is equal to a set threshold value, changing the path by the transportation robot; the changing steps are as follows:
SS 1: when the path to be modified is positioned on the left side of the horizontal line, the path is moved to the left by ZD1, ZD1= A3/2-F1+ A2/2; in forward motion, distance of motion is ZD2, ZD2= h1+ h2+2 a 1; finally, moving to the right for ZD 1; driving back to the original path to be modified and driving along the original path to be modified; combining the path change and the original path to be modified to form a new changed path;
SS 2: when the path to be modified is positioned on the right side of the horizontal line, the path to be modified moves rightwards, the moving distance is YD1, YD1= A3/2-F1+ A2/2; in forward motion, the distance of motion is YD2, YD2= h1+ h2+2 a 1; finally moving to the right for a distance of YD 1; driving back to the original path to be modified and driving along the original path to be modified; combining the path change and the original path to be modified to form a new changed path;
s4: when the path to be modified is parallel to the vertical line, calculating the parallel distance between the path to be modified and the vertical line, and marking as F2; acquiring a distance A1 between the transport robot and the obstacle by the corresponding transport robot on the path to be modified through a laser range finder, and when the distance is equal to a set threshold value, changing the path by the transport robot; the changing steps are as follows:
SS 1: when the path to be modified is positioned on the left side of the vertical line, the path is moved to the left by a distance of CD1, CD1= (h1+ h 2)/2-F2; in forward motion, the distance of motion is CD2, CD2= A3+2 a 1; finally move to the right for a distance CD 1; driving back to the original path to be modified and driving along the original path to be modified; combining the path change and the original path to be modified to form a new changed path;
SS 2: when the path to be modified is positioned on the right side of the vertical line, the path to be modified moves to the right by DD1, and the moving distance is DD1= (h1+ h 2)/2-F2; in forward movement, the movement distance is DD2, DD2= A3+2 a 1; finally moving to the right for a distance of YD 1; driving back to the original path to be modified and driving along the original path to be modified; the path change and the original path to be modified are combined to form a new changed path.
4. The big-data-based data management system for robot path planning according to claim 1, wherein the employee login module is used for submitting employee information, registering and accessing the server to send the employee information which is successfully registered to the server for storage; the employee information comprises a name, a computer model, a mobile phone number and an enrollment time; the employee calculation module is used for acquiring employee information in the server and calculating employee values of employees, and the specific calculation steps are as follows:
s1: setting employee as Rk, k =1, 2, … …, n; n is a positive integer;
s2: acquiring the time length of the employee according to the time of the employee and the current time of the system, and marking the time length as TRk；
S3: setting an integral value corresponding to the computer model, matching the computer model with the integral value corresponding to the set computer model to obtain the integral value of the employee computer, and marking the integral value as DRk；
S4: using formulas
s5: and sending the employee value of the employee to a server for storage.
5. The big-data-based data management system for robot path planning according to claim 4, wherein the storage allocation module is configured to allocate the transportation path to a computer terminal of an employee for backup storage, and the specific allocation steps are as follows:
SS 1: setting a storage threshold value, acquiring employees of which the employee values are greater than the storage threshold value, and marking the employees as employees to be backed up; setting the employee to be backed up as URk；
SS 2: when the transport robot moves from the starting point to the end point, the execution times of the transport path are increased once; counting the execution times of the transportation path;
SS 3: the number of executions of the transport route Li is set as PLi(ii) a Using the formula FLi=PLiH3 obtaining backup value F of transportation path LiLi(ii) a When the backup value FLiIf the number of the routes is larger than the set threshold value, the transportation route is marked as a route to be backed up;
SS 4: using the formula PURk=YRk*h4+(1/BURk) H5 calculating to obtain the matching value PU of the employee to be backed upRk(ii) a Wherein h4 and h5 are both preset proportionality coefficients; BURkDistributing total times for the employees to be backed up;
SS 5: selecting the employee to be backed up with the largest matching value as the selected employee; and meanwhile, the total distribution times of the selected employees are increased once, and the paths to be backed up are encrypted and compressed and then are sent to the computer terminals of the selected employees for backup storage.
6. The big-data-based robot path planning data management system according to claim 1, wherein the data acquisition module further comprises a times counting unit; the number counting unit is used for collecting the execution number of the transportation robot from the starting point to the end point and sending the execution number to the server for storage.
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