CN111176293A - Mobile cooperative control system and control method for distribution robot - Google Patents
Mobile cooperative control system and control method for distribution robot Download PDFInfo
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Abstract
The invention discloses a mobile cooperative control system and a control method of a distribution robot, wherein the control system comprises: the user terminal is used for initiating a robot calling instruction; the robot scheduling terminal is in communication connection with the delivery robots and is used for scheduling delivery tasks of the delivery robots corresponding to the robot scheduling terminal; the cooperative control terminal is in communication connection with the user terminal and the robot scheduling terminal through a network, receives a robot calling instruction from the user terminal and forwards the robot calling instruction to the robot scheduling terminal, can acquire real-time dynamic information of the delivery robots and obstacle avoidance auxiliary information of the delivery robots from the robot scheduling terminal, and controls the delivery robots to move and avoid according to the real-time dynamic information of the delivery robots and the obstacle avoidance auxiliary information. The invention can avoid the abnormal conditions of collision and the like of the distribution robot due to different navigation systems or avoidance strategies, and is beneficial to ensuring the smooth completion of the distribution task.
Description
Technical Field
The invention belongs to the technical field of robot control, and particularly relates to a mobile cooperative control system and a control method for a distribution robot.
Background
With the development of the technology of internet of things and the technology of intelligent robots, the intelligent robots are widely applied in various fields. For example, more and more hospitals begin to use dispensing robots to dispense medicines and materials. However, the distribution robots used in hospitals may have different brands due to different purchase batches and different purchase departments, that is, the distribution robots of multiple brands may be used simultaneously. The navigation technologies, obstacle avoidance strategies and scheduling systems adopted by the distribution robots of different brands may be different, so that when the distribution robots of different brands meet each other on a travel path, due to the difference of the obstacle avoidance strategies or the navigation technologies, the robots collide with each other or the robots stop advancing, and particularly in a narrow passage or during turning or turning around, the above-mentioned abnormal situations such as collision or stopping moving are more likely to occur, so that the distribution robots cannot smoothly complete distribution tasks.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a control system and a control method which can realize the cooperative work of distribution robots of different brands.
The purpose of the invention is realized by adopting the following technical scheme:
a mobile cooperative control system for a delivery robot, comprising: the user terminal is used for initiating a robot calling instruction; the robot scheduling terminal is in communication connection with the delivery robots and is used for scheduling delivery tasks of the delivery robots corresponding to the robot scheduling terminal; the cooperative control terminal is in communication connection with the user terminal and the robot scheduling terminal through a network and is used for receiving a robot calling instruction from the user terminal and forwarding the robot calling instruction to the robot scheduling terminal, acquiring real-time dynamic information of the delivery robots and obstacle avoidance auxiliary information of the delivery robots from the robot scheduling terminal, and controlling the delivery robots to move and avoid according to the real-time dynamic information of the delivery robots and the obstacle avoidance auxiliary information.
Further, the robot scheduling terminal corresponds to a brand of the delivery robot.
Further, the real-time dynamic information acquired by the cooperative control terminal from each robot scheduling terminal at least includes: the number of robots that are performing the distribution task, the number of idle robots, and the number of robots distributed for each area.
Further, the auxiliary obstacle avoidance information of the distribution robot comprises gyroscope installation information and a linear distance between a robot shell and an origin of the gyroscope, and the gyroscope installation information is assigned to an installation position of the gyroscope in the distribution robot; an X-Y coordinate system is established by taking the projection of the installation position of the gyroscope on a horizontal plane as an origin, the X-axis direction represents the front-back direction of the robot, the Y-axis direction represents the left-right direction of the robot, and the linear distance between the robot shell and the origin of the gyroscope comprises the shortest distance projected by the gyroscope on the horizontal plane to the front side, the back side, the left side and the right side of the robot shell on the horizontal plane.
The invention also provides a control method of the mobile cooperative control system according to the distribution robot, which comprises the following steps:
initiating a robot calling instruction through a user terminal, and sending the robot calling instruction to a cooperative control terminal by the user terminal;
after receiving the robot calling instruction, the cooperative control terminal acquires real-time dynamic information of the robot from each robot scheduling terminal, selects a distribution robot closest to a distribution task starting point according to the robot calling instruction and the real-time dynamic information of the robot, and sends the robot calling instruction to the robot scheduling terminal to which the distribution robot belongs;
the robot scheduling terminal schedules the delivery robot to execute a delivery task according to the robot calling instruction, and sends walking path information of the delivery robot executing the delivery task and about to execute the delivery task and obstacle avoidance auxiliary information of the robot to the cooperative control terminal;
the cooperative control terminal analyzes the walking path information of the delivery robot sent by the robot scheduling terminal, and judges whether the delivery robot executing the delivery task has the possibility of collision or not by combining the obstacle avoidance auxiliary information of the robot;
if the cooperative control terminal judges that the distribution robot executing the distribution task has the possibility of collision, sending a movement stopping instruction to a robot scheduling terminal to which the distribution robot possibly collided belongs to perform collision avoidance;
after the delivery robots stop moving, the cooperative control terminal schedules the passing sequence of the delivery robots, if the delivery robots can simultaneously pass through the channel according to the judgment of the anti-collision threshold value of the delivery robots, a passing instruction is sent to the robot scheduling terminal to control the delivery robots to continuously move, otherwise, the cooperative control terminal arranges the passing sequence of the delivery robots according to the priority levels of the delivery tasks of the robots, the delivery robots with the emergency delivery tasks preferentially pass through, when the levels of the delivery tasks are the same, the passing sequence of the delivery robots is arranged according to the arrival time sequence, and the first-come delivery robots move first.
Further, when the cooperative control terminal sends the robot call instruction to the robot scheduling terminal, if the delivery task needs to use a plurality of delivery robots, the cooperative control terminal sends the robot call instruction to the robot scheduling terminal to which the delivery robot belongs in sequence from the delivery robot closest to the start point of the delivery task and from near to far according to the robot call instruction and a near principle.
Further, a method of determining whether or not there is a possibility of collision in a delivery robot that executes a delivery task is as follows:
and the cooperative control terminal analyzes whether the walking paths of the distribution robots meet other distribution robots or not according to the walking path information of the distribution robots, if so, further determines which side face of the meeting distribution robots are likely to have collision, and calculates an anti-collision threshold value, and if the distance between the walking paths of the two robots at the meeting positions of the robots is greater than the anti-collision threshold value, no collision occurs.
Further, the anti-collision threshold is determined according to the linear distance between the robot shell and the gyroscope origin, and the anti-collision threshold is Sa+Sb+ Q, S in the formulaa、SbTwo delivery robots respectively indicating the meetingThe shortest distance between the projection of the collision-capable side surface on the horizontal plane and the gyroscope origin of each robot, and Q is an error tolerance value.
Further, after receiving the walking path information of the delivery robots, the cooperative control terminal analyzes the number of the passable robots in the area where the collision may occur, and if the number of the delivery robots passing through the area where the collision may occur exceeds the number of the passable robots in a certain time period, the cooperative control terminal sends an instruction for suspending the delivery of the delivery robots to the area to each robot scheduling terminal.
Further, for a plurality of delivery robots executing common delivery tasks, the cooperative control terminal judges which direction has a large number of delivery robots in two directions, preferentially allows one of the plurality of delivery robots to pass through, and the other delivery robot to avoid, and when the number of the delivery robots in the two directions is equal, the dispatching is performed according to the principle of first-come first-go and then-go avoiding.
Further, after the cooperative control terminal sends the instruction for stopping movement, if the delivery robots are still in the moving state, the cooperative control terminal sends an avoidance instruction to the robot scheduling terminal to which the delivery robot possibly collided by the moving state belongs, and the robot scheduling terminal controls the delivery robot possibly collided to actively avoid.
Further, the actively avoiding distribution robot detects the feasible retreat distance of the robot and uploads the feasible retreat distance to the cooperative control terminal through the robot scheduling terminal in real time, when the cooperative control terminal analyzes that the feasible retreat distance reaches the maximum value of four values of SX1, SX2, SY1 and SY2 of the actively avoiding distribution robot, the cooperative control terminal sends a turning instruction to the robot scheduling terminal, and the robot scheduling terminal controls the distribution to turn and exit the area.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, by arranging the cooperative control terminal, the cooperative control terminal acquires the path information of the delivery tasks of the delivery robots and the robot avoidance auxiliary information from each robot scheduling terminal, and analyzes whether the delivery robots possibly meeting in a certain area collide in advance, so that abnormal conditions such as collision of the delivery robots due to different navigation systems or avoidance strategies are avoided, and the smooth completion of the delivery tasks is favorably ensured. And moreover, the delivery robot can be dispatched through the user terminal without being limited by the brand of the delivery robot, and the compatibility of the delivery robot is improved.
Drawings
FIG. 1 is a block diagram of a control system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a coordinate system established with the projection of the installation position of the gyroscope on the horizontal plane as the origin;
FIG. 3 is a flow chart of the control method of the present invention.
Detailed Description
The present invention will be further described with reference to the following embodiments.
As shown in fig. 1, the cooperative control system of the present embodiment includes a cooperative control terminal, a robot scheduling terminal, and a user terminal. The cooperative control terminal is in communication connection with a user terminal and a robot scheduling terminal through a (wireless) network, the user terminal is arranged at a user side and operated by a user, for example, the user terminal is arranged in each department of a hospital, and hospital staff can initiate a robot calling instruction through the user terminal. The cooperative control terminal can receive a robot calling instruction sent by the user terminal, acquire real-time dynamic information of the distribution robot from the robot scheduling terminal, and send the robot scheduling instruction to the robot scheduling terminal according to the robot calling instruction and in combination with the real-time dynamic information of the robot. The robot scheduling terminals are in communication connection with the delivery robots through a (wireless) network, the number of the robot scheduling terminals is multiple, and the multiple robot scheduling terminals correspond to the brands of the delivery robots or the adopted navigation technologies. And the delivery robot executes the delivery task according to the calling instruction of the robot scheduling terminal.
The real-time dynamic information acquired by the cooperative control terminal from each robot scheduling terminal at least comprises: the number of robots that are performing the delivery tasks, the number of robots that are idle, and the number of robots distributed for each area (e.g., each floor). And the cooperative control terminal also acquires obstacle avoidance auxiliary information of each delivery robot from the robot scheduling terminal, the obstacle avoidance auxiliary information comprises gyroscope installation information and a linear distance between a robot shell and a gyroscope origin, and the gyroscope installation information refers to the installation position of a gyroscope in the delivery robot. As shown in fig. 2, an X-Y coordinate system is established with a projection of a mounting position of a gyroscope (a gyroscope center point) on a horizontal plane as an origin, an X-axis direction indicates a front-rear direction of the dispensing robot, a Y-axis direction indicates a left-right direction of the dispensing robot, and shortest distances SX1, SX2, SY1, SY2 projected on the horizontal plane from the gyroscope center point (origin) to front, rear, left, and right side surfaces of the robot housing are defined as linear distances between the robot housing and the gyroscope origin. The gyroscope installation information and the linear distance between the robot shell and the gyroscope origin are used for analyzing whether the distribution robot collides in the distribution advancing process so as to judge whether the multiple robots can pass through the same path at the same time.
The robot cooperative control method of the present invention is further described below, and the robot cooperative control method of the present invention includes the steps of:
when a worker needs to use a distribution robot to carry out distribution tasks, the worker initiates a robot calling instruction through a user terminal, and the user terminal sends the robot calling instruction to a cooperative control terminal;
after receiving the robot calling instruction, the cooperative control terminal acquires real-time dynamic information of the robot to each robot scheduling terminal, selects a distribution robot according to the robot calling instruction and in combination with the real-time dynamic information of the robot fed back by the robot scheduling terminal, sends the robot calling instruction to the robot scheduling terminal to which the distribution robot belongs, and preferentially selects the distribution robot closest to the starting point of the distribution task to execute the task; as a preferred embodiment of the present invention, if a delivery task requires the use of a plurality of delivery robots, for example, when a department needs to deliver a large amount of medicine in a short time, the cooperative control terminal transmits robot call commands to the robot scheduling terminal to which the delivery robots belong in order from the closest delivery robot to the delivery task starting point on a near-by basis according to a robot call command of the user terminal, so that the plurality of delivery robots collectively execute the delivery task;
the robot scheduling terminal schedules a delivery robot to execute a delivery task according to the robot calling instruction, and sends walking path information (such as path map information) of the delivery robot executing the delivery task and about to execute the delivery task and obstacle avoidance auxiliary information of the robot to the cooperative control terminal;
the cooperative control terminal analyzes the walking path information of the delivery robot sent by the robot scheduling terminal, and judges whether the delivery robot executing the delivery task has the possibility of collision or not by combining the obstacle avoidance auxiliary information of the robot, wherein the judgment method comprises the following steps: analyzing whether the robot in a walking area meets other delivery robots or not according to the walking path information of the delivery robots, if the walking area has intersection, namely meets other delivery robots at a certain position, further determining which side face of the meeting delivery robot is possible to collide according to the walking path information, then calculating an anti-collision threshold, wherein the anti-collision threshold is determined according to the linear distance between a robot shell and an origin of a gyroscope, and the anti-collision threshold is Sa+Sb+ Q, S in the formulaa、SbRespectively representing the shortest distance between the projections of the side surfaces of two meeting delivery robots which are likely to collide on the horizontal plane and the gyroscope origin of each robot, wherein Q is a fault tolerance value, and the fault tolerance value is an empirical value, and can be determined according to actual conditions, for example, for two delivery robots which walk in opposite directions and meet, if the fact that a certain delivery robot a is likely to collide with the right side surface of another delivery robot b is analyzed, S isaA linear distance SY1 projected on a horizontal plane to the origin of the gyroscope of the dispensing robot aa，SbFor delivery robot bProjected on the horizontal plane of the right side of the housing to the origin of the gyroscope of the dispensing robot b, a linear distance SY1bFault tolerance value Q is 10cm, anti-collision threshold value SY1a+SY1b+ 10; after the anti-collision threshold values of the two distribution robots are calculated, the cooperative control terminal further judges whether the distance between the walking paths of the two robots at the positions where the distribution robots meet is larger than the anti-collision threshold value or not, and if so, collision does not occur; as a preferred embodiment of the present invention, after receiving the walking path information of the delivery robots, the cooperative control terminal further analyzes the number of passable robots in a region (meeting position) where a collision may occur, and if the number of delivery robots passing through the region where a collision may occur in a certain time period (when the delivery robots meet) exceeds the number of passable robots, the cooperative control terminal sends an instruction to each robot scheduling terminal to suspend sending the delivery robots to the region, so that the delivery robots in the region execute an avoidance task;
when the cooperative control terminal judges that the distribution robot executing the distribution task has the possibility of collision, sending a movement stopping instruction to a robot scheduling terminal to which the distribution robot possibly collided belongs to perform collision avoidance;
after the delivery robots stop moving, the cooperative control terminal schedules the passing sequence of the delivery robots, if the collision prevention threshold of the delivery robots is judged to simultaneously pass through the passage, a pass instruction is sent to the robot scheduling terminal to control the delivery robots to continue moving, otherwise, the cooperative control terminal arranges the passing sequence of the delivery robots according to the priority levels of the delivery tasks of the robots, the delivery robots with emergency delivery tasks preferentially pass through, and when the levels of the delivery tasks are the same, for example, the delivery tasks are all the emergency delivery tasks or all the common delivery tasks, the passing sequence of the delivery robots is arranged according to the arrival time sequence, and the delivery robots that come first walk first. Furthermore, for a plurality of distribution robots executing common distribution tasks, the cooperative control terminal firstly judges which direction has a large number of distribution robots in two directions, preferentially allows one of the plurality of distribution robots to pass through, and the other distribution robot to avoid, and when the number of the distribution robots in the two directions is equal, the cooperative control terminal carries out scheduling according to the principle of first-come first-go and then-go avoiding, so that the situations that the plurality of distribution robots collide and cannot normally pass when needing to pass through a certain narrow passage in a similar time period are avoided.
As a preferred embodiment of the present invention, after the cooperative control terminal sends a stop moving instruction to the robot scheduling terminal to which the delivery robot that may collide, if it is found that there are still delivery robots in a moving state, for example, the delivery robot does not correctly receive the stop moving instruction sent by the robot scheduling terminal, or the delivery robot does not start executing the stop moving instruction although receiving the stop moving instruction, the cooperative control terminal sends an avoidance instruction to the robot scheduling terminal to which the delivery robot that may collide by the moving state belongs, the robot scheduling terminal controls the delivery robot that may collide to perform avoidance, and during avoidance, the actively-avoided delivery robot detects a feasible back distance by using its own obstacle avoidance distance measuring sensor and uploads the feasible back distance to the cooperative control terminal via the robot scheduling terminal in real time, when the cooperative control terminal analyzes that the feasible retreat distance reaches the maximum value of the four values SX1, SX2, SY1 and SY2 of the actively-avoided distribution robot, the cooperative control terminal sends a turning instruction to the robot dispatching terminal, and the robot dispatching terminal controls the distribution to turn and exit the area.
The invention can realize the unified cooperative scheduling of the distribution robots of multiple brands and multiple navigation systems, and avoid the abnormal conditions that the distribution robots may collide and the like due to the difference of the navigation systems or avoidance strategies, thereby smoothly completing the distribution tasks.
Various other changes and modifications to the above-described embodiments and concepts will become apparent to those skilled in the art from the above description, and all such changes and modifications are intended to be included within the scope of the present invention as defined in the appended claims.
Claims (12)
1. A mobile cooperative control system for a delivery robot, comprising:
the user terminal is used for initiating a robot calling instruction;
the robot scheduling terminal is in communication connection with the delivery robots and is used for scheduling delivery tasks of the delivery robots corresponding to the robot scheduling terminal;
the cooperative control terminal is in communication connection with the user terminal and the robot scheduling terminal through a network and is used for receiving a robot calling instruction from the user terminal and forwarding the robot calling instruction to the robot scheduling terminal, acquiring real-time dynamic information of the delivery robots and obstacle avoidance auxiliary information of the delivery robots from the robot scheduling terminal, and controlling the delivery robots to move and avoid according to the real-time dynamic information of the delivery robots and the obstacle avoidance auxiliary information.
2. The mobile cooperative control system of a dispensing robot according to claim 1, characterized in that: the robot scheduling terminal corresponds to the brand of the delivery robot.
3. The mobile cooperative control system of a dispensing robot according to claim 1, characterized in that: the real-time dynamic information acquired by the cooperative control terminal from each robot scheduling terminal at least comprises: the number of robots that are performing the distribution task, the number of idle robots, and the number of robots distributed for each area.
4. The mobile cooperative control system of a dispensing robot according to claim 1, characterized in that: the obstacle avoidance auxiliary information of the distribution robot comprises gyroscope installation information and a linear distance between a robot shell and an original point of the gyroscope, wherein the gyroscope installation information is the installation position of the gyroscope in the distribution robot; an X-Y coordinate system is established by taking the projection of the installation position of the gyroscope on a horizontal plane as an origin, the X-axis direction represents the front-back direction of the robot, the Y-axis direction represents the left-right direction of the robot, and the linear distance between the robot shell and the origin of the gyroscope comprises the shortest distance projected by the gyroscope on the horizontal plane to the front side, the back side, the left side and the right side of the robot shell on the horizontal plane.
5. The control method of the mobile cooperative control system of the dispensing robot according to any one of claims 1 to 4, characterized by comprising the steps of:
initiating a robot calling instruction through a user terminal, and sending the robot calling instruction to a cooperative control terminal by the user terminal;
after receiving the robot calling instruction, the cooperative control terminal acquires real-time dynamic information of the robot from each robot scheduling terminal, selects a distribution robot closest to a distribution task starting point according to the robot calling instruction and the real-time dynamic information of the robot, and sends the robot calling instruction to the robot scheduling terminal to which the distribution robot belongs;
the robot scheduling terminal schedules the delivery robot to execute a delivery task according to the robot calling instruction, and sends walking path information of the delivery robot executing the delivery task and about to execute the delivery task and obstacle avoidance auxiliary information of the robot to the cooperative control terminal;
the cooperative control terminal analyzes the walking path information of the delivery robot sent by the robot scheduling terminal, and judges whether the delivery robot executing the delivery task has the possibility of collision or not by combining the obstacle avoidance auxiliary information of the robot;
if the cooperative control terminal judges that the distribution robot executing the distribution task has the possibility of collision, sending a movement stopping instruction to a robot scheduling terminal to which the distribution robot possibly collided belongs to perform collision avoidance;
after the delivery robots stop moving, the cooperative control terminal schedules the passing sequence of the delivery robots, if the delivery robots can simultaneously pass through the channel according to the judgment of the anti-collision threshold value of the delivery robots, a passing instruction is sent to the robot scheduling terminal to control the delivery robots to continuously move, otherwise, the cooperative control terminal arranges the passing sequence of the delivery robots according to the priority levels of the delivery tasks of the robots, the delivery robots with the emergency delivery tasks preferentially pass through, when the levels of the delivery tasks are the same, the passing sequence of the delivery robots is arranged according to the arrival time sequence, and the first-come delivery robots move first.
6. The control method according to claim 5, characterized in that: when the cooperative control terminal sends a robot call instruction to the robot scheduling terminal, if a plurality of delivery robots are needed for a delivery task, the cooperative control terminal sends the robot call instruction to the robot scheduling terminal to which the delivery robots belong in sequence from the delivery robot closest to the start point of the delivery task according to the robot call instruction and according to the principle of near-to-near.
7. The control method according to claim 5, characterized in that: the method for determining whether there is a possibility of collision in a delivery robot that executes a delivery task is as follows:
and the cooperative control terminal analyzes whether the walking paths of the distribution robots meet other distribution robots or not according to the walking path information of the distribution robots, if so, further determines which side face of the meeting distribution robots are likely to have collision, and calculates an anti-collision threshold value, and if the distance between the walking paths of the two robots at the meeting positions of the robots is greater than the anti-collision threshold value, no collision occurs.
8. The control method according to claim 7, characterized in that: the anti-collision threshold is determined according to the linear distance between the robot shell and the gyroscope origin, and the anti-collision threshold is Sa+Sb+ Q, S in the formulaa、SbRespectively representing the shortest distance between the projections of the two meeting distribution robots on the horizontal plane, which are possible to collide, and the gyroscope origin of each robot, and Q is an error tolerance value.
9. The control method according to claim 7, characterized in that: and after receiving the walking path information of the delivery robots, the cooperative control terminal analyzes the number of the passable robots in the area where the collision is possible, and if the number of the delivery robots passing through the area where the collision is possible exceeds the number of the passable robots in a certain time period, the cooperative control terminal sends an instruction for suspending the delivery of the delivery robots to the area to each robot scheduling terminal.
10. The control method according to claim 5, characterized in that: for a plurality of delivery robots executing common delivery tasks, the cooperative control terminal judges which direction has a large number of delivery robots in two directions, preferentially allows one direction with a large number to pass through and the other direction to avoid, and when the number of the delivery robots in the two directions is equal, the dispatching is performed according to the principle of first-come first-go and then-avoid.
11. The control method according to claim 5, characterized in that: after the cooperative control terminal sends out the movement stopping instruction, if the delivery robots are still in the moving state, the cooperative control terminal sends an avoidance instruction to the robot scheduling terminal to which the delivery robots possibly collided by the moving state belong, and the robot scheduling terminal controls the delivery robots possibly collided to actively avoid.
12. The control method according to claim 11, characterized in that: the actively avoiding distribution robot detects the feasible retreat distance of the robot and uploads the feasible retreat distance to the cooperative control terminal through the robot dispatching terminal in real time, when the cooperative control terminal analyzes that the feasible retreat distance reaches the maximum value of four values of SX1, SX2, SY1 and SY2 of the actively avoiding distribution robot, the cooperative control terminal sends a turning instruction to the robot dispatching terminal, and the robot dispatching terminal controls the distribution turning to exit the area.
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| CN111830872A (en) * | 2020-07-17 | 2020-10-27 | 珠海格力智能装备有限公司 | Robot control method, device, storage medium and processor |
| CN112183927A (en) * | 2020-08-26 | 2021-01-05 | 蓓安科仪（北京）技术有限公司 | Robot static medicine distribution management method and system |
| CN112751853A (en) * | 2020-12-28 | 2021-05-04 | 深圳优地科技有限公司 | Abnormal robot eliminating method, device, equipment and storage medium |
| CN113311820A (en) * | 2021-04-03 | 2021-08-27 | 兰其向 | Unmanned vehicle automatic maneuvering system and method based on big data |
| CN113485348A (en) * | 2021-07-16 | 2021-10-08 | 广州赛特智能科技有限公司 | Multi-robot intersection walking scheduling method |
| WO2022022741A1 (en) * | 2020-07-31 | 2022-02-03 | 杭州海康机器人技术有限公司 | Agv traffic control method, system, device, and storage medium |
| CN114819416A (en) * | 2022-06-27 | 2022-07-29 | 航天晨光股份有限公司 | Dispatching method and system based on autonomous mobile robot |
| CN117621091A (en) * | 2024-01-26 | 2024-03-01 | 深圳威洛博机器人有限公司 | Gait cooperative control method and system for robot |
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