CN112388634A - Cooperative transportation system - Google Patents
Cooperative transportation system Download PDFInfo
- Publication number
- CN112388634A CN112388634A CN202011189643.7A CN202011189643A CN112388634A CN 112388634 A CN112388634 A CN 112388634A CN 202011189643 A CN202011189643 A CN 202011189643A CN 112388634 A CN112388634 A CN 112388634A
- Authority
- CN
- China
- Prior art keywords
- laser
- mobile robot
- receiving device
- auxiliary
- relative position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Embodiments of the present disclosure disclose a collaborative handling system. One embodiment of the method comprises: the main movable robot is provided with a laser emitting device and/or a laser receiving device, the auxiliary movable robot is provided with a laser receiving device and/or a laser emitting device, and the laser receiving device and the laser emitting device are positioned in the same horizontal plane; the laser emitting device is configured to emit a laser signal in a preset direction in a preset horizontal plane; the laser receiving device is configured to receive the laser signal and determine a first relative position of the laser receiving device relative to the laser emitting device based on the position relation between the received laser signal and the laser receiving device; the primary mobile robot or the auxiliary mobile robot is further configured to determine a real-time relative position of the auxiliary mobile robot with respect to the primary mobile robot based on the first relative position, which may reduce costs of the collaborative handling system.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of warehousing, in particular to a warehousing carrying vehicle, and especially relates to a collaborative carrying system.
Background
In a scenario where mobile robots automatically transport a load, two or more mobile robots may need to transport the load in coordination, and the relative positional relationship of the mobile robots is very important in the coordination transport process.
In the related art, the following two schemes are generally adopted: absolute positioning of each mobile robot or determination of relative position between mobile robots through image techniques. The method comprises the following steps that each mobile robot is absolutely positioned, real-time communication among a plurality of mobile robots is required, and an industrial bus or a relatively complex communication protocol and a relatively complex communication strategy are required to ensure the reliability and real-time of the communication; the relative position between the mobile robots is sensed through an image recognition technology, namely, one mobile robot is taken as a main part, image identification is pasted on the periphery of the mobile robot, and the other mobile robots scan images on the mobile robot in real time through cameras to obtain the relative position relation with the mobile robot, so that a processor with higher performance is needed to ensure the precision.
Disclosure of Invention
Embodiments of the present disclosure provide a coordinated handling system.
In a first aspect, an embodiment of the present disclosure provides a coordinated handling system, including: the mobile robot system comprises a main mobile robot and at least one auxiliary mobile robot, wherein the main mobile robot and the auxiliary mobile robot cooperate to carry the same target object, when the main mobile robot and the auxiliary mobile robot carry the target object, the main mobile robot moves along a carrying path, the auxiliary mobile robot moves along the main mobile robot, and the real-time relative position between the auxiliary mobile robot and the main mobile robot is kept consistent with a preset relative position; the main movable robot is provided with a laser emitting device and/or a laser receiving device, the auxiliary movable robot is provided with a laser receiving device and/or a laser emitting device, and the laser receiving device and the laser emitting device are positioned in the same horizontal plane; the laser emitting device is configured to emit a laser signal in a preset direction in a preset horizontal plane; the laser receiving device is configured to receive the laser signal and determine a first relative position of the laser receiving device relative to the laser emitting device based on the position relation between the received laser signal and the laser receiving device; the primary mobile robot or the auxiliary mobile robot is further configured to determine a real-time relative position of the auxiliary mobile robot with respect to the primary mobile robot based on the first relative position.
In some embodiments, the two ends of the laser receiving device are respectively provided with a laser ranging assembly, and the laser ranging assemblies are configured to respectively measure the distance between the two ends of the laser receiving device and the laser emitting device; and the laser receiving device determines a first relative position of the laser receiving device with respect to the laser emitting device via: constructing a first relative coordinate system by taking the central point of the laser transmitting and rotating device as an origin; determining the difference value of the distances between the two ends of the laser receiving device and the laser emitting device; determining an included angle between a vertical plane where the laser receiving device is located and a vertical plane where the laser emitting device is located based on the difference and the distance between the two ends of the laser receiving device; determining the coordinates of the projection point of the laser signal on the laser receiving device in a first relative coordinate system based on the included angle, the coordinates of the center point of the laser emitting device in the first relative coordinate system which is constructed in advance and the distance between the two ends of the laser receiving device and the laser emitting device, wherein the first relative coordinate system is a plane rectangular coordinate system which is constructed in a preset plane by taking the center point of the laser emitting device as an origin; determining the coordinate of the central point of the laser receiving device in the first relative coordinate system based on the coordinate of the projection point in the first relative coordinate system and the distance between the projection point and the central point of the laser receiving device; the coordinates of the center point of the laser receiver in the first relative coordinate system are determined as a first relative position of the laser receiver relative to the laser transmitter.
In some embodiments, the laser receiving device comprises a plurality of laser receivers arranged in a line within a predetermined plane.
In some embodiments, a laser emitting device includes an encoding module to generate a sequence of laser pulses to identify a laser signal; and the laser receiving device comprises a decoding module used for decoding the laser signal so as to determine the identification of the laser signal, and each laser receiver corresponds to one decoding module.
In some embodiments, the laser emitting device includes a plurality of emitters arranged in a straight line in a predetermined plane, each emitter corresponding to one of the encoding modules.
In some embodiments, when the laser receiving device receives a plurality of laser signals simultaneously, the laser receiving device is further configured to: respectively determining the coordinates of the transmitters corresponding to the identifiers in a first relative coordinate system based on the identifiers of the received laser signals; respectively determining the coordinates of each laser receiver which receives the laser signals transmitted by the transmitter in a first relative coordinate system based on the coordinates and the included angles of the transmitter in the first relative coordinate system and the distance between the two ends of the laser receiving device and the laser transmitting device; and determining the coordinates of the central point of the laser receiving device in the first relative coordinate system based on the coordinates of the laser receivers in the first relative coordinate system and the coordinates of the central point of the laser receiving device in the first relative coordinate system. In some embodiments, the primary mobile robot includes a plurality of laser emitting devices, one for each auxiliary mobile robot; and/or the main mobile robot comprises a plurality of laser receiving devices, and each laser receiving device corresponds to one auxiliary mobile robot.
In some embodiments, the coordinated handling system further comprises a system control device configured to: receiving conveying information of the target object, wherein the conveying information at least comprises physical parameters of the target object, an initial conveying position and a target conveying position; the main mobile robot and the auxiliary mobile robot that participate in carrying the target item are determined based on the carrying information, and the carrying information is transmitted to the main mobile robot.
In some embodiments, the master mobile robot is further configured to: receiving the carrying information of the target object; determining a transfer path of the main mobile robot and a preset relative position of the auxiliary mobile robot with respect to the main mobile robot based on the transfer information; the preset relative position is sent to the auxiliary mobile robot.
In some embodiments, the master mobile robot is further configured to: and updating the preset relative position, and sending the updated preset relative position to the auxiliary movable robot so that the auxiliary movable robot moves along with the main movable robot according to the updated preset relative position.
In a second aspect, an embodiment of the present disclosure provides a collaborative handling method, including: receiving a transfer task, and determining a main mobile robot and at least one auxiliary mobile robot performing the transfer task based on the transfer task; determining a carrying path of the main mobile robot and a preset relative position of the auxiliary mobile robot relative to the main mobile robot based on the carrying task; sending the carrying path to the main movable robot, and sending the preset relative position to the auxiliary movable robot; receiving a real-time position of the main mobile robot and a real-time relative position of the auxiliary mobile robot with respect to the mobile robot, wherein the real-time relative position is determined by the main mobile robot or the auxiliary mobile robot based on a received laser signal emitted by a laser emitting device provided on the auxiliary mobile robot or the mobile robot; determining a current movement strategy of the master mobile robot based on the real-time position, and sending the current movement strategy of the master mobile robot to the master mobile robot; a current movement strategy of the auxiliary mobile robot is determined based on the real-time relative position, and the current movement strategy of the auxiliary mobile robot is sent to the auxiliary mobile robot.
In a third aspect, embodiments of the present disclosure also provide a mobile robot for handling articles in cooperation with other mobile robots, the mobile robot including at least one of: a laser emitting device configured to emit a laser signal to a preset direction; the laser receiving device is configured to receive laser signals emitted by laser emitting devices arranged on other movable robots which are used for cooperatively carrying articles; the laser signals are used for determining the real-time relative positions of other movable robots which are used for cooperatively carrying the articles relative to the movable robots; the mobile robot is also configured to move along a transfer path.
In some embodiments, the mobile robot is further configured to: receiving a carrying task; determining a transfer path of the mobile robot and preset relative positions of other mobile robots relative to the mobile robot based on the received transfer task; and sending the preset relative position.
In a fourth aspect, embodiments of the present disclosure also provide a mobile robot for handling articles in cooperation with other mobile robots, the mobile robot including at least one of: a laser emitting device configured to emit a laser signal to a preset direction; the laser receiving device is configured to receive laser signals emitted by laser emitting devices arranged on other movable robots which are used for cooperatively carrying articles; the laser signal is used for determining the real-time relative position of the mobile robot relative to other mobile robots; the mobile robot is configured to: receiving a preset relative position of the mobile robot relative to other mobile robots; and determining the current movement strategy of the movable robot based on the real-time relative position of the robot relative to other movable robots, so that the real-time relative position of the robot relative to other movable robots is consistent with the preset relative position of the movable robot relative to other movable robots.
The cooperative handling system provided by the embodiment of the disclosure adopts the laser emitting device and the laser receiving device to determine the relative position of the auxiliary movable robot, so that the performance requirement on the processor is low, and the cost of the cooperative handling system can be reduced.
Drawings
Other features, objects and advantages of the disclosure will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of a scenario of one embodiment of a coordinated handling system according to the present disclosure;
FIG. 2 is a schematic view of calculating a first relative position of a laser receiving device with respect to a laser emitting device in an embodiment of a coordinated handling system according to the present disclosure;
FIG. 3 is a schematic illustration of a laser receiver device in an embodiment of a coordinated handling system according to the present disclosure;
FIG. 4 is a schematic illustration of a laser emitting device in an embodiment of a coordinated handling system according to the present disclosure;
FIG. 5 is a schematic flow chart diagram illustrating one embodiment of a collaborative handling method according to the present disclosure;
reference numerals:
10-a target item; 20-a master mobile robot; 30-an auxiliary mobile robot;
200-a laser emitting device; 210-a transmitter; 220-an encoding module;
300-a laser receiving device; 310-a laser receiver; 320-a decoding module; 330-ranging assembly.
Detailed Description
The present disclosure is described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, fig. 1 shows a schematic view of a scenario of an embodiment of a coordinated handling system, as shown in fig. 1, in which scenario the coordinated handling system comprises: a main mobile robot 20 and three auxiliary mobile robots 30, the main mobile robot 20 and the auxiliary mobile robots 30 cooperatively carrying the same target article 10, wherein when the main mobile robot 20 and the auxiliary mobile robots 30 carry the target article 10, the main mobile robot 20 moves along a carrying path, the auxiliary mobile robots 30 move following the main mobile robot 20, and keep a real-time relative position between the auxiliary mobile robots 30 and the main mobile robot 20 consistent with a preset relative position; the main mobile robot 20 is provided with a laser emitting device 200 and/or a laser receiving device 300, the auxiliary mobile robot 30 is provided with a laser receiving device 300 and/or a laser emitting device 200, and the laser receiving device 300 and the laser emitting device 200 are positioned in the same horizontal plane; the laser emitting device 200 is configured to emit a laser signal in a preset direction within a preset horizontal plane; the laser receiving device 300 is configured to receive the laser signal and determine a first relative position of the laser receiving device 300 with respect to the laser emitting device 200 based on a positional relationship of the received laser signal and the laser receiving device 300; primary mobile robot 20 or auxiliary mobile robot 30 is also configured to determine a real-time relative position of auxiliary mobile robot 30 with respect to primary mobile robot 20 based on the first relative position.
Note that, in fig. 1, the main mobile robot 20 is provided with only the laser emitting device 200, and the auxiliary mobile robot 30 is provided with only the laser receiving device 300, which is only one of various combinations that the coordinated transfer system of the present disclosure can adopt, and the coordinated transfer system of the present disclosure can also adopt the following combinations: the main mobile robot 20 is provided with only the laser receiving device 300, while the auxiliary mobile robot 30 is provided with only the laser emitting device 200; both the main mobile robot and the auxiliary mobile robot are provided with the laser transmitter 200 and the laser receiver 300 at the same time. Therefore, the coordinated handling system can select the most adaptive structure according to actual requirements, and the flexibility of the coordinated handling system can be improved. Also, when the main mobile robot 20 and the auxiliary mobile robot 30 are simultaneously provided with the laser emitting device 200 and the laser receiving device 300, the calculation accuracy of the real-time relative position can be improved by the redundant calculation.
To avoid repetition, the present application is described primarily in the combination illustrated in fig. 1, but does not represent a limitation of the cooperative handling system of the present disclosure.
In this embodiment, the main Mobile Robot 20 or the auxiliary Mobile Robot 30 may be an AGV (Automated Guided Vehicle) or an AMR (Automated Mobile Robot), the auxiliary Mobile Robot 30 determines a current movement strategy of the auxiliary Mobile Robot 30 based on the real-time relative position and the preset relative position to keep the real-time relative position consistent with the preset relative position, thereby implementing the following motion of the auxiliary Mobile Robot 30.
In general, when the main mobile robot 20 moves along a predetermined transfer path during the cooperative transfer, each auxiliary mobile robot 30 can realize the following movement of the auxiliary mobile robot 30 by only holding the relative position of the auxiliary mobile robot 30 with respect to the main mobile robot 20, and thus, the cooperative transfer of the main mobile robot 20 and the auxiliary mobile robot 30 can be realized.
In this embodiment, both the laser transmitter 200 and the laser receiver 300 are fixedly disposed on the main mobile robot 20 and/or the auxiliary mobile robot 30, so that the relative positions of the laser transmitter 200 and the laser receiver 300 with respect to the main mobile robot 20 or the auxiliary mobile robot 30 are fixed, and thus, the real-time relative position of the auxiliary mobile robot 30 with respect to the main mobile robot can be calculated only by combining the first relative position of the laser receiver 300 with respect to the laser transmitter 200, for example, when the relative position can be represented by relative coordinates, a coordinate transformation method can be used.
As an example, in the coordinated transfer system shown in fig. 1, the laser transmitter 200 is fixedly disposed on the main mobile robot 20, and the second relative position between the two is fixed, so that the third relative position of the laser receiver 300 with respect to the main mobile robot 20 can be obtained by combining the first relative position, the fourth relative position of the laser receiver 300 with respect to the auxiliary mobile robot 30 is also fixed, and the real-time relative position of the auxiliary mobile robot 30 with respect to the main mobile robot 20 can be obtained by combining the third relative position and the fourth relative position.
For another example, the laser receiving device 300 is disposed on the main mobile robot 20, the laser emitting device 200 is disposed on the auxiliary mobile robot 30, the first relative position of the laser receiving device 300 with respect to the laser emitting device 200 is converted into an equivalent fifth relative position of the laser emitting device 200 with respect to the laser receiving device 300, then a seventh relative position of the laser emitting device 200 with respect to the main mobile robot 20 is obtained in combination with a sixth relative position of the laser receiving device 300 with respect to the main mobile robot 20, and a real-time relative position of the auxiliary mobile robot 30 with respect to the main mobile robot 20 is obtained in combination with an eighth relative position of the laser emitting device 200 with respect to the auxiliary mobile robot 30.
In some optional implementations of the present embodiment, the real-time relative position of the auxiliary laser receiving device 300 with respect to the laser emitting device 200 may be calculated by: the two ends of the laser receiving device are respectively provided with a laser ranging component 330, and the laser ranging components 330 are configured to respectively measure the distance between the two ends of the laser receiving device 300 and the laser emitting device 200; and the laser receiving device 300 determines the first relative position of the laser receiving device 300 with respect to the laser emitting device 200 via: constructing a first relative coordinate system by taking the central point of the laser transmitting and rotating device as an origin; determining a difference in distance between both ends of the laser receiving device 300 and the laser emitting device 200; determining an included angle between a vertical plane where the laser receiving device 300 is located and a vertical plane where the laser emitting device 200 is located based on the difference and the distance between the two ends of the laser receiving device 300; determining the coordinates of the projection point of the laser signal on the laser receiving device 300 in a first relative coordinate system based on the included angle, the coordinates of the center point of the laser emitting device 200 in the first relative coordinate system constructed in advance and the distance between the two ends of the laser receiving device 300 and the laser emitting device 200, wherein the first relative coordinate system is a plane rectangular coordinate system constructed in a preset plane by taking the center point of the laser emitting device 200 as an origin; determining the coordinates of the central point of the laser receiving device 300 in the first relative coordinate system based on the coordinates of the projection point in the first relative coordinate system and the distance between the projection point and the central point of the laser receiving device 300; the coordinates of the center point of the laser light receiving device 300 in the first relative coordinate system are determined as a first relative position of the laser light receiving device 300 with respect to the laser light emitting device 200.
In one specific example of this implementation, the relative position may be characterized by relative coordinates, for example, a real-time relative coordinate system may be constructed with the center point of a cross section of main movable robot 20 in a preset plane as an origin, and the coordinates of auxiliary movable robot 30 in the real-time relative coordinate system may be the real-time relative position of auxiliary movable robot 30 with respect to main movable robot 20. In addition, the following relative coordinate system can be constructed in advance to assist in calculation: taking an intersection line of a panel of the laser emitting device 200 and a preset plane and a normal vector of the panel as coordinate axes, and taking a central point of the laser emitting device 200 as an origin to construct a first relative coordinate system in advance; constructing a second relative coordinate system by taking an intersection line of the panel of the laser receiving device 300 and a preset plane and a normal vector of the panel as coordinates and taking a central point of the laser receiving device 300 as an origin; a third relative coordinate system is constructed with the center point of the projection of the auxiliary movable robot 30 in the preset plane as the origin.
For example, referring to fig. 1, coordinates of the auxiliary mobile robot 30 in the first relative coordinate system are obtained through coordinate transformation, referring to coordinates of a center point of the laser receiver device 300 in the first relative coordinate system, coordinates of a center point of the laser transmitter device 200 in the third relative coordinate system, and an included angle between a normal vector of a panel of the laser transmitter device 200 and a coordinate axis of the third relative coordinate system; the coordinates of the auxiliary mobile robot 30 in the real-time relative coordinate system can be assisted by the coordinate transformation matrix by combining the coordinates of the auxiliary mobile robot 30 in the first relative coordinate system, the coordinates of the center point of the laser receiver 300 in the real-time relative coordinate system, and the included angle between the normal vector of the panel of the laser receiver 300 and the coordinate axis in the real-time relative coordinate system.
For another example, when the laser receiving device 300 is disposed on the main mobile robot 20 and the laser emitting device 200 is disposed on the auxiliary mobile robot 30, the coordinates of the center point of the laser emitting device 200 in the second relative coordinate system can be obtained through coordinate transformation by combining the coordinates of the center point of the laser receiving device 300 in the first relative coordinate system and the included angle between the vertical plane of the laser receiving device 300 and the vertical plane of the laser emitting device 200; obtaining coordinates of the auxiliary movable robot 30 in the second relative coordinate system through coordinate transformation by combining coordinates of the center point of the laser emitting device 200 in the third relative coordinate system and an included angle between a normal vector of a panel of the laser emitting device 200 and a coordinate axis of the third coordinate system; the coordinates of the auxiliary mobile robot 30 in the real-time relative coordinate system are obtained through coordinate transformation by combining the coordinates of the auxiliary mobile robot 30 in the second relative coordinate system, the coordinates of the center point of the laser receiving device 300 in the real-time relative coordinate system, and the included angle between the normal vector of the panel of the laser receiving device 300 and the coordinate axis of the real-time relative coordinate system.
Next, a method for calculating the first relative position in this implementation is illustrated with reference to fig. 2, and fig. 2 shows a schematic diagram for calculating the relative coordinates of the center point of the laser receiving device in an embodiment of the coordinated handling system of the present disclosure. As shown in fig. 2, the coordinate system x0y is a real-time relative coordinate system constructed with the center point of the projection of the main mobile robot 20 in the predetermined plane as the origin, and it is assumed that the center point of the laser transmitter 200 coincides with the origin (i.e., the first relative coordinate system coincides with the real-time relative coordinate system). Point A (x)a，ya) Indicating the point of emission of the laser signal, the lengths of the line segments BC and DE respectively indicate the distances from both ends of the laser receiver 300 to the laser transmitter 200, which can be directly measured by the laser ranging module 330, assuming that the lengths of BC and DE are d1 and d2, respectively. The length of the line segment CD is the distance between the two ends of the laser receiver 300, and is a known quantity, assumed to be d 3. G (x)g，yg) The point represents the center point of the laser receiver 300, F (x)f，yf) The dots represent projection points of the laser signal on the laser receiving device 300, and yf＝yaThe length of the segment GF is known, assumed to be d 4. The angle θ can be obtained via the following equation (1):
θ＝tan-1((d2-d1)/d3) (1)
the coordinates of the G point in the relative coordinate system can be obtained via formula (2) and formula (3):
xg＝(d1·cosθ+d2·cosθ)/2 (2)
yg＝d4-yf·cotθ (3)
then, based on the positional relationship between the G point and the center point of the auxiliary movable robot 30, coordinates of the center point of the auxiliary movable robot 30 in the real-time relative coordinate system, that is, the real-time relative position of the auxiliary movable robot 30 with respect to the main movable robot 20, are obtained through coordinate transformation.
The related art employs an image recognition technique to determine the real-time relative position of the auxiliary mobile robot 30 and the main mobile robot 20, which requires a high performance of the processor and results in a high cost, compared to the present embodiment in which the relative position is measured by the laser transmitter 200 and the laser receiver 300, which requires a low equipment cost and thus can reduce the cost of the coordinated handling system.
In the present embodiment, the transfer path of main mobile robot 20 is a movement trajectory characterized by absolute coordinates for instructing each mobile robot to transfer target item 10 from the start position to the target position along the movement trajectory. During coordinated handling, master mobile robot 20 may determine its real-time absolute coordinates by sensing the environment in real-time, for example, via its own sensors, such as multi-line lasers or inertial navigation sensors. On this basis, based on the absolute coordinates at the present time, the main mobile robot 20 determines the current movement strategy (such as the movement direction, the movement speed, and the like) to ensure that the movement trajectory of the main mobile robot 20 is kept consistent with the trajectory indicated by the conveyance path.
The cooperative handling system provided by the embodiment of the disclosure, which uses the laser emitting device 200 and the laser receiving device 300 to determine the relative position of the auxiliary mobile robot 30, has low performance requirement on the processor, so that the cost of the cooperative handling system can be reduced.
In some alternative implementations of the present embodiment, primary mobile robot 20 includes a plurality of laser emitting devices 200, one auxiliary mobile robot 30 for each laser emitting device 200; and/or, the main mobile robot 20 includes a plurality of laser light receiving devices 300, one auxiliary mobile robot 30 for each laser light receiving device 300. Thus, the real-time relative positions of the plurality of auxiliary mobile robots 30 can be determined simultaneously, so that the plurality of auxiliary mobile robots 30 can participate in the transportation task simultaneously, and interference is avoided.
In a specific example, after receiving the transfer task, the dispatching center (e.g., a server of the warehouse management system) generates a transfer path and a preset relative position of each auxiliary mobile robot 30 with respect to the main mobile robot 20 based on the transfer information, and then transmits the transfer path to the main mobile robot 20 and the preset relative position to each auxiliary mobile robot 30. After receiving the transfer path, the main mobile robot 20 moves to the start point of the transfer path while each of the auxiliary mobile robots 30 follows the main mobile robot 20 to reach the start point of the transfer path and maintains a preset relative position with the main mobile robot 20. After the main mobile robot 20 and each auxiliary mobile robot 30 reach the designated position, the main mobile robot 20 and each auxiliary mobile robot 30 simultaneously carry the target article 10, and then the main mobile robot 20 acquires absolute coordinates of itself in real time and moves along the transfer path, and at the same time, each auxiliary mobile robot 30 synchronously moves following the main mobile robot 20 and keeps the real-time relative position between the auxiliary mobile robot 30 and the main mobile robot 20 consistent with the preset relative position until the target article 10 is transferred to the target position. In this process, the laser transmitter 200 provided on the main mobile robot 20 continuously transmits a laser signal, and each of the auxiliary mobile robots 30 receives the laser signal through the laser receiver 300, and calculates the real-time relative position of the auxiliary mobile robot 30 with respect to the main mobile robot 20 based on the positional relationship between the laser signal and the laser receiver 300. The current movement strategy of auxiliary mobile robot 30 is then determined by comparing the real-time relative position with the preset relative position to ensure that the real-time relative position coincides with the preset relative position.
In some embodiments, master mobile robot 20 is further configured to: the preset relative position is updated and the updated preset relative position is transmitted to the auxiliary movable robot 30 so that the auxiliary movable robot 30 moves following the main movable robot 20 according to the updated preset relative position.
As an example, the main mobile robot 20 receives an instruction to update the transportation path during transportation, and thus the current preset relative position needs to be updated accordingly, so as to avoid that the main mobile robot 20 and the auxiliary mobile robot 30 cannot keep synchronization during transportation, which results in transportation failure. In this way, the flexibility of the coordinated handling system can be improved.
Referring next to fig. 3, fig. 3 is a schematic structural diagram of a laser receiving device in an embodiment of the coordinated transportation system of the present disclosure, as shown in fig. 3, the laser receiving device 300 includes a plurality of laser receivers 310 arranged in a straight line in a preset plane, so that an area of the laser receiving device 300 for receiving a laser signal can be increased, and the auxiliary mobile robot 30 cannot maintain a preset relative position due to loss of the laser signal during transportation, thereby improving fault tolerance during transportation.
Referring next to fig. 4, fig. 4 illustrates a schematic structural diagram of a laser emitting device in one embodiment of a coordinated handling system of the present disclosure. As shown in fig. 4, the laser transmitter 200 includes an encoding module 220, the encoding module 220 is configured to generate a laser pulse sequence, and the laser pulse sequence is used to identify a laser signal; and, the laser receiver 300 includes a decoding module 320 for decoding the laser signal to determine the identity of the laser signal, and each laser receiver 310 corresponds to one decoding module 320.
In this implementation, the laser receiving apparatus 300 may discriminate the received laser signal based on the identification of the laser signal so as to avoid interference from the noise laser signal.
As an example, primary mobile robot 20 may simultaneously transmit laser signals to 2 auxiliary mobile robots 30, which may be labeled A and B, respectively, by encoding module 220. Auxiliary mobile robot No. 1 is set to determine its real-time relative position based on the laser signal identified as a, and auxiliary mobile robot No. 2 is set to determine its real-time relative position based on the laser signal identified as B. When auxiliary mobile robot No. 1 receives two laser signals at the same time, the laser signal corresponding thereto can be determined along with the identification, thereby avoiding interference from other laser signals.
Further, the laser transmitter 200 includes a plurality of transmitters 210 arranged in a straight line in a predetermined plane, and each transmitter 210 corresponds to one encoding module 220. Therefore, the coverage area of the laser signal can be increased, and the fault tolerance of the conveying process is improved.
In some optional implementations of the present embodiment, when auxiliary mobile robot 30 receives multiple laser signals simultaneously, auxiliary mobile robot 30 is further configured to: respectively determining the coordinates of the transmitter 210 corresponding to the identifier in the relative coordinate system based on the identifier of the received laser signal; respectively determining the coordinates of each laser receiver 310 receiving the laser signal transmitted by the transmitter 210 in the relative coordinate system based on the coordinates and the included angle of the transmitter 210 in the relative coordinate system and the distance between the two ends of the laser receiving device 300 and the laser transmitting device 200; the coordinates of auxiliary movable robot 30 in the relative coordinate system are determined based on the coordinates of each laser receiver 310 in the relative coordinate system and the coordinates of the center point of laser receiving device 300 in the relative coordinate system.
Continuing with fig. 2, when auxiliary mobile robot 30 receives a plurality of laser signals, the coordinates of the center point of laser receiver 300 in the relative coordinate system may be determined based on the coordinates of each laser receiver 310 in the relative coordinate system that receives the laser signal emitted by emitter 210, and then a comparison analysis may be performed to determine the final coordinates of the center point of laser receiver 300 in the relative coordinate system (for example, the coordinate value with the largest number of repetitions). By the redundant calculation, the calculation accuracy of the real-time relative position of the auxiliary movable robot 30 can be improved.
In some optional implementations of this embodiment, the coordinated handling system further comprises a system control device configured to: receiving conveying information of the target object 10, wherein the conveying information at least comprises physical parameters of the target object 10, an initial conveying position and a target conveying position; the main mobile robot 20 and the auxiliary mobile robot 30 that participate in the conveyance of the target article 10 are determined based on the conveyance information, and the conveyance information is transmitted to the main mobile robot 20.
As an example, the system control device may be a terminal device (e.g., a computer, a mobile phone, etc.) communicatively connected to each mobile robot, and after receiving the transportation information of the target object 10, the system control device may determine that 3 mobile robots participating in the transportation task are involved, and determine the main mobile robot 20 and the auxiliary mobile robot 30 from the determined weight, for example, 100Kg of the target object 10 and 40Kg of the carried weight of each mobile robot according to a physical parameter (e.g., weight or volume) of the target object 10.
In some optional implementations of the present embodiment, master mobile robot 20 is configured to: receiving the carrying information of the target object 10; determining a transfer path of the main mobile robot 20 and a preset relative position of the auxiliary mobile robot 30 with respect to the main mobile robot 20 based on the transfer information; the preset relative position is transmitted to the auxiliary mobile robot 30, so that the main mobile robot 20 can generate the carrying path and the preset relative position of the auxiliary mobile robot 30 by itself according to the carrying information.
Referring next to fig. 5, fig. 5 shows a schematic flow diagram of one embodiment of a coordinated handling method according to the present disclosure, the flow comprising the steps of:
s101, receiving a conveying task, and determining a main movable robot and at least one auxiliary movable robot for executing the conveying task based on the conveying task.
On one hand, the server is connected with other terminal equipment through a network and is used for receiving a carrying task, and for example, the server can be a handheld operation terminal of a warehouse manager; on the other hand, the server is connected with each mobile robot through a wireless network so as to realize information interaction between the server and each mobile robot.
In this embodiment, the transfer task may include information about a target item to be transferred, a start position, an end position, a volume, a weight, and the like of the target item, and the execution main body determines, according to the received transfer task, a mobile robot participating in transferring the target item from among mobile robots currently in an idle state in the warehouse, and determines one main mobile robot therefrom, and the other mobile robots participating in the transfer task are auxiliary mobile robots, and then instructs each mobile robot participating in the transfer task to move to the start position of the target item.
S102, determining a conveying path of the main movable robot and a preset relative position of the auxiliary movable robot relative to the main movable robot based on the conveying task.
In this embodiment, the server may determine the transportation path of the main mobile robot and the preset relative position of each auxiliary mobile robot with respect to the main mobile robot based on the start position and the end position of the target item in the transportation task and the available movement path in the current scene, so as to instruct the main mobile robot to move along the transportation path while each auxiliary mobile robot follows the main mobile robot to move.
And S103, sending the conveying path to the main movable robot, and sending the preset relative position to the auxiliary movable robot.
S104, receiving the real-time position of the main movable robot and the real-time relative position of the auxiliary movable robot relative to the movable robot.
In the present embodiment, the real-time relative position is determined by the main mobile robot or the auxiliary mobile robot based on the received laser signal, which is emitted by the laser emitting device provided on the auxiliary mobile robot or the mobile robot.
As an example, the master mobile robot may determine its real-time location using its own configured Positioning module, which may be, for example, a GPS (Global Positioning System), and then transmit the real-time location to the server. Meanwhile, the auxiliary mobile robot or the main mobile robot determines a real-time relative position of the auxiliary mobile robot with respect to the main mobile robot based on the received laser signal, and then transmits the respective real-time relative positions to the server. The method of determining the auxiliary mobile robot relative to the main mobile robot based on the laser signal has been discussed in the foregoing embodiments and will not be described here.
S105, determining the current movement strategy of the main movable robot based on the real-time position, and sending the current movement strategy of the main movable robot to the main movable robot.
In this embodiment, the server may compare the real-time position of the main mobile robot with the transportation path, and determine the current movement policy of the main mobile robot, for example, when the server determines that the real-time position of the main mobile robot deviates from the transportation path, the server generates a new transportation path based on the real-time position and the key position, and sends the current movement policy corresponding to the new transportation path to the main mobile robot, so as to instruct the main mobile robot to transport the target item to the end point position. For another example, the server may further generate a modified path based on the real-time position and the transportation path, and then send a current movement policy corresponding to the modified path to the main mobile robot to instruct the main mobile robot to return to the transportation path and continue to transport the target item along the transportation path to the end point position. It will be appreciated that if the server determines that the master mobile robot does not deviate from the transfer path, the current movement strategy may be determined to continue to travel along the transfer path.
S106, determining the current movement strategy of the auxiliary movable robot based on the real-time relative position, and sending the current movement strategy of the auxiliary movable robot to the auxiliary movable robot.
In this embodiment, the server may determine the current movement strategy of the auxiliary mobile robot by comparing the real-time relative position of the auxiliary mobile robot with respect to the main mobile robot with a preset relative position. For example, if the server determines that the distance of the real-time relative position of the auxiliary mobile robot with respect to the main mobile robot in a certain direction is greater than the preset relative position, the current movement strategy is generated to increase the movement speed in the opposite direction to the direction to indicate that the real-time relative position of the auxiliary mobile robot at the next time may remain consistent with the preset relative position.
The cooperative transportation method provided by this embodiment determines a main mobile robot and at least one auxiliary mobile robot participating in a transportation task based on the received transportation task, then sends the generated transportation path to the main mobile robot, sends a preset relative position of the auxiliary mobile robot with respect to the main mobile robot to the auxiliary mobile robot, determines a current movement strategy of the main mobile robot based on a real-time position of the main mobile robot, determines a current movement strategy of the auxiliary mobile robot based on a real-time relative position of the auxiliary mobile robot with respect to the main mobile robot to instruct the main mobile robot and the auxiliary mobile robot to complete the cooperative transportation task, wherein the real-time relative position of the auxiliary mobile robot with respect to the main mobile robot is determined based on a laser signal, the performance requirement on the processor is low, and the equipment cost of cooperative transportation can be reduced.
Embodiments of the present disclosure also provide a mobile robot for handling articles in cooperation with other mobile robots, the mobile robot including at least one of: a laser emitting device configured to emit a laser signal to a preset direction; the laser receiving device is configured to receive laser signals emitted by laser emitting devices arranged on other movable robots which are used for cooperatively carrying articles; the laser signals are used for determining the real-time relative positions of other movable robots which are used for cooperatively carrying the articles relative to the movable robots; the mobile robot is also configured to move along a transfer path. The mobile robot in this embodiment corresponds to the main mobile robot in the foregoing embodiment, and details thereof are omitted here.
In some optional implementations of this implementation, the mobile robot is further configured to: receiving a carrying task; determining a transfer path of the mobile robot and preset relative positions of other mobile robots relative to the mobile robot based on the received transfer task; and sending the preset relative position.
Embodiments of the present disclosure also provide a mobile robot for handling articles in cooperation with other mobile robots, the mobile robot including at least one of: a laser emitting device configured to emit a laser signal to a preset direction; the laser receiving device is configured to receive laser signals emitted by laser emitting devices arranged on other movable robots which are used for cooperatively carrying articles; the laser signal is used for determining the real-time relative position of the mobile robot relative to other mobile robots; the mobile robot is configured to: receiving a preset relative position of the mobile robot relative to other mobile robots; and determining the current movement strategy of the movable robot based on the real-time relative position of the robot relative to other movable robots, so that the real-time relative position of the robot relative to other movable robots is consistent with the preset relative position of the movable robot relative to other movable robots. The mobile robot in this embodiment corresponds to the auxiliary mobile robot in the foregoing embodiment, and details thereof are omitted here.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (14)
1. A cooperative handling system includes a primary mobile robot and at least one auxiliary mobile robot that cooperate to handle the same target item, wherein,
when the main mobile robot and the auxiliary mobile robot carry the target article, the main mobile robot moves along a carrying path, the auxiliary mobile robot moves along the main mobile robot, and the real-time relative position between the auxiliary mobile robot and the main mobile robot is kept consistent with a preset relative position;
the main movable robot is provided with a laser emitting device and/or a laser receiving device, the auxiliary movable robot is provided with a laser receiving device and/or a laser emitting device, and the laser receiving device and the laser emitting device are positioned in the same horizontal plane;
the laser emitting device is configured to emit a laser signal in a preset direction in a preset horizontal plane;
the laser receiving device is configured to receive a laser signal and determine a first relative position of the laser receiving device relative to the laser emitting device based on a positional relationship between the received laser signal and the laser receiving device;
the primary mobile robot or the auxiliary mobile robot is further configured to determine a real-time relative position of the auxiliary mobile robot with respect to the primary mobile robot based on the first relative position.
2. The cooperative handling system according to claim 1, wherein both ends of the laser receiving device are respectively provided with a laser ranging assembly configured to respectively measure distances between both ends of the laser receiving device and the laser emitting device;
and the laser receiving device determines a first relative position of the laser receiving device with respect to the laser emitting device via:
constructing a first relative coordinate system by taking the central point of the laser transmitting and rotating device as an origin;
determining a difference value of distances between two ends of the laser receiving device and the laser emitting device;
determining an included angle between a vertical plane where the laser receiving device is located and a vertical plane where the laser emitting device is located based on the difference and the distance between the two ends of the laser receiving device;
determining the coordinates of the projection point of the laser signal on the laser receiving device in a first relative coordinate system based on the included angle, the coordinates of the center point of the laser emitting device in the first relative coordinate system which is constructed in advance and the distance between the two ends of the laser receiving device and the laser emitting device, wherein the first relative coordinate system is a plane rectangular coordinate system which is constructed in the preset plane by taking the center point of the laser emitting device as an origin;
determining the coordinates of the central point of the laser receiving device in the first relative coordinate system based on the coordinates of the projection point in the first relative coordinate system and the distance between the projection point and the central point of the laser receiving device;
determining coordinates of a center point of the laser receiving device in the first relative coordinate system as a first relative position of the laser receiving device with respect to the laser emitting device.
3. The cooperative handling system according to claim 2, wherein the laser receiving device includes a plurality of laser receivers arranged in a line in the preset plane.
4. The collaborative handling system of claim 3, wherein the laser emitting device includes an encoding module to generate a laser pulse sequence to identify a laser signal; and the number of the first and second groups,
the laser receiving device comprises a decoding module used for decoding the laser signal so as to determine the identification of the laser signal, and each laser receiver corresponds to one decoding module.
5. The cooperative handling system of claim 4, wherein the laser emitting device comprises a plurality of emitters arranged in a line in the predetermined plane, each emitter corresponding to one of the encoding modules.
6. The collaborative handling system according to claim 5, wherein when the laser receiving device receives a plurality of laser signals simultaneously, the laser receiving device is further configured to:
respectively determining the coordinates of the transmitters corresponding to the identifications in the first relative coordinate system based on the identifications of the received laser signals;
respectively determining the coordinates of each laser receiver which receives the laser signals transmitted by the transmitter in the first relative coordinate system based on the coordinates of the transmitter in the first relative coordinate system, the included angle and the distance between the two ends of the laser receiving device and the laser transmitting device;
and determining the coordinates of the central point of the laser receiving device in the first relative coordinate system based on the coordinates of each laser receiver in the first relative coordinate system and the coordinates of the central point of the laser receiving device in the first relative coordinate system.
7. The cooperative handling system according to claim 1, wherein the main movable robot includes a plurality of the laser emitting devices, one auxiliary movable robot for each of the laser emitting devices; and/or the presence of a gas in the gas,
the main movable robot includes a plurality of the laser light receiving devices, and each of the laser light receiving devices corresponds to one auxiliary movable robot.
8. The cooperative handling system of claim 1, further comprising a system control device configured to:
receiving a carrying task, wherein the carrying task at least comprises physical parameters of the target object, an initial carrying position and a target carrying position;
determining a main mobile robot and an auxiliary mobile robot that participate in carrying the target item based on the carrying task, and transmitting the carrying information to the main mobile robot.
9. The coordinated handling system of claim 1, wherein the master mobile robot is further configured to:
receiving a carrying task;
determining a transfer path of the main mobile robot and a preset relative position of the auxiliary mobile robot with respect to the main mobile robot based on the transfer task;
sending the preset relative position to the auxiliary mobile robot.
10. The coordinated handling system of claim 9, wherein the master mobile robot is further configured to: and updating the preset relative position, and sending the updated preset relative position to the auxiliary movable robot so as to indicate the auxiliary movable robot to determine the current movement strategy of the auxiliary movable robot according to the updated preset relative position.
11. A coordinated handling method comprising:
receiving a transfer task, and determining a main mobile robot and at least one auxiliary mobile robot performing the transfer task based on the transfer task;
determining a transfer path of a main mobile robot and a preset relative position of an auxiliary mobile robot with respect to the main mobile robot based on the transfer task;
sending the carrying path to the main movable robot, and sending the preset relative position to the auxiliary movable robot;
receiving a real-time position of the primary mobile robot and a real-time relative position of the auxiliary mobile robot with respect to the mobile robot, wherein the real-time relative position is determined by the primary mobile robot or the auxiliary mobile robot based on a received laser signal emitted by the auxiliary mobile robot or a laser emitting device configured on the mobile robot;
determining a current movement strategy of the master mobile robot based on the real-time location and sending the current movement strategy of the master mobile robot to the master mobile robot;
determining a current movement strategy of the auxiliary mobile robot based on the real-time relative position and sending the current movement strategy of the auxiliary mobile robot to the auxiliary mobile robot.
12. A mobile robot for handling articles in cooperation with other mobile robots, the mobile robot comprising at least one of:
a laser emitting device configured to emit a laser signal to a preset direction;
the laser receiving device is configured to receive laser signals emitted by laser emitting devices arranged on other movable robots which are used for cooperatively carrying articles;
the laser signals are used for determining real-time relative positions of other movable robots which are used for cooperatively carrying articles relative to the movable robots;
the mobile robot is also configured to move along a transfer path.
13. The mobile robot of claim 12, further configured to:
receiving a carrying task;
determining a transfer path of the mobile robot and preset relative positions of other mobile robots relative to the mobile robot based on the received transfer task;
and sending the preset relative position.
14. A mobile robot for handling an article in cooperation with other mobile robots,
the mobile robot includes at least one of:
a laser emitting device configured to emit a laser signal to a preset direction;
the laser receiving device is configured to receive laser signals emitted by laser emitting devices arranged on other movable robots which are used for cooperatively carrying articles;
the laser signal is used for determining the real-time relative position of the mobile robot relative to other mobile robots;
the mobile robot is configured to:
receiving a preset relative position of the mobile robot relative to other mobile robots;
and determining the current movement strategy of the movable robot based on the real-time relative position of the robot relative to other movable robots, so that the real-time relative position of the robot relative to other movable robots is consistent with the preset relative position of the movable robot relative to other movable robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011189643.7A CN112388634B (en) | 2020-10-30 | 2020-10-30 | Collaborative handling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011189643.7A CN112388634B (en) | 2020-10-30 | 2020-10-30 | Collaborative handling system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112388634A true CN112388634A (en) | 2021-02-23 |
| CN112388634B CN112388634B (en) | 2023-05-30 |
Family
ID=74599035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011189643.7A Active CN112388634B (en) | 2020-10-30 | 2020-10-30 | Collaborative handling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112388634B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021336A (en) * | 2021-02-25 | 2021-06-25 | 上海交通大学 | File taking and placing system and method based on master-slave mobile operation robot |
| WO2023124805A1 (en) * | 2021-12-30 | 2023-07-06 | 杭州海康机器人股份有限公司 | Collaborative carrying processing method and apparatus, electronic device, and system |
| CN116974291A (en) * | 2023-09-25 | 2023-10-31 | 农业农村部南京农业机械化研究所 | Control error determining method and device for master-slave cooperative navigation agricultural machinery |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201917661U (en) * | 2010-11-29 | 2011-08-03 | 浙江亚特电器有限公司 | Mobile robot positioning system |
| CN106737696A (en) * | 2017-03-11 | 2017-05-31 | 杭州极木科技有限公司 | A kind of multirobot cooperates with transportation resources |
| CN107053219A (en) * | 2017-06-16 | 2017-08-18 | 齐鲁工业大学 | A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign |
| CN107992035A (en) * | 2017-11-15 | 2018-05-04 | 西北工业大学 | A kind of Multi Mobile Robots Formation's control method based on indoor Global localization |
| CN108000483A (en) * | 2017-08-30 | 2018-05-08 | 安徽工程大学 | A kind of collaboration carrying platform and control method based on series parallel type mobile robot |
-
2020
- 2020-10-30 CN CN202011189643.7A patent/CN112388634B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201917661U (en) * | 2010-11-29 | 2011-08-03 | 浙江亚特电器有限公司 | Mobile robot positioning system |
| CN106737696A (en) * | 2017-03-11 | 2017-05-31 | 杭州极木科技有限公司 | A kind of multirobot cooperates with transportation resources |
| CN107053219A (en) * | 2017-06-16 | 2017-08-18 | 齐鲁工业大学 | A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign |
| CN108000483A (en) * | 2017-08-30 | 2018-05-08 | 安徽工程大学 | A kind of collaboration carrying platform and control method based on series parallel type mobile robot |
| CN107992035A (en) * | 2017-11-15 | 2018-05-04 | 西北工业大学 | A kind of Multi Mobile Robots Formation's control method based on indoor Global localization |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021336A (en) * | 2021-02-25 | 2021-06-25 | 上海交通大学 | File taking and placing system and method based on master-slave mobile operation robot |
| WO2023124805A1 (en) * | 2021-12-30 | 2023-07-06 | 杭州海康机器人股份有限公司 | Collaborative carrying processing method and apparatus, electronic device, and system |
| CN116974291A (en) * | 2023-09-25 | 2023-10-31 | 农业农村部南京农业机械化研究所 | Control error determining method and device for master-slave cooperative navigation agricultural machinery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112388634B (en) | 2023-05-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112388634B (en) | Collaborative handling system | |
| CN106919171B (en) | Indoor robot positioning and navigation system and method | |
| CN1092456C (en) | Method and system for locating mobile station | |
| CN106569493B (en) | AGV cluster positioning method based on pulse ultra-wideband technology and AGV dispatching method | |
| CN107390685B (en) | Robot recharging control method, robot and robot system | |
| CN108489382B (en) | AGV dynamic pose measuring method based on space multi-point constraint | |
| CN110186459B (en) | Navigation method, mobile carrier and navigation system | |
| CN110858075A (en) | Mobile robot cross-region method, device and scheduling system | |
| CN110849366A (en) | Navigation method and system based on fusion of vision and laser radar | |
| CN110673614A (en) | Mapping system and mapping method of small robot group based on cloud server | |
| WO2019171629A1 (en) | Vehicle and method for controlling vehicle | |
| CN113359769B (en) | Indoor autonomous mobile robot composite navigation method and device | |
| CN110557720B (en) | Ultra-wideband indoor positioning system and blind compensation positioning method based on dynamic reference label | |
| CN108344970B (en) | Wireless positioning automatic calibration method using mobile robot | |
| CN113758482B (en) | Vehicle navigation positioning method, device, base station, system and readable storage medium | |
| CN113379011A (en) | Pose correction method, device, equipment and storage medium | |
| WO2019054206A1 (en) | Moving body guidance system | |
| WO2019054205A1 (en) | Mobile robot system | |
| CN210075591U (en) | Ultra-wideband indoor positioning system based on dynamic reference label | |
| CN110471430A (en) | A kind of AGV partial high-precision positioning navigation device | |
| WO2019176258A1 (en) | Control device, control method, and program | |
| US20210310776A1 (en) | Method for ascertaining position information for an effector, effector, computing unit and weapons system | |
| CN213847024U (en) | Accurate three-dimensional positioning equipment based on UWB technique | |
| CN109883419B (en) | Robot navigation method and system | |
| CN103076591A (en) | Ultrasonic technology-based industrial robot movement locating method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |