CN112631310A - Multi-robot-cooperation in-building article distribution system - Google Patents
Multi-robot-cooperation in-building article distribution system Download PDFInfo
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Abstract
The invention discloses a multi-robot cooperation system for distributing articles in a building, which comprises: the system comprises a user side, a distribution robot and a master control center which are connected through a local area network; the user side logs in the system through the app to complete data collection and function display; the distribution robot comprises an upper layer data receiving unit, a middle layer data processing unit and a bottom layer behavior control unit; the upper data exchange unit is in signal connection with the master control center to carry out information interaction; the middle-layer data processing unit is connected with hardware equipment which is arranged on the distribution robot and used for collecting external information, and transmits the result to a bottom-layer behavior control unit which is in signal connection with the middle-layer data processing unit; the bottom layer behavior control unit is connected with hardware equipment which is arranged on the distribution robot and used for controlling the movement of the distribution robot, converts data into values of the encoder and sends commands to the hardware equipment to control the distribution robot to move. The invention helps people to transfer files through the robot technology, saves the time of staff and improves the working efficiency; the problems can be effectively solved.
Description
Technical Field
The invention relates to the technical field of robot application, in particular to a multi-robot cooperation system for distributing articles in a building.
Background
With the development of society, people rely on documents more and more in offices, no matter which company, it is inevitable that staff need to deliver prepared materials and documents to other departments for examination and approval or complete the transfer of work, but the larger the company is, the longer the required manuscript sending time is, which is not good for the efficient operation of the company in the long run, and the greatest disadvantage of using manpower to transfer materials is that the time is consumed. In a large company, people often need to submit files across floors, the submission process is simple, but a great amount of time is wasted for delivery people on the road. The most common scenario in modern offices is that when a person is working, some departments may ask the person for some materials, and when the person is dealing with some more critical things, it is often impossible to extract time to deliver the materials, and at this time, the person may be involved in a dilemma. If the related department is far away from the position of the personnel, unnecessary troubles are brought to the personnel.
Disclosure of Invention
Aiming at the technical problems, the technical scheme provides the multi-robot cooperation system for distributing the articles in the building, which helps people to transfer files, saves time of staff and improves working efficiency through the robot technology; the problems can be effectively solved.
Technical scheme
A multi-robot collaborative in-building item delivery system, comprising: the system comprises a master control center, a user side and a distribution robot, wherein the user side and the distribution robot are in signal connection with the master control center; the user side logs in the system through the app to complete data collection, function display and some auxiliary functions; the distribution robot comprises an upper layer data receiving unit, a middle layer data processing unit and a bottom layer behavior control unit; the upper layer data exchange unit is in signal connection with the master control center, receives data sent by the master control center and/or sends information of the robot to the master control center; the middle-layer data processing unit is connected with hardware equipment which is arranged on the distribution robot and used for collecting external information, receives the data information sent by the hardware equipment, integrates the data information, judges the specific position of the middle-layer data processing unit in the environment and transmits the result to the bottom-layer behavior control unit in signal connection with the middle-layer data processing unit; and the bottom behavior control unit is connected with hardware equipment which is arranged on the distribution robot and used for controlling the movement of the distribution robot, and after receiving the data of the middle data processing unit, the bottom behavior control unit converts the data into a value of an encoder and sends a command to the hardware equipment to control the movement of the distribution robot.
Furthermore, the distribution robot comprises an automatic obstacle avoidance function, and obstacle avoidance operation is superior to task priority; the distribution robots are individuals, but when the robots have no tasks, the distribution robots are uniformly arranged in the robot center to wait for the tasks; the delivery robot is not limited in form, and can adopt various forms such as a human-shaped robot, a crawler robot, a wheel type robot, an unmanned aerial vehicle and the like.
Further, the functions of the app include: data entry, marking robot position and arrival reminders in the 3D model.
Furthermore, when the user side uses the system to deliver the file, firstly, the user orders the file on the App, the user opens the App, clicks a mail sending operation, fills in relevant information such as a task starting point, a task end point, recipient information, remarks and the like according to the specification, so that the user can conveniently distribute the file to a service point closest to the recipient, the App provides a plane view in a floor, and the system can automatically fill in corresponding information only by clicking the corresponding service point at the corresponding position; the user only needs to determine the initial service point and the target service point on the app, after the information is filled, the information is uploaded to the master control center, the master control center establishes a task according to the received data and the actual situation, and the corresponding robot is appointed to reach the initial service point of the task to wait for pickup.
Further, the hardware device for acquiring the external information comprises a camera for acquiring images, a laser range finder and a sensor capable of sensing the surrounding environment.
Further, the cameras comprise a binocular depth camera and two ordinary cameras; the laser range finder adopts a laser radar; the sensor capable of sensing the surrounding environment adopts an ultrasonic distance sensor.
Further, the data frame sent by the upper layer data switching unit to the central control center follows the following protocol:
| frame header | Data length | Task code | Destination floor | Self coordinate X | Self coordinate X | Self-coordinate Y | Self-coordinate Y | Verification | Frame end |
The design frame header is 0XFE, the data length is 6, the task code is the main identification information distributed by the system and represents the information which can be read by the robot executing the task, each robot uniquely corresponds to a coordinate X and Y of the task code and is designed to be 16-bit data length, the coordinate is divided into eight high bits and eight low bits which are respectively stored in two units, finally, in order to avoid data transmission errors, a CRC algorithm is adopted to check the data, the frame tail is designed to be 0XEF, and the data in the protocol is uploaded to a master control system through a local area network in a building after being processed at the robot end and is used as the basis for controlling the master control system;
the data frames from the central control center to the robot follow the following protocol:
| frame header | Data length | Task code | Destination floor | Target coordinate X | Target coordinate X | Target coordinate Y | Target coordinate Y | Verification | Frame end |
The design frame head is 0XFE, the data length is 6, the task code is the main identification information of the robot, each robot corresponds to a unique task code, the self coordinates X and Y are designed to be 16-bit data length, the coordinates are divided into eight high bits and eight low bits which are respectively stored in two units, finally, in order to avoid data transmission errors, the CRC algorithm is also adopted to check the data, the last frame tail is designed to be 0XEF, the coordinates X and Y in the protocol are the next target points which need to be reached by the robot, the master control center decides the next position of the robot according to the current position of the robot, the floor and the coordinate information of the coordinate point of the next position are transmitted to the robot end, and the movement of the host robot provides a basis.
Further, the hardware device for controlling the movement of the dispensing robot comprises an encoder and an attitude sensor which are connected with the motor.
Furthermore, the master control center is core software running on a server; when the master control center establishes the tasks, a thread is distributed to each task, and the running of the machine is guaranteed through a multithreading technology.
Furthermore, when the master control center processes data, the master control center plans a path for the robot and can also synchronously receive modification information of a user side, so that the running path of the robot is modified and the running path of the robot is re-planned; providing a service for a user; meanwhile, various information of the robot is integrated, and the state of the robot is judged.
Furthermore, the mode of establishing the task by the master control center is carried out according to the actual situation, and the mode comprises a task establishing mode and a task adding mode;
the task creating mode is as follows: if the initial service point of the new task is not on the path planned by any robot executing the task, the system arranges the robot without the task to get files at home;
the task adding mode is as follows: the task adding mode represents that the master control center adopts one robot to distribute a plurality of files, and the master control center adds tasks to the robot executing the tasks according to actual conditions and readjusts the robot path.
Further, when a task mode is added, the master control center can command the robot executing the task to complete a first task according to a principle of proximity, and after the first task is completed, the robot reaches a next specified service point to wait for pickup; or the file is taken according to the principle of being nearby, and after the file is taken back, the file is continuously sent one by one according to the planned path.
Further, when the order created on the APP by the user side is not available for commanding by a robot on the way, the master control center selects a task creating mode; when a task mode is established, the master control center selects the robot closest to the task starting point in the building, firstly, the optimal path from the robot to the starting point is planned by adopting the Euclidean distance in the system, and the shortest path is planned.
Furthermore, when the distribution machine and the pickup location of the user side are on the same floor, the operation of taking an elevator is omitted, and the Euclidean distance is converted into the Manhattan distance after the path is planned directly in the master control center;
when the distribution robot needs to take the elevator to carry out floor transfer and the elevator in the floor runs independently and cannot be accessed to the master control center, the distribution robot is provided with an acceleration sensor; when the elevator is in an acceleration state, the speed is obtained by integrating the accelerometer, and the distance is obtained by integrating the speed; the running time of the elevator can be known from the time when the elevator starts to accelerate to the time when the elevator stops decelerating, the uniform speed distance can be obtained by combining the speed, and then the floor where the distribution robot is located can be obtained by inputting the floor height of each floor in advance.
Further, the filtering method of the acceleration sensor is kalman filtering.
Furthermore, when the acceleration sensor is in an elevator acceleration state, the acceleration time is set as t1The acceleration sensor can obtain the original data, and a series of discrete and more accurate acceleration data sets A can be obtained easily after filtering1 = {a1,a2,…,anAccording to the concept of integration, firstly, dividing time into n equal parts, wherein n is the size of the acquired data set to obtain a time interval sigma, and obtaining the speed V of an acceleration stage according to the integrationi：
Vi = Vi-1 + ai*σ
The speed obtained by the acceleration phase is V:
V = (a1+a2+…+an)*σ
simultaneously obtaining the distance X in the form of an acceleration phase1：
X1 = (V1+V2+…+Vn)*σ
Setting acceleration time as t when elevator is in deceleration state2The original data can be obtained by the accelerometer, and a series of discrete and more accurate acceleration data sets A can be easily obtained after filtering2 = {a1,a2,…,anAccording to the concept of integration, firstly, dividing time into n equal parts (n is the size of the acquired data set) to obtain a time interval sigma, and obtaining the distance X obtained in the acceleration stage according to the integration2And if the total running time of the elevator is t, the running distance X of the elevator can be obtained within t:
X = X1+X2+(t-t1–t2)*V
by entering the height of each floor in advance, the dispensing robot can calculate the floor currently reached.
Further, a specific implementation method of the distribution system includes the following specific steps:
the method comprises the following steps: ordering operation is carried out by the user at the app of the user side, and information is submitted to the master control center; meanwhile, the app end can see the position of the robot in a 3D (three-dimensional) graph inside the company in real time;
step two: after receiving the data of the app end, the master control center formulates a starting point and an end point of a task according to requirements, plans a path, and compares the planned path with a robot path which is executing the task at the current stage, wherein the following 3 conditions and corresponding schemes are mainly adopted:
(1) if the route of the old task is highly overlapped with the new task, adopting a task adding mode;
(2) if the old task has no path coincident with the new task, adopting a task creating mode;
step three: when the robot reaches a pickup point, a user scans the two-dimensional code on the robot to ensure the identity of the robot, then opens the corresponding cabinet door, and the user puts in a file and then closes the cabinet door;
step four: the robot drives according to the path planned by the master control center, and when the robot needs to take the elevator, the following two schemes are provided according to the company condition:
(1) the scheme of the acceleration sensor is as follows: when the elevator is in an acceleration state, the speed is obtained through the integral of the acceleration sensor, and then the distance is obtained through the integral of the speed; the running time of the elevator can be known through the time from the acceleration of the elevator to the stop of the deceleration of the elevator, the uniform distance can be obtained by combining the speed, and then the floor of the robot can be accurately obtained according to the input floor height of each floor;
(2) an elevator control scheme is as follows: when the robot sends a ready command to the master control center, the master control center commands the elevator to go to the floor after receiving the ready command, when the elevator reaches the floor, the master control center commands the robot to enter the elevator, before the elevator enters, the robot judges whether enough space exists in the elevator or not in a laser radar mode and the like, and if not, the robot waits for the next elevator; if the space in the elevator is enough, the elevator enters the elevator to go to a specified floor, the running state of the elevator is fed back to the master control center in real time, and the master control center commands the robot to exit the elevator after the elevator reaches the specified floor;
step five: when the robot reaches a pickup point, a reminding short message is sent to the pickup person, the pickup person checks the identity by scanning a two-dimensional code on the robot body, and after the identity passes through the two-dimensional code, a cabinet door is opened, and then the person can directly pick up the file;
step six: after the personnel take the file away, a task is completed; and then the robot goes to the next task point or returns to the robot center according to the command of the master control center.
(III) advantageous effects
Compared with the prior art, the multi-robot cooperation system for distributing the articles in the building has the following beneficial effects:
(1) the technical scheme is that a user side, a distribution robot and a master control center are matched with each other; a user side orders through a mobile phone app and specifies the position of the user side, file destinations, file quantity and other related information; after the data is submitted, the data is submitted to a master control center, the master control center commands the robot to reach a designated position to receive the file, and then the file is transmitted to the designated position; the distribution robot is used for helping people transfer files, so that the time of workers is saved, and the working efficiency is improved.
(2) The distribution robot in the technical scheme designs a corresponding data protocol in the upper layer data exchange unit for receiving or uploading data, and can help the robot to finish tasks without errors. In order to avoid data transmission errors, the data is checked by using a CRC algorithm, and the final frame end is designed to be 0 XEF. After the robot end finishes processing, the data in the protocol is uploaded to the master control system through the local area network of a company and used as a basis for controlling the master control system.
Drawings
FIG. 1 is a schematic block diagram of the overall architecture of the system of the present invention.
Fig. 2 is a schematic block diagram of the architecture of the user-side app in the present invention.
Fig. 3 is a schematic view of the work flow of the dispensing robot of the present invention.
FIG. 4 is a system workflow diagram of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are only some embodiments of the invention, not all embodiments. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and all of them should fall into the protection scope of the present invention.
Example 1:
as shown in fig. 1-4, a multi-robot cooperative in-building item delivery system includes: the system comprises a master control center, a user side and a distribution robot, wherein the user side and the distribution robot are in signal connection with the master control center, and the user side, the distribution robot and the master control center are connected through a local area network.
The user side logs in the system through the app to complete data collection, function display and some auxiliary functions; the functions of the app include: data entry, marking robot position and arrival reminders in the 3D model.
The user side provides services through app application, when the user needs to distribute files, relevant information such as own positions, file destinations, file quantity and the like is appointed through ordering through the mobile phone app, after submission is finished, data are submitted to the master control center, and the master control center instructs the robot to reach the appointed positions to receive the files.
When a user side uses the system to deliver files, firstly, a user orders the system on the App, the user opens the App, clicks a mail sending operation, fills related information such as a task starting point, a task end point, recipient information and remarks according to the specification, and conveniently distributes the files to a service point nearest to the recipient, the App provides a plane view in a floor, and the system can automatically fill corresponding information only by clicking the corresponding service point at the corresponding position; the user only needs to determine the initial service point and the target service point on the app, after the information is filled, the information is uploaded to the master control center, the master control center establishes a task according to the received data and the actual situation, and the corresponding robot is appointed to reach the initial service point of the task to wait for pickup.
The distribution robot is an important component of the system, and comprises an automatic obstacle avoidance function, and the obstacle avoidance operation is superior to the task priority; the distribution robots are individuals, but when the robots have no tasks, the distribution robots are uniformly arranged in the robot center to wait for the tasks; the delivery robot is not limited in form, and can adopt various forms such as a human-shaped robot, a crawler robot, a wheel type robot, an unmanned aerial vehicle and the like.
The distribution robot comprises an upper layer data receiving unit, a middle layer data processing unit and a bottom layer behavior control unit according to the requirements; the upper layer data exchange unit is in signal connection with the master control center, receives data sent by the master control center and/or sends information of the robot to the master control center.
(1) The upper data exchange unit is mainly used for receiving data sent by the master control center and transmitting the information of the robot, and for management convenience, the corresponding data protocol designed by the patent helps the robot to complete tasks without errors.
The data frame sent by the upper layer data exchange unit to the master control center follows the following protocol:
| frame header | Data length | Task code | Destination floor | Self coordinate X | Self coordinate X | Self-coordinate Y | Self-coordinate Y | Verification | Frame end |
The design frame header is 0XFE, the data length is 6, the task code is the main identification information distributed by the system and represents the information which can be read by the robot executing the task, each robot uniquely corresponds to a coordinate X and Y of the task code and is designed to be 16-bit data length, the coordinate is divided into eight high bits and eight low bits which are respectively stored in two units, finally, in order to avoid data transmission errors, a CRC algorithm is adopted to check the data, the frame tail is designed to be 0XEF, and the data in the protocol is uploaded to a master control system through a local area network in a building after being processed at the robot end and is used as the basis for controlling the master control system;
the data frames from the central control center to the robot follow the following protocol:
| frame header | Data length | Task code | Destination floor | Target coordinate X | Target coordinate X | Target coordinate Y | Target coordinate Y | Verification | Frame end |
The design frame head is 0XFE, the data length is 6, the task code is the main identification information of the robot, each robot corresponds to a unique task code, the self coordinates X and Y are designed to be 16-bit data length, the coordinates are divided into eight high bits and eight low bits which are respectively stored in two units, finally, in order to avoid data transmission errors, the CRC algorithm is also adopted to check the data, the last frame tail is designed to be 0XEF, the coordinates X and Y in the protocol are the next target points which need to be reached by the robot, the master control center decides the next position of the robot according to the current position of the robot, the floor and the coordinate information of the coordinate point of the next position are transmitted to the robot end, and the movement of the host robot provides a basis.
The middle-layer data processing unit is connected with hardware equipment which is arranged on the distribution robot and used for collecting external information, receives the data information sent by the hardware equipment, integrates the data information, judges the specific position of the middle-layer data processing unit in the environment and transmits the result to the bottom-layer behavior control unit in signal connection with the middle-layer data processing unit;
the hardware equipment for acquiring the outside information comprises a camera for acquiring images, a laser range finder and a sensor capable of sensing the surrounding environment. The camera comprises a binocular depth camera and two ordinary cameras; the laser range finder adopts a laser radar; the sensor capable of sensing the surrounding environment adopts an ultrasonic distance sensor.
The bottom behavior control unit is connected with hardware equipment which is arranged on the distribution robot and used for controlling the movement of the distribution robot, and after the data of the middle data processing unit is received, the data is converted into the value of the encoder to send a command to the hardware equipment so as to control the distribution robot to move. Hardware devices for controlling the movement of the dispensing robot include encoders and attitude sensors connected to the motors.
The master control center is core software running on one server; when the master control center establishes the tasks, a thread is distributed to each task, and the running of the machine is guaranteed through a multithreading technology. When the master control center processes data, the master control center plans a path for the robot and can synchronously receive modification information of a user side, so that the operation path of the robot is modified, and the operation path of the robot is re-planned; providing a service for a user; meanwhile, various information of the robot is integrated, and the state of the robot is judged.
The mode of establishing the task by the master control center is carried out according to the actual situation, and the mode comprises a task establishing mode and a task adding mode;
the task mode is created as follows: if the initial service point of the new task is not on the path planned by any robot executing the task, the system arranges the robot without the task to get files at home;
the task adding mode is as follows: the task adding mode represents that the master control center adopts one robot to distribute a plurality of files, and the master control center adds tasks to the robot executing the tasks according to actual conditions and readjusts the robot path.
When the order created by the user side on the APP can not be commanded by a robot on the way, the master control center selects a task creating mode; when a task mode is established, the master control center selects the robot closest to the task starting point in the building, firstly, the optimal path from the robot to the starting point is planned by adopting the Euclidean distance in the system, and the shortest path is planned.
When a task mode is added, the master control center can command the robot executing the task to complete a first task according to a nearby principle, and after the first task is completed, the robot reaches a next specified service point to wait for taking a part; or the file is taken according to the principle of being nearby, and after the file is taken back, the file is continuously sent one by one according to the planned path.
Furthermore, when the distribution machine and the pickup location of the user side are on the same floor, the operation of taking an elevator is omitted, and the Euclidean distance is converted into the Manhattan distance after the path is planned directly in the master control center;
when the distribution robot needs to take the elevator to carry out floor transfer and the elevator in the floor runs independently and cannot be accessed to the master control center, the distribution robot is provided with an acceleration sensor; when the elevator is in an acceleration state, the speed is obtained by integrating the accelerometer, and the distance is obtained by integrating the speed; the running time of the elevator can be known from the time when the elevator starts to accelerate to the time when the elevator stops decelerating, the uniform speed distance can be obtained by combining the speed, and then the floor where the distribution robot is located can be obtained by inputting the floor height of each floor in advance.
Further, the filtering method of the acceleration sensor is kalman filtering.
Furthermore, when the acceleration sensor is in an elevator acceleration state, the acceleration time is set as t1The acceleration sensor can obtain the original data, and a series of discrete and more accurate acceleration data sets A can be obtained easily after filtering1 = {a1,a2,…,anAccording to the concept of integration, firstly, dividing time into n equal parts, wherein n is the size of the acquired data set to obtain a time interval sigma, and obtaining the speed V of an acceleration stage according to the integrationi：
Vi = Vi-1 + ai*σ
The speed obtained by the acceleration phase is V:
V = (a1+a2+…+an)*σ
simultaneously obtaining the distance X in the form of an acceleration phase1：
X1 = (V1+V2+…+Vn)*σ
Setting acceleration time as t when elevator is in deceleration state2The original data can be obtained by the accelerometer, and a series of discrete and more accurate acceleration data sets A can be easily obtained after filtering2 = {a1,a2,…,anAccording to the concept of integration, firstly, dividing time into n equal parts (n is the size of the acquired data set) to obtain a time interval sigma, and obtaining the distance X obtained in the acceleration stage according to the integration2And if the total running time of the elevator is t, the running distance X of the elevator can be obtained within t:
X = X1+X2+(t-t1–t2)*V
by entering the height of each floor in advance, the dispensing robot can calculate the floor currently reached.
Before the first work, the system needs to do some preparation work, firstly, a robot is used for carrying out layered modeling on each floor, a service point and an elevator riding point are set up for a person to carry out placing and taking, the number of service points in the floor is determined according to specific conditions, and the elevator riding point rides on the elevator at the point when the robot provides floor transfer. When the data environment map in the building is established, the data environment map is stored in each robot, and when the robot is at the current floor, the map information in the floor is called for automatic driving.
When a user uses the system to deliver files, the user orders the App, opens the App, clicks a mail sending operation, fills information such as a task starting point, a task end point, recipient information and remarks according to the specification, and provides a plan view in a floor for the user to conveniently distribute the files to a service point closest to the recipient, and the system can automatically fill corresponding information only by clicking the corresponding service point at the corresponding position. The user only needs to determine the initial service point and the target service point, after the information is filled, the information is uploaded to the master control center, the master control center establishes a task according to the received data and the actual situation, and designates a corresponding robot to reach the initial service point of the task to wait for taking a part, at the moment, the mode of establishing the task by the system is carried out according to the actual situation, and the following two modes are mainly adopted:
(1) a task pattern is created. If the starting service point of the new task is not on the path planned by any robot executing the task, the system arranges the robot without the task to be on the door to receive files.
(2) Adding a task mode. The task adding mode represents that the master control center adopts a robot to distribute a plurality of files, the master control center readjusts the path of the robot according to the actual situation, commands the robot executing the task to reach the designated service point, waits for the pickup of the files, and continues to send the files one by one according to the planned path after the files are fetched;
in the first mode, if an order created by a system user can not be directed by a robot on the way, a new task needs to be created, at the moment, a master control system selects a robot closest to the task starting point in a building, an optimal path from the robot to the starting point is planned in the system at first, the shortest path planning is carried out by adopting the Euclidean distance, if the robot and the user are on the same floor, the operation of taking an elevator is omitted, the Euclidean distance is converted into the Manhattan distance directly after the master control center plans the path, then the path is sampled, each sampling point is a short-distance traveling path target point of the robot, the task of the robot can be flexibly arranged by sampling the path and sending the path at intervals, and the flexibility of the robot is improved. The sampling points are sent to a robot end according to a certain sequence, the upper data exchange unit of the robot starts to analyze data after receiving a data frame from a master control center through a local area network, floor information and coordinate information are firstly extracted, then a traveling target point at the current stage is obtained, then the data is transmitted to the middle data processing unit, when the robot is positioned at the same floor, the robot does not need to take an elevator, coordinates are directly transmitted to the bottom control unit, and the bottom control unit converts the coordinate data into traveling data and data of an attitude sensor to drive the robot to advance. The robot is in the in-process of advancing, transmits the coordinate and the floor of self to total control center through LAN after data processing unit and data exchange unit are handled in real time, and total control center receives the data and carries out the analysis to convey data to the cell-phone end, like this, the user just can real-time know the position of file, convenient and fast.
When the robot needs to take the elevator to carry out floor transfer, the master control center plans a path from a task starting point to a task ending point, and the path needs to be divided into two sections because of crossing floors, namely the path needs to be divided into two sections according to the floors, the end point of the first section is the elevator taking point of the floor, and the starting point of the second section is the elevator taking point of a target floor. When the robot reaches an elevator taking point according to a designated path, a ready command is sent to the master control center, the master control center commands the elevator to go to the floor after receiving the ready command, in the period, personnel can normally take the elevator, the logic of the elevator is controlled to be the same as that of the personnel taking, after the elevator reaches the floor, the master control center commands the robot to enter the elevator, before the robot enters the elevator, the robot judges whether enough space exists in the elevator or not in a laser radar mode, and if not, the robot waits for the next elevator; if the space in the elevator is enough, the elevator enters the elevator to go to a specified floor, the running state of the elevator is fed back to the master control center in real time, the master control center commands the robot to exit the elevator after the elevator reaches the specified floor, and the robot plans a path according to a second section and continues to execute tasks after exiting the elevator.
When the elevator in the building runs independently and cannot be accessed to the master control center, the floor where the robot runs can be estimated through the acceleration sensor of the robot, when the elevator is in an acceleration state, the speed is obtained by integrating the acceleration sensor, and then the distance is obtained by integrating the speed; the running time of the elevator can be known through the time from the acceleration start of the elevator to the stop deceleration of the elevator, and the uniform distance can be obtained by combining the speed. Setting acceleration time t when elevator is in acceleration state1The original data can be obtained by the accelerometer, and a series of discrete and more accurate acceleration data sets a can be easily obtained after filtering1According to the concept of integration, firstly, the time is equally divided by n (n is the size of the acquired data set) to obtain a time interval sigma, and the speed V of the acceleration stage can be obtained according to the integrationiThe speed obtained by the acceleration phase is V, while the distance X is obtained in the form of the acceleration phase1，
Setting acceleration time as t when elevator is in deceleration state2The original data can be obtained by the accelerometer, and a series of discrete and more accurate acceleration data sets a can be easily obtained after filtering2According to the idea of integration, firstly, time is equally divided by n (n is the size of the acquired data set) to obtain a time interval sigma, and the distance X obtained in the acceleration stage can be obtained according to the integration2If the total running time of the elevator is t, the running distance X of the elevator can be obtained within t, and if the height of one floor is known, the current arriving floor can be calculated. When the robot passes through the acceleration sensor and reaches the target floor, the robot exits the elevator and reports to the master control center, and the robot continues to execute tasks according to the second section of the planned path.
When the robot reaches the appointed task starting point, an arrival instruction is sent to the user, after the user confirms the arrival instruction, the user opens the appointed cabinet door through code scanning, the file is placed in the file cabinet, the cabinet door is closed, and the robot can move to the task end point according to the appointed path.
And after the user submits the task to the master control center through the app at the mobile phone end, the master control center firstly plans a path, compares the planning result with the paths of all the current robots, and if the planning result is highly consistent with the paths of all the current robots, replans the path of the robot, and adds a new task starting point and a new task key to the task of the robot. And assuming that the original task of the robot is from a task starting point A to a task ending point B, and when a new task two needs to be added to the line, assuming that the task two reaches an ending point D from a starting point C. Firstly, the master control center judges the task execution state of the robot, and the task execution state is mainly divided into 3 types:
(1) point a has not been reached;
(2) point a has been reached, but point B has not been reached;
(3) point B has been reached.
When the robot meets the first condition, the robot firstly determines the position of the robot and reports the position to the master control center, the center calculates the sequence of the arrival points according to the position, a proper path is planned, and the robot can get the parts through the door. After the robot acquires all the files, the files are delivered in sequence according to the order of distance. When meeting the second condition, the master control center plans the path again according to the position of the current robot, firstly goes to the point C to take the parts, and then sequentially delivers the files according to the distance sequence of the terminal points. When the third situation is met, after the robot sends the file, the robot should go to the robot center to wait for the next step of instruction according to the regulation, but the master control center finds that the robot is closest to the user, and then the robot is directed to go to the point C to pick up the file, and the distribution task is executed.
And when the robot reaches the end point of the task, the master control center sends pickup information to the mobile phone end of the user. After the pickup person arrives at the appointed place, the two-dimensional code on the screen of the scanning robot is used for verifying the accuracy of the identity of the pickup person, and after the verification is passed, the corresponding cabinet door is opened for the pickup person to pick up the pickup. And after the piece is taken, the robot completes one task, and finally the master control center commands the robot to go to the next piece sending point or commands the robot to return to the robot center to wait for the next step of instruction. Thus, a distribution task is completed.
The specific implementation method of the distribution system comprises the following specific steps:
the method comprises the following steps: ordering operation is carried out by the user at the app of the user side, and information is submitted to the master control center; meanwhile, the app end can see the position of the robot in a 3D (three-dimensional) graph inside the company in real time;
step two: after receiving the data of the app end, the master control center formulates a starting point and an end point of a task according to requirements, plans a path, and compares the planned path with a robot path which is executing the task at the current stage, wherein the following 3 conditions and corresponding schemes are mainly adopted:
(1) if the route of the old task is highly overlapped with the new task, adopting a task adding mode;
(2) if the old task has no path coincident with the new task, adopting a task creating mode;
step three: when the robot reaches a pickup point, a user scans the two-dimensional code on the robot to ensure the identity of the robot, then opens the corresponding cabinet door, and the user puts in a file and then closes the cabinet door;
step four: the robot drives according to the path planned by the master control center, and when the robot needs to take the elevator, the following two schemes are provided according to the company condition:
(1) the scheme of the acceleration sensor is as follows: when the elevator is in an acceleration state, the speed is obtained through the integral of the acceleration sensor, and then the distance is obtained through the integral of the speed; the running time of the elevator can be known through the time from the acceleration of the elevator to the stop of the deceleration of the elevator, the uniform distance can be obtained by combining the speed, and then the floor of the robot can be accurately obtained according to the input floor height of each floor;
(2) an elevator control scheme is as follows: when the robot sends a ready command to the master control center, the master control center commands the elevator to go to the floor after receiving the ready command, when the elevator reaches the floor, the master control center commands the robot to enter the elevator, before the elevator enters, the robot judges whether enough space exists in the elevator or not in a laser radar mode and the like, and if not, the robot waits for the next elevator; if the space in the elevator is enough, the elevator enters the elevator to go to a specified floor, the running state of the elevator is fed back to the master control center in real time, and the master control center commands the robot to exit the elevator after the elevator reaches the specified floor;
step five: when the robot reaches a pickup point, a reminding short message is sent to the pickup person, the pickup person checks the identity by scanning a two-dimensional code on the robot body, and after the identity passes through the two-dimensional code, a cabinet door is opened, and then the person can directly pick up the file;
step six: after the personnel take the file away, a task is completed; and then the robot goes to the next task point or returns to the robot center according to the command of the master control center.
Claims (10)
1. A multi-robot collaborative in-building item delivery system, comprising: the system comprises a master control center, a user side and a distribution robot, wherein the user side and the distribution robot are in signal connection with the master control center; the user side logs in the system through the app to complete data collection, function display and some auxiliary functions; the distribution robot comprises an upper layer data receiving unit, a middle layer data processing unit and a bottom layer behavior control unit; the upper layer data exchange unit is in signal connection with the master control center, receives data sent by the master control center and/or sends information of the robot to the master control center; the middle-layer data processing unit is connected with hardware equipment which is arranged on the distribution robot and used for collecting external information, receives the data information sent by the hardware equipment, integrates the data information, judges the specific position of the middle-layer data processing unit in the environment and transmits the result to the bottom-layer behavior control unit in signal connection with the middle-layer data processing unit; and the bottom behavior control unit is connected with hardware equipment which is arranged on the distribution robot and used for controlling the movement of the distribution robot, and after receiving the data of the middle data processing unit, the bottom behavior control unit converts the data into a value of an encoder and sends a command to the hardware equipment to control the movement of the distribution robot.
2. The multi-robot cooperative in-building item distribution system of claim 1, wherein: when the user side uses the system to deliver the file, firstly ordering is carried out on the App, the user opens the App, clicks a mail sending operation, fills related information such as a task starting point, a task end point, recipient information and remarks according to the specification, and conveniently distributes the file to a service point nearest to the recipient by the user, the App provides a plane view in a floor, and the system can automatically fill corresponding information only by clicking the corresponding service point at the corresponding position; the user only needs to determine the initial service point and the target service point on the app, after the information is filled, the information is uploaded to the master control center, the master control center establishes a task according to the received data and the actual situation, and the corresponding robot is appointed to reach the initial service point of the task to wait for pickup.
3. The multi-robot cooperative in-building item distribution system of claim 1, wherein: the data frame sent by the upper layer data exchange unit to the master control center follows the following protocol:
The design frame header is 0XFE, the data length is 6, the task code is the main identification information distributed by the system and represents the information which can be read by the robot executing the task, each robot uniquely corresponds to a coordinate X and Y of the task code and is designed to be 16-bit data length, the coordinate is divided into eight high bits and eight low bits which are respectively stored in two units, finally, in order to avoid data transmission errors, a CRC algorithm is adopted to check the data, the frame tail is designed to be 0XEF, and the data in the protocol is uploaded to a master control system through a local area network in a building after being processed at the robot end and is used as the basis for controlling the master control system;
the data frames from the central control center to the robot follow the following protocol:
The design frame head is 0XFE, the data length is 6, the task code is the main identification information of the robot, each robot corresponds to a unique task code, the self coordinates X and Y are designed to be 16-bit data length, the coordinates are divided into eight high bits and eight low bits which are respectively stored in two units, finally, in order to avoid data transmission errors, the CRC algorithm is also adopted to check the data, the last frame tail is designed to be 0XEF, the coordinates X and Y in the protocol are the next target points which need to be reached by the robot, the master control center decides the next position of the robot according to the current position of the robot, the floor and the coordinate information of the coordinate point of the next position are transmitted to the robot end, and the movement of the host robot provides a basis.
4. The multi-robot cooperative in-building item distribution system of claim 1, wherein: when the master control center processes data, the master control center plans a path for the robot and can also synchronously receive modification information of a user side, so that the operation path of the robot is modified and the operation path of the robot is re-planned; providing a service for a user; meanwhile, various information of the robot is integrated, and the state of the robot is judged.
5. The multi-robot cooperative in-building item distribution system of claim 4, wherein: the master control center establishes tasks in two modes, namely a task establishing mode and a task adding mode;
the task creating mode is as follows: if the initial service point of the new task is not on the path planned by any robot executing the task, the system arranges the robot without the task to get files at home;
the task adding mode is as follows: the task adding mode represents that the master control center adopts one robot to distribute a plurality of files, and the master control center adds tasks to the robot executing the tasks according to actual conditions and readjusts the robot path.
6. The multi-robot cooperative in-building item distribution system of claim 5, wherein: when the order created by the user side on the APP can not be commanded by a robot on the way, the master control center selects a task creating mode; when a task mode is established, the master control center selects a robot closest to a task departure point in a building, firstly, an optimal path from the robot to the departure point is planned by adopting an Euclidean distance in the system, and the shortest path is planned;
when the order created by the user side on the APP can be commanded by a robot on the way, the master control center selects a task adding mode; when a task mode is added, the master control center can command the robot executing the task to complete a first task according to a principle of proximity, and after the first task is completed, the robot arrives at a next specified service point to wait for taking a part; or the file is taken according to the principle of being nearby, and after the file is taken back, the file is continuously sent one by one according to the planned path.
7. The multi-robot cooperative in-building item distribution system of claim 1, wherein: when the distribution machine and the pick-up location of the user side are on the same floor, the operation of taking an elevator is omitted, and the Euclidean distance is converted into the Manhattan distance after the path is planned in the master control center directly.
8. The multi-robot cooperative in-building item distribution system of claim 1, wherein: when the distribution robot needs to take the elevator to carry out floor transfer and the elevator in the floor runs independently and cannot be accessed to the master control center, the distribution robot is provided with an acceleration sensor; when the elevator is in an acceleration state, the speed is obtained by integrating the accelerometer, and the distance is obtained by integrating the speed; the running time of the elevator can be known from the time when the elevator starts to accelerate to the time when the elevator stops decelerating, the uniform speed distance can be obtained by combining the speed, and then the floor where the distribution robot is located can be obtained by inputting the floor height of each floor in advance.
9. The multi-robot cooperative in-building item distribution system of claim 8, wherein: the acceleration sensor sets the acceleration time as t when the elevator is in an acceleration state1The acceleration sensor can obtain the original data, and a series of discrete and more accurate acceleration data sets A can be obtained easily after filtering1 = {a1,a2,…,anAccording to the concept of integration, firstly, dividing time into n equal parts, wherein n is the size of the acquired data set to obtain a time interval sigma, and obtaining the speed V of an acceleration stage according to the integrationi：
Vi = Vi-1 + ai*σ
The speed obtained by the acceleration phase is V:
V = (a1+a2+…+an)*σ
simultaneously obtaining the distance X in the form of an acceleration phase1：
X1 = (V1+V2+…+Vn)*σ
Setting acceleration time as t when elevator is in deceleration state2The original data can be obtained by the accelerometer, and a series of discrete more accurate addition can be easily obtained after filteringVelocity data set a2 = {a1,a2,…,anAccording to the concept of integration, firstly, dividing time into n equal parts (n is the size of the acquired data set) to obtain a time interval sigma, and obtaining the distance X obtained in the acceleration stage according to the integration2And if the total running time of the elevator is t, the running distance X of the elevator can be obtained within t:
X = X1+X2+(t-t1–t2)*V
by entering the height of each floor in advance, the dispensing robot can calculate the floor currently reached.
10. The multi-robot cooperative in-building item distribution system of claim 1, wherein: the specific implementation method of the distribution system comprises the following specific steps:
the method comprises the following steps: ordering operation is carried out by the user at the app of the user side, and information is submitted to the master control center; meanwhile, the app end can see the position of the robot in a 3D (three-dimensional) graph inside the company in real time;
step two: after receiving the data of the app end, the master control center formulates a starting point and an end point of a task according to requirements, plans a path, and compares the planned path with a robot path which is executing the task at the current stage, wherein the following 3 conditions and corresponding schemes are mainly adopted:
(1) if the route of the old task is highly overlapped with the new task, adopting a task adding mode;
(2) if the old task has no path coincident with the new task, adopting a task creating mode;
step three: when the robot reaches a pickup point, a user scans the two-dimensional code on the robot to ensure the identity of the robot, then opens the corresponding cabinet door, and the user puts in a file and then closes the cabinet door;
step four: the robot drives according to the path planned by the master control center, and when the robot needs to take the elevator, the following two schemes are provided according to the company condition:
(1) the scheme of the acceleration sensor is as follows: when the elevator is in an acceleration state, the speed is obtained through the integral of the acceleration sensor, and then the distance is obtained through the integral of the speed; the running time of the elevator can be known through the time from the acceleration of the elevator to the stop of the deceleration of the elevator, the uniform distance can be obtained by combining the speed, and then the floor of the robot can be accurately obtained according to the input floor height of each floor;
(2) an elevator control scheme is as follows: when the robot sends a ready command to the master control center, the master control center commands the elevator to go to the floor after receiving the ready command, when the elevator reaches the floor, the master control center commands the robot to enter the elevator, before the elevator enters, the robot judges whether enough space exists in the elevator or not in a laser radar mode and the like, and if not, the robot waits for the next elevator; if the space in the elevator is enough, the elevator enters the elevator to go to a specified floor, the running state of the elevator is fed back to the master control center in real time, and the master control center commands the robot to exit the elevator after the elevator reaches the specified floor;
step five: when the robot reaches a pickup point, a reminding short message is sent to the pickup person, the pickup person checks the identity by scanning a two-dimensional code on the robot body, and after the identity passes through the two-dimensional code, a cabinet door is opened, and then the person can directly pick up the file;
step six: after the personnel take the file away, a task is completed; and then the robot goes to the next task point or returns to the robot center according to the command of the master control center.
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