CN113970928A - Dynamic locking point method for marking navigation robot - Google Patents
Dynamic locking point method for marking navigation robot Download PDFInfo
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- CN113970928A CN113970928A CN202111232538.1A CN202111232538A CN113970928A CN 113970928 A CN113970928 A CN 113970928A CN 202111232538 A CN202111232538 A CN 202111232538A CN 113970928 A CN113970928 A CN 113970928A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
Abstract
The invention discloses a dynamic lock point method for a marking navigation robot, which mainly comprises the following steps: establishing a plurality of frame models with different length and width sizes related to the robot shelf combination; in the process of carrying the goods shelf by the robot: when the robot moves forward on the airway for a set distance, obtaining a locking area according to the frame model, the spacing distance parameter, the set distance and the distribution of the marking points in the airway in the forward moving direction of the robot, and locking the marking points in the locking area; and in the process that the robot moves forwards, unlocking the lock points which pass by the robot and meet the unlocking condition in real time according to the frame model and the parameters of the rear range of the robot. The invention solves the problem of mutual rubbing and collision in the navigation scheduling process of the robot shelf combination with various length and width dimension structures in the same navigation map, and improves the cargo handling efficiency in scenes such as sorting and the like.
Description
Technical Field
The invention relates to the technical field of robot navigation, in particular to a dynamic lock point marking method for a navigation robot.
Background
An AGV (Automated Guided Vehicle) robot is a goods handling robot widely used in warehousing and factories. Two-dimensional code navigation is a common navigation method in such robots. The two-dimension code navigation scheme is mainly characterized in that two-dimension codes are attached to equidistant or unequal-interval ground on a road where a robot moves, meanwhile, point positions of the two-dimension codes are correspondingly marked in a navigation map of the robot, when the robot passes through the two-dimension codes on the ground, a two-dimension code scanner at the bottom of the robot can automatically scan the two-dimension codes on the ground to obtain position information of the current robot, and then a route going to a target position is planned by combining the point positions of the two-dimension codes in the navigation map.
The E-commerce sorting scene is a single application scene of the two-dimensional code navigation robot, and a plurality of robots can realize high-efficiency goods sorting based on the same navigation map in the same area. In this scenario, the robot carries and sorts the goods by way of lifting the racks.
In order to avoid rubbing and collision problems in the moving process of a plurality of robots in the same scene, in the navigation process, the region where the robot passes needs to be locked and the two-dimensional code point location is locked, and then after a certain robot locks the region where the robot passes and the two-dimensional code point location is locked, other robots cannot enter the locking region of the robot and cannot occupy the two-dimensional code point location of the robot. Therefore, scratch or collision of a plurality of robots in the same scene in the moving process can be avoided.
Along with the improvement of the requirements on the goods types and the volume adaptive range in the sorting scene, the types and the sizes of the goods shelves for bearing the goods in the scene are changed differently along with the goods, and further, the situations that multiple goods shelves types exist in the unequal distance map and the single map based on the two-dimensional code navigation are more and more. Meanwhile, the robots are updated along with the lapse of time, and a plurality of robots with different sizes may exist in the same map at the same time, under the circumstance, if the existing region locking and two-dimensional code point locking mode is still used, the problem of scratch or collision can occur due to the inconsistency of the sizes of different robots and the carried goods shelves in the same scene.
Disclosure of Invention
In view of the above, the present invention provides a dynamic lock point method for a marker navigation robot, so as to avoid the problem that the robot scratches or collides with goods shelves during the transportation process when different sizes of robot goods shelves are combined in the same scene.
The technical scheme of the invention is realized as follows:
a method of marking a dynamic lock point of a navigation robot, comprising:
establishing various frame models related to robot shelf combinations, wherein each frame model corresponds to a robot shelf combination with a length and a width, each robot shelf combination consists of a robot and a shelf carried by the robot, and the length and the width of each shelf are different;
in the process of carrying the goods shelf by the robot:
when the robot moves forward on the airway for a set distance, obtaining a locking area according to a frame model, a spacing distance parameter, a set distance and the distribution of marking point positions corresponding to the robot shelf combination in the airway in the forward moving direction of the robot, and locking the marking point positions in the locking area;
in the process that the robot moves forwards, unlocking the locking point which passes by the robot and meets the unlocking condition in real time according to the frame model and the rear range parameter of the robot;
the navigation path is a path which is passed by the robot and comprises a plurality of mark point positions;
the interference range is the range of the area which the frame model passes through at the two sides of the navigation path of the robot.
Further, the frame model is rectangular, and the rectangular shape just accommodates the projection of the robot goods shelf combination in the robot moving plane; wherein the content of the first and second substances,
the frame model comprises: a forward length parameter, a backward length parameter, a left width parameter, a right width parameter; wherein the content of the first and second substances,
the forward length parameter is the maximum value of the length from the rotation center of the robot to the front left corner of the frame model and the length from the rotation center of the robot to the front right corner of the frame model;
the backward length parameter is the maximum value of the length from the rotating center of the robot to the left rear corner of the frame model and the length from the rotating center of the robot to the right rear corner of the frame model;
the left width parameter is the vertical length from the rotation center of the robot to the left side of the frame model;
the right-direction width parameter is the vertical length from the rotation center of the robot to the right side of the frame model.
Further, the obtaining of the locking area according to the frame model, the spacing distance parameter, the setting distance and the distribution of the mark points corresponding to the robot shelf combination in the air route in the forward moving direction of the robot includes:
if the first end point does not fall on the marking point position, the first end point which is reached by the fact that the first end point continuously extends forwards along the air route is used as a base point, and the first length is continuously extended forwards along the air route from the base point to obtain a second end point, wherein the first length is the sum of a forward length parameter and a spacing distance parameter;
an end point extending backwards from the rotation center of the robot along the air route by a second length is recorded as a third end point, wherein the second length is the sum of a backward length parameter and a spacing distance parameter;
taking a connecting line range from the third end point to the second end point as a locking length line;
taking a straight line which extends from the left side edge of the frame model to the left outer side of the frame model by a spacing distance and is parallel to the navigation path of the robot in the forward moving direction as a left boundary line;
taking a straight line which extends from the right side of the frame model to the right outer side of the frame model by a spacing distance and is parallel to the navigation path of the robot in the forward moving direction as a right boundary line;
the region within the lock length line between the left and right boundary lines is taken as the lock region.
Further, the locking areas of all robots in the same navigation map do not overlap.
Further, the method further comprises:
setting an interference area in the navigation map according to the maximum one-side width parameter, the spacing distance parameter and the distance between the adjacent routes in the navigation map in all the frame models, wherein the one-side width parameter comprises a left-direction width parameter and a right-direction width parameter, the interference area is two adjacent routes and the area between the two adjacent routes, and the moving directions of the robot on the two routes in the interference area are opposite;
in the process of carrying the goods shelf by the robot:
when a certain robot applies for entering an airway which is not locked by other robots at a certain side of an interference area, determining whether the robot can enter the airway according to a frame model corresponding to a shelf combination of the robot and the current parameters of the interference area, if the robot can enter the airway, determining a locking strategy of the interference area for the robot according to the frame model and the current parameters of the interference area, performing locking on the airway in the interference area according to the locking strategy, performing locking on all mark points in the locked airway, updating the transverse width value of the frame model in the interference area to the current parameters of the interference area, and enabling the robot to enter the airway;
and after the robot leaves the interference area, unlocking a locked route for the robot, and deleting the transverse width value of the frame model in the interference area from the current parameters of the interference area.
Further, the setting of the interference area in the navigation map according to the maximum one-sided width parameter, the interval distance parameter and the distance between adjacent routes in the navigation map in all the frame models includes:
and adding the doubled maximum unilateral width parameter and the interval distance parameter to obtain an airway distance threshold, and setting two adjacent airways with the distance smaller than the airway distance threshold and opposite moving directions of the robot and an internal area thereof as interference areas in the navigation map.
Further, when a certain robot applies for an airway that a certain side of a certain interference area is not locked by other robots, determining whether the robot can enter the airway according to a frame model corresponding to the shelf combination of the robot and current parameters of the interference area includes:
if the current parameters of the interference area contain the information that the opposite side route is locked by other robots, then:
comparing a width result obtained by adding the single-side width parameter and the interval distance parameter of other robots coming to the opposite side airway in the interference area in the single-side width parameter of the frame model in the interference area and the current parameter of the interference area with the distance between the two airways of the interference area, and if the obtained width result is not more than the distance between the two airways, determining that the robot can enter the airway, otherwise, determining that the robot cannot enter the airway;
and if the current parameters of the interference area contain information that the opposite airway is not locked by other robots, determining that the robot can enter the airway.
Further, the determining the locking strategy of the interference region for the robot according to the frame model and the current parameters of the interference region includes:
if the current parameters of the interference area contain information that the side airway is locked by other robots, the locking strategy is to lock the side airway;
if the current parameters of the interference area contain information that the side route is not locked by other robots, judging whether the sum of the transverse width value and the spacing distance parameter of the frame model in the interference area is smaller than the distance between the two routes of the interference area, if so, locking the side route by the locking strategy, otherwise, locking the two routes of the interference area by the locking strategy.
A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the dynamic lock point method of a marker navigation robot as described in any one of the above.
An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the steps in the dynamic lock point method of a marker navigation robot as described in any one of the above.
According to the scheme, different frame models are established for various length and width sizes of robot shelf combinations in the same scene, and locking areas and locking points of marking point positions are set in marking navigation according to the sizes of various frame models, so that the problems of mutual scratch and collision in the navigation scheduling process of the robot shelf combinations with various length and width sizes in the same navigation map are solved based on the locking areas and the locking points of the marking point positions of the different frame models, and the cargo handling efficiency in scenes such as sorting is improved.
Drawings
FIG. 1 is a flowchart of a dynamic lock point method for a marker navigation robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a frame model according to an embodiment of the present invention;
FIG. 3 is a schematic view of a lock region in an embodiment of the present invention;
FIG. 4 is a schematic illustration of a lock zone for multiple routes in an embodiment of the present invention;
FIG. 5 is a schematic illustration of an interference region in an embodiment of the present invention;
FIG. 6 is a schematic illustration of an unlocking strategy in an embodiment of the invention;
fig. 7 is a schematic diagram of an electronic device in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, the dynamic lock point method for a marker navigation robot according to an embodiment of the present invention mainly includes the following steps:
in the process of carrying the goods shelf by the robot:
step 2, when the robot moves forward on the airway for a set distance, obtaining a locking area according to a frame model corresponding to the shelf combination of the robot (namely the frame model corresponding to the combination formed by the robot and the carried shelves), the interval distance parameter, the set distance and the distribution of marking point positions in the airway in the forward moving direction of the robot, and locking the marking point positions in the locking area;
and 3, in the process that the robot moves forwards, unlocking the lock points which have passed by the robot and meet the unlocking condition in real time according to the frame model and the rear range parameters of the robot.
The navigation path is a path which is passed by the robot and comprises a plurality of mark point positions;
the interference range refers to the range of the area where the frame model passes on two sides of the path where the robot moves.
In the embodiment of the present invention, the mark refers to any mark capable of indicating a position and a direction, and in an alternative embodiment, the mark is, for example, a two-dimensional code.
Fig. 2 shows a frame model structure in the embodiment of the present invention. In fig. 2, a frame model of a robot and a shelf combined is shown in a block. In the embodiment of the invention, the robot carries and sorts the goods in a mode of lifting the goods shelf, and based on the above, the robot shelf combination in the embodiment of the invention refers to a combination formed by the robot and the goods shelf when the robot lifts the goods shelf. The frame model in fig. 2 is a box formed by the outermost edges of the robot shelf assembly projected in the plane of movement (ground) of the robot. In general, the projection shape of the shelf on the robot movement plane is rectangular and the projection of the robot on the movement plane is within the rectangular range, and therefore, the size of the box (i.e., the size of the frame model) is mainly determined by the length and width of the shelf, but there is also a problem that the length and width of the shelf is smaller than the length and width of the robot. One frame model corresponds to a robotic shelf assembly. In an optional embodiment, the sizes of all robots used in a scene and the sizes of all shelves are counted to obtain all combination forms between the robots with various sizes and shelves with various sizes, corresponding frame models and parameters are set for all the combination forms, the frame models are corresponding to the robots and the shelves, and when a certain robot in the scene carries a certain shelf, the frame model for the shelf combination of the robots is determined according to the corresponding relationship between the robot and the shelves and the frame models. In fig. 2, the direction indicated by the arrow is the front of the frame model, i.e. the advancing direction of the robot, and O is the rotation center of the frame model, i.e. the rotation center of the robot, in an optional embodiment, the rotation center of the robot is coaxial with the mark scanner window at the bottom of the robot, when the goods are transported, the robot usually turns around the rotation center of the robot at a certain mark point position as an axis and goes to other planned mark point positions, and the mark scanner window is over against the mark point position below the robot when turning, so that the navigation route error can be reduced, and the navigation calculation difficulty can be simplified. In fig. 2, fl is the length from the rotation center O to the front left corner of the frame model, fr is the length from the rotation center O to the front right corner of the frame model, bl is the length from the rotation center O to the rear left corner of the frame model, br is the length from the rotation center O to the rear right corner of the frame model, l is the vertical length from the rotation center O to the left side of the frame model, and r is the vertical length from the rotation center O to the right side of the frame model.
As shown in fig. 2, the frame model is rectangular in shape, which exactly accommodates the projection of the robot shelf assembly in the robot movement plane. Wherein, the frame model comprises: a forward length parameter f, a backward length parameter b, a left width parameter l, and a right width parameter r. The forward length parameter f is the maximum value of the length fl from the rotation center O of the robot to the front left corner of the frame model and the length fr from the rotation center O of the robot to the front right corner of the frame model; the backward length parameter b is the maximum value of the length bl from the rotation center O of the robot to the left rear corner of the frame model and the length br from the rotation center O of the robot to the right rear corner of the frame model; the left width parameter l is the vertical length from the rotation center O of the robot to the left side edge of the frame model; the right-direction width parameter r is the vertical length from the rotation center O of the robot to the right side of the frame model.
In the embodiment of the invention, the maximum value of the forward length parameter f is fl and fr, when the robot turns around the rotation center, the front side angle (front left angle or front right angle) of the robot shelf combination corresponding to the frame model can extend to a range in front of the front edge of the robot shelf combination, and the range needs to be drawn into the frame model, so that the robot shelf combination is prevented from being scratched or collided with other surrounding robot shelf combinations during turning.
In the embodiment of the invention, the locking region, the locking point and the unlocking strategy in the subsequent steps 2 and 3 are carried out based on the frame model. The locking area and the locking point are both used for avoiding the possibility of rubbing or colliding with the robot in the locking area due to the fact that other robot goods shelves are combined to enter the marking points of the locking area and the locking point.
In an optional embodiment, the obtaining the locking area according to the frame model, the spacing distance parameter, the setting distance, and the distribution of the marking points in the route in the forward moving direction of the robot corresponding to the rack combination of the robot in step 2 includes:
and obtaining a locking length line according to the frame model, the spacing distance parameter, the set distance and the distribution of the marking point positions in the airway of the robot in the forward moving direction corresponding to the robot shelf combination, obtaining a left boundary line and a right boundary line according to the frame model and the spacing distance parameter corresponding to the robot shelf combination, and obtaining a locking area according to the locking length line and the left boundary line and the right boundary line.
Specifically, the step 2 of obtaining the locking area according to the frame model, the spacing distance parameter, the setting distance and the distribution of the marking points in the airway of the robot in the forward moving direction corresponding to the robot shelf combination includes the following strategies for determining the locking area:
if the first end point does not fall on the marking point position, the first end point is used as a base point, the first marking point position reached by the fact that the first end point continuously extends forwards along the air route is used as the base point, and the first length continuously extends forwards along the air route from the base point to obtain a second end point, wherein the first length is the sum of a forward length parameter and a spacing distance parameter;
an end point extending backwards from the rotation center of the robot along the air route by a second length is recorded as a third end point, wherein the second length is the sum of the backward length parameter and the spacing distance parameter;
taking a connecting line range from the third end point to the second end point as a locking length line;
a straight line of a path parallel to the forward movement direction of the robot, which extends from the left side edge of a frame model (hereinafter referred to as the frame model) corresponding to the robot shelf combination to the left outer side of the frame model by a spacing distance, is used as a left boundary line;
taking a straight line which extends from the right side of the frame model to the right outer side of the frame model by a spacing distance and is parallel to the navigation path of the robot in the forward moving direction as a right boundary line;
the region within the lock length line between the left and right boundary lines is taken as the lock region.
Wherein the spacing distance parameter is the minimum distance allowed between the two robot shelf combinations. The set distance is the maximum distance of the robot moving forwards at each time, the set distance is set according to corresponding scenes, the set distance is not suitable to be too long, if the set distance is too long, the range of the locking area of the robot is too long at each time, the traveling routes of other robots are blocked, the cargo sorting and carrying efficiency is reduced in the whole scene, and even a navigation system is broken down. The left and right boundary lines include a left boundary line and a right boundary line.
The determination strategy of the locking area in the embodiment of the present invention is described below with reference to fig. 3.
Fig. 3 only includes a single air route, the air route is a transverse direction, the air route is a straight line path through which the robot moves and includes a plurality of mark points, the mark points on the air route are arranged at unequal intervals, and in other embodiments, the mark points on the air route may be arranged at equal intervals. The frame model representing the robotic shelf assembly moves from left to right on the route of fig. 3 (in the direction of the arrow in fig. 3). In the scenario shown in fig. 3, the endpoint extending forward (i.e. in the right direction of fig. 3) from the rotation center of the robot along the route by the set distance fxd is denoted as a first endpoint p1, if the first endpoint p1 just falls on the mark point, the first endpoint p1 is used as a base point to continue to extend forward along the route by the first length to obtain a second endpoint p2, if the first endpoint p1 does not fall on the mark point (i.e. in the case shown in fig. 3), the first mark point reached by the first endpoint extending forward along the route is used as a base point d1, and the first endpoint d is used as a base point d1 to continue to extend forward along the route by the first length fed to obtain a second endpoint p2, wherein the first length fed is the sum of the forward length parameter f and the separation distance parameter ivd; an end point extending backward (left direction in fig. 3) along the airway from the rotation center of the robot by a second length bed, which is the sum of the backward length parameter b and the spacing distance parameter ivd, is denoted as a third end point p 3; the range of the connection line from the third end point p3 to the second end point p2 is taken as a locking length line.
With continued reference to fig. 3, a straight line extending the left side of the frame model to the left outer side of the frame model (upper side in fig. 3) by a distance ivd parallel to the course of the robot forward movement direction (right side direction in fig. 3) is taken as the left boundary line; a straight line extending the right side of the frame model to the right outside of the frame model (downward in fig. 3) by a spacing distance ivd parallel to the route of the robot forward movement direction (right direction in fig. 3) is defined as the right boundary line.
Finally, the region within the lock length line between the left and right boundary lines is taken as the lock region, i.e., the dashed-line frame region shown in fig. 3.
In step 2, after the locking area is determined, locking points are carried out on the mark points in the locking area. The lock point strategy corresponding to the above description can be expressed using the following formula.
fed＝f+ivd
apr≥fxd
alr＝apr+fed
Where, as shown in fig. 3, fed is the first length, f is the forward length parameter, ivd is the spacing distance parameter, fxd is the set distance, apr is the distance between the base point d1 and the rotation center of the robot, where base point d1 is determined as described above, and alr is the farthest locking distance in front of the robot in the air route from the rotation center of the robot. In the air route, all the marking points in the range of alr which is positioned in front of the robot and is in the rotation of the robot are locked.
In the embodiment of the invention, the locking areas of all robots in the same navigation map are not overlapped. Based on the constraint strategy, all robots in the same scene can be ensured not to scratch and collide in the moving process.
Fig. 3 illustrates a situation involving only one airway. In a more complex map, there is a case where the distance between the robots is closer to the routes, and in this case, in order to avoid scratches and collisions between the robots in different routes, if the locking region further includes marking points of other routes, the marking points in other routes also need to be locked. For example, as shown in fig. 4, the locking area of the frame model representing the shelf combination of the robot covers the two adjacent routes while covering the route where the robot is located, and at this time, the marking points of the two adjacent routes located in the locking area need to be locked.
In addition to the above locking point rule, in the embodiment of the present invention, an interference area is set in the navigation map by combining the frame model and the route distribution in the navigation map, so as to avoid the problem that robots of two adjacent routes running in opposite directions in the interference area cannot pass through.
Specifically, the dynamic lock point method for a marker navigation robot according to the embodiment of the present invention further includes:
step 10, setting an interference area in the navigation map according to the maximum one-side width parameter and the spacing distance parameter in all the frame models and the distance between adjacent routes in the navigation map, wherein the one-side width parameter comprises a left-direction width parameter and a right-direction width parameter, the interference area is two adjacent routes and an area between the two adjacent routes, and the moving directions of the robot on the two routes in the interference area are opposite;
in the process of carrying the goods shelf by the robot:
step 20, when a certain robot applies for an airway which is not locked by other robots at a certain side of a certain interference area, determining whether the robot can enter the airway according to a frame model (hereinafter referred to as the frame model) corresponding to the robot shelf combination and current parameters of the interference area, if the robot can enter the airway, determining a locking strategy of the interference area for the robot according to the frame model and the current parameters of the interference area, performing locking on the airway in the interference area according to the locking strategy, performing locking on all mark points in the locked airway, updating a transverse width value of the frame model in the interference area to the current parameters of the interference area, and enabling the robot to enter the airway;
and step 30, after the robot leaves the interference area, unlocking a locked airway aiming at the robot, and deleting the transverse width value of the frame model in the interference area from the current parameters of the interference area.
The maximum one-sided width parameter in all the frame models refers to the maximum one-sided width parameter in the left-direction width parameter l and the right-direction width parameter r of each frame model in all the frame models. Since it is inevitable that the left body or the right body of the robot frame will occupy a part of the interference area when the robot frame is assembled into a side course of the interference area, a part of the interference area will be occupied by an area within the left width range or an area within the right width range of the frame model, corresponding to the frame model. In the real-time example of the present invention, the interference region is set according to the maximum one-side width parameter in all the frame models, so as to avoid rubbing or collision of parts in the region between the two air routes between the robot shelf combinations running in parallel on the two air routes when the distance between the two air routes is too short, and the specific setting method is described in the following description.
Note that the lock on the route in the interference region is a lock on the entire route, and this is not limited to the set distance fxd in the above description, and even if the route in the interference region is much longer than the set distance fxd, the entire route in the interference region needs to be locked.
Wherein, the step 10 of setting an interference area in the navigation map according to the maximum one-side width parameter and the interval distance parameter in all the frame models and the distance between adjacent routes in the navigation map includes:
and adding the doubled maximum unilateral width parameter and the interval distance parameter to obtain an airway distance threshold, and setting two adjacent airways with the distance smaller than the airway distance threshold and opposite moving directions of the robot and an internal area thereof as interference areas in the navigation map.
In a practical application scenario, the interference area may be applied in a passage connecting two storage spaces. In many scenarios, the passageway tends to be narrow, wherein typically only two air routes can be accommodated for the handling of goods between two storage spaces (e.g., two warehouses). In this case, if no interference region is set, a scratch or a collision may occur between two robot shelf combinations that drive into the tunnel in opposite directions on two adjacent lanes in the tunnel because of an excessively wide width, if the navigation system is not located in the tunnel, then the navigation system may select another lane to allow the robot shelf combinations to pass in order to avoid such a scratch or collision, but as a unique tunnel between two storage spaces, the navigation system may only select at least one of the robot shelf combinations to retreat, however, in the case where there are a large number of robots in the same scene, the retreat of the robot often causes the other robots behind the robot to change routes to provide a lane space for the retreating robot, in this case, the navigation calculation load of the navigation system will be greatly increased and the navigation route will be degraded, increasing the burden of the entire navigation management, and it is extremely easy to cause congestion of the robot in the vicinity of the passage between the two storage spaces. Therefore, according to the actual application scenario, the route in the navigation map needs to be effectively analyzed to screen out an interference area in the navigation map, which is available for the navigation system to authorize the robot to enter.
In an optional embodiment, when a robot applies for an airway that is not locked by other robots on a side of an interference area in step 20, determining whether the robot can enter the airway according to a frame model corresponding to the shelf combination of the robot (hereinafter referred to as the frame model) and current parameters of the interference area includes:
step 201, if the current parameter of the interference area contains information that the opposite side route is locked by other robots, then: comparing a width result obtained by adding the single-side width parameter and the interval distance parameter of other robots coming to the opposite side airway in the interference area in the single-side width parameter of the frame model in the interference area and the current parameter of the interference area with the distance between the two airways of the interference area, and if the obtained width result is not more than the distance between the two airways, determining that the robot can enter the airway, otherwise, determining that the robot cannot enter the airway;
step 202, if the current parameters of the interference area include information that the opposite airway is not locked by other robots, it is determined that the robot can enter the airway.
In an optional embodiment, the determining the locking strategy of the interference area for the robot according to the frame model (hereinafter referred to as the frame model) corresponding to the shelf combination of the robot and the current parameters of the interference area in step 20 includes:
step 203, if the current parameters of the interference area contain information that the side airway is locked by other robots, locking the strategy to lock the side airway;
and 204, if the current parameters of the interference area contain information that the opposite airway is not locked by other robots, judging whether the sum of the transverse width value and the spacing distance parameter of the frame model in the interference area is smaller than the distance between the two airways of the interference area, if so, locking the side airway, otherwise, locking both airways of the interference area.
The description of the interference region and the locking strategy in the above description is further described below with reference to fig. 5.
Fig. 5 is a schematic diagram of an interference region in the embodiment of the present invention, where the interference region includes two routes, in fig. 5, a route i1 indicated by a straight line in the upper lateral direction, a route i2 indicated by a straight line in the lower lateral direction, and a route i1, a route i2, and a region therebetween are the interference region.
In FIG. 5 tid is the interference zone width, i.e. the interference zone width tid is the distance between way i1 and way i2, where
tid<2×mlr+ivd
Where mlr is the maximum value of the maximum one-sided width parameter in all the frame models, i.e., the maximum value of all the left-direction width parameters l and all the right-direction width parameters r in all the frame models.
Case 1:
as shown in fig. 5, assuming that there is no robot shelf combination (hereinafter referred to as frame model e1) represented by frame model e1 in the figure, the robot shelf combination (hereinafter referred to as frame model e2) represented by frame model e2 applies for way i2 entering the interference area from right to left (at this time, way i2 is not locked by other robots), the navigation system queries whether way i1 is locked by other robots from the current parameters of the interference area, because way i1 is not locked by other robots, the information that way i1 is not locked by other robots is included in the current parameters of the interference area, and therefore the navigation system queries that way i1 is not locked by other robots. Then, the magnitude between the sum of the lateral width value of the frame model e2 in the interference region (i.e., the right width parameter r2 of the frame model e2) and the separation distance parameter ivd and the distance tid between the two routes of the interference region is compared.
If r2+ ivd ≧ tid, it indicates that the lateral width of frameset model e2 in this interference region exceeds the width of the interference region, in which case when frameset model e2 moves on airway i2, frameset model e1 entering from left to right in airway i1 will not be able to pass on airway i1 due to the blockage of frameset model e 2. In this case, the locking policy of frame model e2 for this interference region is to lock both way i2 and way i1, i.e., lock the entire interference region.
If r2+ ivd < tid, it means that the lateral width value of the frame model e2 in the interference region does not exceed the width of the interference region, and a certain space may be left in the partial region of the interference region on the side close to the fairway i1 for other robot frame combinations to pass through the fairway i 1. In this case, the locking policy of the frame model e2 for the interference region is such that only the route i2 is locked and the route i1 is not locked, that is, the case of the frame model e2 shown in fig. 5.
When the frame model e2 locks the route i2, locking all the marking point positions which do not pass through in the route i 2; when frame model e2 locks route i1, all the marker positions in route i1 that have not passed are clicked.
After frame model e2 locks airway i2, the value of its right-hand width parameter r2 (corresponding to the width of the portion of frame model e2 located in the interference region) is updated into the current parameters of the interference region.
After frame model e2 leaves the interference zone, if the only way locked for frame model e2 is way i2, then way i2 is unlocked, and if the way locked for frame model e2 includes way i2 and way i1, then way i2 and way i1 are both unlocked to release the interference zone for future passage in the interference zone by other robotic rack assemblies.
Case 2:
as shown in FIG. 5, when frame model e2 is located on route i2, and frame model e1 requests to enter from left to right into a route i1 of the interference region that is not locked by other robots, the navigation system queries whether route i2 is locked by other robots from the current parameters of the interference region, and because route i2 is locked by frame model e2, the current parameters of the interference region contain the information that route i2 is locked by frame model e2, so the navigation system queries that route i2 is locked by frame model e 2. Then, the width result obtained by adding the single-side width parameter (right-direction width parameter r1) of the frame model e1 in the interference region and the one-side width parameter (right-direction width parameter r2) of the frame model e2 in the interference region to the airway i2 recorded in the current parameters of the interference region and the interval distance parameter ivd is compared with the interval tid of the two airways of the interference region, if the obtained width result is not greater than the interval tid of the two airways, i.e. if r1+ r2+ ivd is less than or equal to tid, it is determined that the frame model e1 can enter the airway i1 (the situation shown in fig. 5), otherwise, i.e. if r1+ r2+ ivd > tid, the frame model e1 cannot enter the airway i 1.
If it is determined that the framework model e1 can enter the route i1, then for the framework model e1, the current parameters of the interference region include information that the route i2 has been locked by another robot (framework model e2), and then the locking strategy of the framework model e1 is to lock only the route i 1.
When frame model e1 locks route i1, all the marker positions in route i1 that have not passed are clicked. After frame model e1 locks airway i1, the value of its right-hand width parameter r1 (corresponding to the width of the portion of frame model e1 located in the interference region) is updated into the current parameters of the interference region.
When the frame model e1 leaves the interference area, the way i1 is unlocked for other robot shelf combinations to be able to pass in the interference area in the future.
As for the strategy of unlocking the lock point in step 3, reference may be made to fig. 6, where in the fig. 6, a dashed frame area is a mark point location release area, and in the moving process of the robot shelf assembly, a mark point location entering the mark point location release area behind the frame model of the robot shelf assembly is unlocked. The marking point location release area is located behind the frame model of the robot shelf combination and is away from the rotation center of the robot by a second length bed, the width range of the marking point location release area is consistent with the width range of the locking area in fig. 3, namely, the left boundary line and the right boundary line of the locking area are also the left boundary line and the right boundary line of the marking point location release area, and the length range rpr of the marking point location release area can be set reasonably.
The unlocking strategy corresponding to the above description can be expressed using the following formula.
bed＝b+ivd
(x1,y1)∈rpr
Wherein (x)1,y1) Indicating the marked point location to be unlocked, (x)1,y1) E rpr represents that the mark point with unlocking is in the range of rpr, (x)p,yp) Represents the center of rotation of the robot (frame model),
the euclidean distance between the mark point position to be unlocked and the rotation center of the robot (frame model) is equal to or greater than the second length bed.
Embodiments of the present invention also provide a non-transitory computer-readable storage medium storing instructions, which when executed by a processor, cause the processor to perform the steps of the dynamic lock point method of a marker navigation robot as described in the above description.
An embodiment of the present invention further provides an electronic device for executing a dynamic lock point method of a marker navigation robot, where as shown in fig. 7, the electronic device includes: at least one processor 1 and a memory 2. The memory 2 is communicatively connected to the at least one processor 1, for example the memory 2 and the at least one processor 1 are connected by a bus. The memory 2 stores instructions executable by the at least one processor 1 to cause the at least one processor 1 to perform the steps of the dynamic lock point method of a marker navigation robot as described in the foregoing description.
According to the dynamic point locking method of the marker navigation robot, different frame models are established for robot shelf combinations with various lengths and widths in the same scene, and locking areas and locking points of marking point positions are set in marker navigation according to the sizes of various frame models, so that the problems of mutual scratch and collision in the navigation scheduling process of the robot shelf combinations with various lengths and widths in the same navigation map are solved based on the locking areas and the locking points of the marking point positions of different frame models, and the cargo carrying efficiency in scenes such as sorting and the like is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of marking a dynamic lock point of a navigation robot, comprising:
establishing various frame models related to robot shelf combinations, wherein each frame model corresponds to a robot shelf combination with a length and a width, each robot shelf combination consists of a robot and a shelf carried by the robot, and the length and the width of each shelf are different;
in the process of carrying the goods shelf by the robot:
when the robot moves forward on the airway for a set distance, obtaining a locking area according to a frame model, a spacing distance parameter, a set distance and the distribution of marking point positions corresponding to the robot shelf combination in the airway in the forward moving direction of the robot, and locking the marking point positions in the locking area;
in the process that the robot moves forwards, unlocking the locking point which passes by the robot and meets the unlocking condition in real time according to the frame model and the rear range parameter of the robot;
the navigation path is a path which is passed by the robot and comprises a plurality of mark point positions;
the interference range is the range of the area which the frame model passes through at the two sides of the navigation path of the robot.
2. The dynamic lock point method of a marker navigation robot of claim 1, wherein:
the frame model is rectangular, and the rectangular shape just accommodates the projection of the robot goods shelf combination in the robot moving plane; wherein the content of the first and second substances,
the frame model comprises: a forward length parameter, a backward length parameter, a left width parameter, a right width parameter; wherein the content of the first and second substances,
the forward length parameter is the maximum value of the length from the rotation center of the robot to the front left corner of the frame model and the length from the rotation center of the robot to the front right corner of the frame model;
the backward length parameter is the maximum value of the length from the rotating center of the robot to the left rear corner of the frame model and the length from the rotating center of the robot to the right rear corner of the frame model;
the left width parameter is the vertical length from the rotation center of the robot to the left side of the frame model;
the right-direction width parameter is the vertical length from the rotation center of the robot to the right side of the frame model.
3. The method of claim 2, wherein the obtaining of the locking area according to the frame model, the distance parameter, the setting distance and the distribution of the mark points in the path of the robot in the forward direction corresponding to the shelf combination of the robot comprises:
if the first end point does not fall on the marking point position, the first end point which is reached by the fact that the first end point continuously extends forwards along the air route is used as a base point, and the first length is continuously extended forwards along the air route from the base point to obtain a second end point, wherein the first length is the sum of a forward length parameter and a spacing distance parameter;
an end point extending backwards from the rotation center of the robot along the air route by a second length is recorded as a third end point, wherein the second length is the sum of a backward length parameter and a spacing distance parameter;
taking a connecting line range from the third end point to the second end point as a locking length line;
taking a straight line which extends from the left side edge of the frame model to the left outer side of the frame model by a spacing distance and is parallel to the navigation path of the robot in the forward moving direction as a left boundary line;
taking a straight line which extends from the right side of the frame model to the right outer side of the frame model by a spacing distance and is parallel to the navigation path of the robot in the forward moving direction as a right boundary line;
the region within the lock length line between the left and right boundary lines is taken as the lock region.
4. The dynamic lock point method of a marker navigation robot of claim 1, wherein:
the locking areas of all robots in the same navigation map do not overlap.
5. The dynamic lock point method of a marker navigation robot of claim 2, further comprising:
setting an interference area in the navigation map according to the maximum one-side width parameter, the spacing distance parameter and the distance between the adjacent routes in the navigation map in all the frame models, wherein the one-side width parameter comprises a left-direction width parameter and a right-direction width parameter, the interference area is two adjacent routes and the area between the two adjacent routes, and the moving directions of the robot on the two routes in the interference area are opposite;
in the process of carrying the goods shelf by the robot:
when a certain robot applies for entering an airway which is not locked by other robots at a certain side of an interference area, determining whether the robot can enter the airway according to a frame model corresponding to a shelf combination of the robot and the current parameters of the interference area, if the robot can enter the airway, determining a locking strategy of the interference area for the robot according to the frame model and the current parameters of the interference area, performing locking on the airway in the interference area according to the locking strategy, performing locking on all mark points in the locked airway, updating the transverse width value of the frame model in the interference area to the current parameters of the interference area, and enabling the robot to enter the airway;
and after the robot leaves the interference area, unlocking a locked route for the robot, and deleting the transverse width value of the frame model in the interference area from the current parameters of the interference area.
6. The method of claim 5, wherein the step of setting the interference area in the navigation map according to the maximum unilateral width parameter, the separation distance parameter and the distance between adjacent routes in the navigation map comprises:
and adding the doubled maximum unilateral width parameter and the interval distance parameter to obtain an airway distance threshold, and setting two adjacent airways with the distance smaller than the airway distance threshold and opposite moving directions of the robot and an internal area thereof as interference areas in the navigation map.
7. The method of claim 6, wherein the step of determining whether the robot can enter the airway according to the frame model corresponding to the shelf combination of the robot and the current parameters of the interference area when the robot applies for the airway that the side of the interference area is not locked by other robots comprises:
if the current parameters of the interference area contain the information that the opposite side route is locked by other robots, then:
comparing a width result obtained by adding the single-side width parameter and the interval distance parameter of other robots coming to the opposite side airway in the interference area in the single-side width parameter of the frame model in the interference area and the current parameter of the interference area with the distance between the two airways of the interference area, and if the obtained width result is not more than the distance between the two airways, determining that the robot can enter the airway, otherwise, determining that the robot cannot enter the airway;
and if the current parameters of the interference area contain information that the opposite airway is not locked by other robots, determining that the robot can enter the airway.
8. The method of claim 6, wherein determining the locking strategy of the interference region for the robot according to the frame model and the current parameters of the interference region comprises:
if the current parameters of the interference area contain information that the side airway is locked by other robots, the locking strategy is to lock the side airway;
if the current parameters of the interference area contain information that the side route is not locked by other robots, judging whether the sum of the transverse width value and the spacing distance parameter of the frame model in the interference area is smaller than the distance between the two routes of the interference area, if so, locking the side route by the locking strategy, otherwise, locking the two routes of the interference area by the locking strategy.
9. A non-transitory computer readable storage medium storing instructions which, when executed by a processor, cause the processor to perform the steps in the dynamic lock point method of a marker navigation robot of any of claims 1 to 8.
10. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the steps in the dynamic lock point method of a marker navigation robot of any one of claims 1 to 8.
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