CN114819678A - Visualization method for multi-mobile-robot operation along task point distribution - Google Patents
Visualization method for multi-mobile-robot operation along task point distribution Download PDFInfo
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- CN114819678A CN114819678A CN202210496706.6A CN202210496706A CN114819678A CN 114819678 A CN114819678 A CN 114819678A CN 202210496706 A CN202210496706 A CN 202210496706A CN 114819678 A CN114819678 A CN 114819678A
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Abstract
The invention discloses a visualization method for a multi-mobile robot to operate along assigned task points, which comprises the task points, a storage unit, a mobile robot, a reset button, a pause button, an improved genetic algorithm and VisualOne engine software; when a visualization method for simulating operation of a multi-mobile robot along task point distribution is used, the number of mobile robots, task point execution points and warehousing units is determined; then, based on an improved genetic algorithm, the task allocation of the sequence of task points completed by the multiple mobile robots is solved; then building a required virtual operation scene in Visualone engine software; establishing a link between VisualOne engine software and a result obtained by improving a genetic algorithm; when the visualization operation is carried out, resetting, pausing, dragging, rotating, zooming in and zooming out can be carried out according to the time period of the task amount of the operation. The concept is simple, the operation is convenient, the method is suitable for the actual requirement of the multi-mobile robot to operate along the assigned task points, and the reasonability of the multi-mobile robot to operate and plan along the assigned task points is improved.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a visualization method for operation of multiple mobile robots along task point distribution.
Background
The mobile robot is used as a representative of an intelligent mastership, has bright demand guidance due to the expansion of the application field and the improvement of the use quantity, and is applied to the aspects of logistics transportation, family service, medical treatment, exploration, underwater operation, patrol, agriculture and the like and certain occasions dangerous to people; and the multitasking operation of the multiple mobile robots is more and more required. However, the mobile robot lacks a visualization effect of simulating an actual scene in a simulation experiment, and cannot clearly provide a reliable basis for the reasonability of the operation planning of the multiple mobile robots along the assigned task points.
Disclosure of Invention
The invention provides a visualization method for multi-mobile robot operation along distributed task points, aiming at overcoming the defects that the existing mobile robot lacks visual effect for simulating actual scenes in simulation experiments and can not clearly provide reliable basis for the reasonability of multi-mobile robot operation planning along the distributed task points.
The technical solution adopted by the invention to specifically solve the technical problem is as follows: a visualization method for multi-mobile robot operation along assigned task points comprises the steps of task points, a warehousing unit, a mobile robot, a reset button, a pause button, an improved genetic algorithm and VisualOne engine software; the specific flow of the visualization method for the multi-mobile robot to work along the assigned task points is as follows:
step 1: firstly, planning the multi-mobile robot to complete the task point sequence distribution with different attributes and different weights based on an improved genetic algorithm;
step 2: building a virtual operation scene of a plurality of mobile robots in Visualone engine software, wherein the virtual operation scene comprises a storage unit;
and step 3: importing the task point distribution operation information of the multiple mobile robots with different attributes and different weights, which is solved by the improved genetic algorithm, into a virtual operation scene;
and 4, step 4: designing a reset and pause button for visual operation;
and 5: setting corresponding operation time periods according to the operation task amount of the multiple mobile robots;
step 6: the mobile robot performs visual operation along the task point assignment operation, and the mouse assists in dragging, rotating, amplifying and reducing functions in the visual process;
and 7: judging the visual termination of the multi-mobile robot along the task point assignment operation, and if the specified operation time period is finished, continuing to execute the operation downwards; otherwise, jumping to step 6;
and step 8: and finishing the visualization.
The invention has the beneficial effects that the visualization method for the operation of the multi-mobile robot along the assigned task points is adopted, and the problems that the existing mobile robot lacks the visualization effect of simulating an actual scene in a simulation experiment, can not clearly provide reliable basis for the reasonability of the operation planning of the multi-mobile robot along the assigned task points and the like are solved. The concept is simple, the operation is convenient, the method is suitable for the practical requirement of the multi-mobile robot to operate along the assigned task points, and the reasonability of the multi-mobile robot to operate and plan along the assigned task points is greatly improved.
Drawings
FIG. 1 is a flow chart of a method for visualizing the operation of a multi-mobile robot along assigned task points in accordance with the present invention;
FIG. 2 is a case effect diagram of a visualization method for a multi-mobile robot working along assigned task points according to the present invention;
FIG. 3 is a screenshot of a reset button in a case run of a visualization method of a multi-mobile robot working along assigned task points of the present invention;
FIG. 4 is a screenshot of a "pause" button in case run of a visualization method for a multi-mobile robot working along assigned task points of the present invention.
In the figure 21, task point, 22, warehouse unit, 23, mobile robot, 31, "reset" button, 41, "pause" button.
Detailed Description
The invention is further described with reference to the following figures and examples:
the invention provides a visualization method for a multi-mobile robot to work along assigned task points, which comprises the following steps of a task point 21, a warehousing unit 22, a mobile robot 23, a reset button 31, a pause button 41, an improved genetic algorithm and VisualOne engine software; the specific flow of the visualization method for the multi-mobile robot to work along the assigned task points is as follows:
step 1: firstly, planning the multi-mobile robot 23 to complete the task allocation of the sequence of the task points 21 with different attributes and different weights based on the improved genetic algorithm; in the implementation case of the invention, 3 mobile robots 23 are arranged in total, and 29 task points 21 with different attributes and different weights are arranged;
step 2: in VisualOne engine software, a virtual operation scene of a multi-mobile robot 23 is built, and the virtual operation scene comprises a storage unit 22; in the embodiment of the invention, 3 warehousing units 22 are arranged in total, and task points 21 with different attributes and different weights are arranged;
and 3, step 3: distributing operation information of the multiple mobile robots 23 solved by the improved genetic algorithm along the task points 21 with different attributes and different weights into a virtual operation scene;
and 4, step 4: designing a reset and pause button for visual operation;
and 5: setting a corresponding operation time period according to the operation task amount of the multi-mobile robot 23;
step 6: the mobile robot 23 performs visualization operation along the task point 21, and the mouse assists in dragging, rotating, zooming in and zooming out in the visualization process;
and 7: the multi-mobile robot 23 visually terminates the job along the assigned task point 21, and if the specified job time period is completed, continues to execute the job; otherwise, jumping to step 6;
and 8: and finishing the visualization.
When a visualization method for simulating operation of a multi-mobile robot along task point assignment is needed, determining the total number of mobile robots, the total number of task points to be executed and the number of warehousing units; then, task allocation is carried out based on an improved genetic algorithm; then building a required virtual operation scene in Visualone engine software; establishing a link between VisualOne engine software and a task allocation solving result of an improved genetic algorithm; and finally, performing visual simulation, and resetting, pausing, dragging, rotating, amplifying and shrinking.
Claims (1)
1. A visualization method for multi-mobile robot operation along assigned task points comprises a task point (21), a warehousing unit (22), a mobile robot (23), "reset" button (31), "pause" button (41), improved genetic algorithm and VisualOne engine software, and is characterized in that the specific flow of the visualization method for multi-mobile robot operation along assigned task points is as follows:
step 1: firstly, planning the multi-mobile robot (23) to complete the task allocation of the task point (21) sequence with different attributes and different weights based on the improved genetic algorithm;
step 2: in VisualOne engine software, building a virtual operation scene of a multi-mobile robot (23), wherein the virtual operation scene comprises a storage unit (22);
and step 3: distributing operation information of a plurality of mobile robots (23) solved by an improved genetic algorithm along task points (21) with different attributes and different weights, and importing the operation information into a virtual operation scene;
and 4, step 4: designing a reset and pause button for visual operation;
and 5: setting a corresponding operation time period according to the operation task amount of the multi-mobile robot (23);
step 6: the mobile robot (23) performs visual operation along the task point (21) distribution operation, and a mouse assists in dragging, rotating, amplifying and reducing functions in the visual process;
and 7: the multi-mobile robot (23) visually stops judging the operation along the assigned task point (21), and if the specified operation time period is finished, the multi-mobile robot continues to execute the operation downwards; otherwise, jumping to step 6;
and 8: and finishing the visualization.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101216951A (en) * | 2007-12-27 | 2008-07-09 | 电子科技大学 | Intelligent group motion simulation method in virtual scenes |
| CN107092255A (en) * | 2017-05-19 | 2017-08-25 | 安徽工程大学 | A kind of multi-robots path-planning method based on improved adaptive GA-IAGA |
| US20190220792A1 (en) * | 2018-01-15 | 2019-07-18 | Nmetric, Llc | Genetic smartjobs scheduling engine |
| CN110262505A (en) * | 2019-07-03 | 2019-09-20 | 安徽工程大学 | Robot moves method for visualizing by planning path in virtual reality |
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- 2022-05-09 CN CN202210496706.6A patent/CN114819678A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101216951A (en) * | 2007-12-27 | 2008-07-09 | 电子科技大学 | Intelligent group motion simulation method in virtual scenes |
| CN107092255A (en) * | 2017-05-19 | 2017-08-25 | 安徽工程大学 | A kind of multi-robots path-planning method based on improved adaptive GA-IAGA |
| US20190220792A1 (en) * | 2018-01-15 | 2019-07-18 | Nmetric, Llc | Genetic smartjobs scheduling engine |
| CN110262505A (en) * | 2019-07-03 | 2019-09-20 | 安徽工程大学 | Robot moves method for visualizing by planning path in virtual reality |
Non-Patent Citations (1)
| Title |
|---|
| 赵开新;魏勇;徐立新;王东署;: "改进遗传算法在移动机器人路径规划中的研究", 科技通报, no. 09, 30 September 2015 (2015-09-30), pages 233 - 236 * |
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