CN211718762U

CN211718762U - Distributed scheduling system

Info

Publication number: CN211718762U
Application number: CN201921242775.4U
Authority: CN
Inventors: 何科君; 郭璁; 张涛
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2019-07-30
Filing date: 2019-07-30
Publication date: 2020-10-20
Anticipated expiration: 2029-07-30

Abstract

The utility model provides a distributed scheduling system, include: the robot comprises a near field communication module and a processing module, the near field communication module is configured to send scheduling information and receive the scheduling information of other robots within 20 meters of the robot, and the robot is configured to execute waiting, avoiding or passing actions according to the scheduling information. According to the utility model provides a distributed scheduling system for can realize timely communication in closely between the robot, not receive WIFI signal strength's influence, and need not the central system dispatch, promote the efficiency of robot dispatch, reduce the probability of conflict.

Description

Distributed scheduling system

Technical Field

The utility model relates to the technical field of robots, in particular to distributing type dispatch system.

Background

Mobile robots have been increasingly used in mass service scenarios. For example, delivery services are provided in restaurants, office buildings, hotels. In the above scenario, the working environment of the robot is generally complex, the flow of people is large, which results in poor WIFI signals, the delay is large, and the cooperative work of multiple robots by using indoor WIFI is not facilitated.

SUMMERY OF THE UTILITY MODEL

The utility model discloses having accomplished in view of foretell current situation, its aim at provides a distributed scheduling system, realizes high-efficient dispatch.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

the utility model provides a distributed scheduling system, include:

the robot comprises a near field communication module and a processing module, the near field communication module is configured to send scheduling information and receive the scheduling information of other robots within 20 meters of the robot, and the robot is configured to execute waiting, avoiding or passing actions according to the scheduling information.

The processing module is configured to judge whether a path conflict exists with the other robots according to the scheduling information, when the path conflict exists, the robots judge priorities with the other robots, and the robots execute waiting, avoiding or passing actions according to the priorities.

Wherein, the near field communication module at least comprises one of a WIFI module, a Bluetooth module and a UWB module.

Wherein the scheduling information includes a position, a target, and a global path of the robot.

Wherein the path conflict includes the robot meeting the other robots on the same path or meeting on intersecting paths.

The processing module is configured to control the robot to directly move through when the priority of the robot is higher than that of other robots, and the priority of the robot is lower than that of other robots, so that the robot waits in place or gives way to other robots.

According to the utility model provides a distributed scheduling system for can realize timely communication in closely between the robot, not receive WIFI signal strength's influence, and need not the central system dispatch, promote the efficiency of robot dispatch, reduce the probability of conflict.

Drawings

Fig. 1 is a schematic diagram showing a configuration of a distributed scheduling system according to an embodiment of the present invention.

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same components are denoted by the same reference numerals, and redundant description thereof is omitted. The drawings are schematic and the ratio of the dimensions of the components and the shapes of the components may be different from the actual ones.

As shown in fig. 1, the present invention provides a distributed scheduling system for multi-robot scheduling. The method comprises the following steps: a number of robots 100. The robot 100 includes a close range communication module 110 and a processing module 120. The close range communication module 110 is configured to transmit scheduling information and receive scheduling information of other robots within 20 meters from the robot. The robot 100 is configured to perform a waiting, avoidance, or passing action according to the scheduling information. Under the condition, the distributed scheduling system is adopted, so that timely communication can be realized between the robots within a short distance, the influence of WIFI signal strength is avoided, the central system is not required for scheduling, the scheduling efficiency of the robots is improved, and the probability of conflict is reduced.

It is understood that the processing module 120 has a data processing function. The processing module 120 may be a processor of the robot.

In this embodiment, the processing module 120 is configured to determine whether there is a path conflict with another robot according to the scheduling information, and when there is a path conflict, the robot determines a priority with another robot, and the robot executes a waiting, avoiding, or passing action according to the priority. Therefore, when path conflict exists, the robot independently judges the priority according to the scheduling information, and the robot with the low priority gives way to the robot with the high priority, so that the scheduling efficiency of the robot is improved, and the probability of conflict occurrence is reduced.

In the present embodiment, the short-range communication module 110 includes at least one of a WIFI module, a bluetooth module, and a UWB module. Thus, the robot can communicate using a plurality of short-range communication methods. It is understood that the short-range communication module 110 is provided to the robot body. The short-distance communication module 110 may also include a WIFI module, a bluetooth module, and a UWB module. Therefore, when one module is unstable in signal, stable communication can be maintained through other modules.

In the present embodiment, the scheduling information includes the position, the target, and the global path of the robot. In this case, the robots may determine whether or not there is a path conflict using the above information, and determine the priority between the robots when there is a path conflict.

In some examples, the priority of the robot may be a composite decision based on the location, goal, and global path of the robot.

In this embodiment, a path conflict includes a robot meeting another robot on the same path or on a crossing path. Therefore, the robot judges whether the robot meets other robots or not through the scheduling information, and if the possibility of meeting does not exist, the robot can smoothly pass through the scheduling information, so that the scheduling efficiency of the robot is improved, and the occurrence of collision is avoided.

In some examples, the robots meeting other robots in the same path may be two robots moving relative to each other, with a face-to-face meeting occurring. Alternatively, the robot is stopped on a path along which other robots move, and thus the moving robot may collide with the stopped robot. The robot meeting other robots in intersecting paths may be a collision between a robot moving from south to north and a robot moving from east to west at an intersection. Or a robot turning right at an intersection may collide with a robot turning left on a crossroad. It is to be understood that the same path and the crossing path to which the present invention relates are not limited to the above.

In this embodiment, the processing module 120 is configured such that when the priority of the robot is higher than that of other robots, the robot directly moves through, and when the priority of the robot is lower than that of other robots, the robot waits in place or gives way to other robots. Under the condition, the robots determine the passing sequence through priority comparison, so that the occurrence of path conflict is avoided, and the efficiency of cooperative work of the robots is improved.

The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.

Claims

1. A distributed scheduling system, comprising: the robot comprises a near field communication module and a processing module, the near field communication module is configured to send scheduling information and receive the scheduling information of other robots within 20 meters of the robot, and the robot is configured to execute waiting, avoiding or passing actions according to the scheduling information.

2. The distributed scheduling system of claim 1 wherein the processing module is configured to determine from the scheduling information whether a path conflict exists with the other robot, wherein if the path conflict exists, the robot determines a priority with the other robot, and wherein the robot performs a wait, an avoidance, or a pass through action based on the priority.

3. The distributed scheduling system of claim 1 wherein the close-range communication module comprises at least one of a WIFI module, a bluetooth module, and a UWB module.

4. The distributed scheduling system of claim 1 wherein the scheduling information includes a position, a goal, and a global path of the robot.

5. The distributed scheduling system of claim 2 wherein the path conflict comprises the robot meeting the other robot on the same path or meeting on a crossing path.

6. The distributed scheduling system of claim 1 wherein the processing module is configured to control the robot to move directly through when the robot has a higher priority than the other robots, and to control the robot to wait on its own or to make way for the other robots when the robot has a lower priority than the other robots.