SG11201805378XA - Method and device for returning robots from site - Google Patents

Method and device for returning robots from site

Info

Publication number
SG11201805378XA
SG11201805378XA SG11201805378XA SG11201805378XA SG11201805378XA SG 11201805378X A SG11201805378X A SG 11201805378XA SG 11201805378X A SG11201805378X A SG 11201805378XA SG 11201805378X A SG11201805378X A SG 11201805378XA SG 11201805378X A SG11201805378X A SG 11201805378XA
Authority
SG
Singapore
Prior art keywords
robots
robot
coordinates
congestion area
currently idle
Prior art date
Application number
SG11201805378XA
Inventor
Jianqiang Zhu
Juejing Xu
Original Assignee
Zhejiang Libiao Robots Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201610005062.0A external-priority patent/CN105488892B/en
Priority claimed from CN201610003129.7A external-priority patent/CN105446342B/en
Application filed by Zhejiang Libiao Robots Co Ltd filed Critical Zhejiang Libiao Robots Co Ltd
Publication of SG11201805378XA publication Critical patent/SG11201805378XA/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40417—For cooperating manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Navigation (AREA)

Abstract

Disclosed are a method and a device for returning robots (1, 2) from a site. The method comprises: obtaining the current coordinates of currently idle robots (1, 2) in a working area (S101); obtaining all return destination coordinates for the currently idle robots (1, 2) (S102); calculating, according to distances and times from the current coordinates to each set of destination coordinates, target destination coordinates nearest to the current coordinates (S103); controlling the currently idle robots (1, 2) to move out of the working area according to return paths corresponding to the target destination coordinates so as to ensure that the currently idle robots (1, 2) exit in an orderly manner (S104); if the paths intersect, performing queue management on the robots (1, 2), and determining a congestion area (501); respectively configuring, according to a request for passage sent by each robot (1, 2) in the congestion area, a dispatch instruction for said robot (1, 2) in the congestion area (S502); and respectively sending the dispatch instruction to said robot (1, 2) in the congestion area to enable said robot (1, 2) having received the dispatch instructions to pass through the congestion area according to said dispatch instruction (S503).
SG11201805378XA 2016-01-04 2016-08-03 Method and device for returning robots from site SG11201805378XA (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201610005062.0A CN105488892B (en) 2016-01-04 2016-01-04 A kind of method and server for robot queuing management
CN201610003129.7A CN105446342B (en) 2016-01-04 2016-01-04 Method and apparatus for the reflux of robot terminal place
PCT/CN2016/093123 WO2017118001A1 (en) 2016-01-04 2016-08-03 Method and device for returning robots from site

Publications (1)

Publication Number Publication Date
SG11201805378XA true SG11201805378XA (en) 2018-07-30

Family

ID=59273376

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201805378XA SG11201805378XA (en) 2016-01-04 2016-08-03 Method and device for returning robots from site

Country Status (8)

Country Link
US (1) US10421186B2 (en)
EP (1) EP3401750B1 (en)
JP (1) JP6671507B2 (en)
KR (1) KR102080424B1 (en)
AU (1) AU2016384096B2 (en)
MY (1) MY200573A (en)
SG (1) SG11201805378XA (en)
WO (1) WO2017118001A1 (en)

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Also Published As

Publication number Publication date
US10421186B2 (en) 2019-09-24
AU2016384096A1 (en) 2018-07-12
JP6671507B2 (en) 2020-03-25
EP3401750A4 (en) 2019-01-02
KR20180096703A (en) 2018-08-29
JP2019503024A (en) 2019-01-31
US20180333847A1 (en) 2018-11-22
WO2017118001A1 (en) 2017-07-13
AU2016384096B2 (en) 2019-10-24
KR102080424B1 (en) 2020-02-21
MY200573A (en) 2024-01-03
EP3401750A1 (en) 2018-11-14
EP3401750B1 (en) 2023-01-11

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