TWI701622B - Method and device for robot field return - Google Patents

Abstract

A method and device for field return of robots (1, 2), including: obtaining the current coordinates of the currently idle robots (1, 2) in the work area (S101); obtaining the currently idle robots (1, 2) 2) All destination coordinates to be returned (S102); According to the distance and time from the current coordinates to all destination coordinates, calculate the target destination coordinates closest to the current coordinates (S103); control the robot in the current idle state (1, 2) ) Drive out of the work area according to the return path corresponding to the target destination coordinates to ensure that the robots (1, 2) in the current idle state leave the field in an orderly manner (S104); and when the path intersection occurs, the robots (1, 2) ) Perform queue management to determine the congestion point area (S501); according to the passing request sent by each robot (1, 2) in the congestion point area, each robot (1, 2) in the congestion point area Set a dispatch instruction (S502); send a dispatch instruction to each robot (1, 2) in the congestion point area, so that the robot (1, 2) that receives the dispatch instruction passes through the congestion according to the dispatch instruction Dot area (S503).

Description

Method and device for robot field return

The present invention relates to the field of communications, in particular, to a method and device for robot field return.

With the development of society and economy, the scale and number of large-scale crowds and logistics places such as supermarkets, airports, stations, convention and exhibition centers, and logistics warehouses continue to expand. This makes the past human-oriented model no longer able to meet people's needs. In this context, robots that can work autonomously came into being. The robot is a multifunctional integrated system that integrates environment perception, route planning, dynamic decision-making, behavior control and alarm modules. It can realize timing and mobile self-service work.

Specifically, in the field of logistics, a robot can be used as a transport device, which is equipped with a walking device and a transport device. The transport device is used to transport the goods in the storage area at a fixed position, and then the transported goods are transported to the designated In order to ensure the normal and orderly cycle work of the robots, each robot needs to return to the designated storage area according to the designated route when the goods being transported are delivered or unloaded in the current goods discharge area by the handling device. Area, and then repeat the work of picking up-shipping-unloading-returning to pick up.

Among them, when there is only one storage area and cargo discharge area, the route of each robot is single. In this case, it is easier to control the movement route of the robot. However, when there are more storage areas and cargo discharge areas, , The corresponding robots have more routes. At this time, when a large number of high-density robot clusters perform large-scale dynamic activities in the field, that is, each robot needs to be orderly as soon as possible after delivering or handling goods. Leaving the field, and the robot waiting to leave the field may affect other working robots in the field. In addition, when the robot cluster has a necessary point on the return path in the field, it is easy to pass this point in a short time. Congestion occurs, resulting in a decrease in overall work efficiency. Therefore, it is necessary to provide an optimized departure scheduling plan to improve work efficiency.

The inventor found in his research that there is no effective solution to the problem of orderly departure and improvement of work efficiency when a large number of high-density robot clusters perform large-scale dynamic activities in the venue. In the process of large-scale dynamic activities in the field, if the robot cluster has a necessary point in the field, when it needs to pass through this point in a short time, congestion is prone to occur, which further reduces the overall work efficiency.

The purpose of the present invention is to provide a method and device for robot field return to ensure that robots leave the work area in an orderly manner as soon as possible after delivering goods, effectively reducing the number of idle robots in the field, and at the same time reducing the robot path Probability of intersection; and when robot path intersections occur, it prevents robots from being congested in the congestion point area, improves the speed of robots passing through the congestion point, and improves the work efficiency of the robot in the field and the overall work efficiency of the robot cluster.

In the first aspect, an embodiment of the present invention provides a method for robot field return, including: obtaining the current coordinates of the robot in the current idle state in the work area; obtaining all the destination coordinates of the robot in the current idle state to be returned Wherein, the destination coordinates are multiple and multiple of the destination coordinates are outside the working area; the outside of the working area includes multiple storage areas in different areas, and multiple destination coordinates are all set in In the storage area of the preset area outside the working area; according to the distance and time from the current coordinates of the currently idle robot to all destination coordinates, calculate the target destination coordinates closest to the current coordinates; control the The robot in the currently idle state drives out of the work area according to the return path corresponding to the target destination coordinates to ensure that the robot in the currently idle state leaves the field in an orderly manner.

With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the distance is calculated based on the distance and time from the current coordinates of the robot in the current idle state to all destination coordinates The nearest target destination coordinates of the current coordinates include: calculating a return path from the current coordinates of the robot in the currently idle state to each of the destination coordinates; calculating the current return path according to the distance and time corresponding to the return path The first matching cost between the current coordinates of the robot in the idle state and each of the destination coordinates; comparing the multiple calculated first matching costs, and selecting the smallest first matching cost; determining the selected one The destination coordinates in the return path corresponding to the smallest first matching cost are the target destination coordinates that are closest to the current coordinates.

In combination with the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, in which the current coordinates of the robot are calculated to each of the destination coordinates The return path includes: obtaining the current coordinates of other robots; according to the current coordinates of the robot in the current idle state and the current coordinates of other robots, calculating the current coordinates of the robot in the current idle state to each of the destination coordinates Return path.

With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the method further includes: determining whether the power of the robot in the current idle state meets the standard power; When the power of the robot in the current idle state is lower than the standard power, the corresponding robot is determined to be a robot to be charged; all the coordinates of the charging station to be returned by the robot to be charged are acquired; wherein the coordinates of the charging station are more One and more of the charging station coordinates are all located in a preset area outside the working area; according to the distance and time from the current coordinates of the robot to be charged to the coordinates of all charging stations, the closest distance to the current coordinates of the robot to be charged is calculated The coordinates of the target charging station; control the robot to be charged to drive out of the work area according to the return path corresponding to the coordinates of the target charging station to ensure that the robot to be charged enters the target charging station in an orderly manner for charging.

In combination with the third possible implementation manner of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the current coordinates of the robot to be charged to the coordinates of all charging stations Distance and time. Calculating the coordinates of the target charging station closest to the current coordinates of the robot to be charged includes: calculating a return path from the current coordinates of the robot to be charged to each of the charging station coordinates; according to the corresponding return path Distance and time, calculating a second matching cost between the current coordinates of the robot to be charged and each of the charging station coordinates; comparing a plurality of the second matching costs calculated, and selecting the smallest second matching cost; It is determined that the coordinates of the charging station in the return path corresponding to the selected minimum second matching cost are the coordinates of the target charging station closest to the current coordinates of the robot to be charged.

With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein establishing data connections with multiple robots respectively further includes: determining a congestion point area; according to the congestion point area Each robot sends a pass request to set a scheduling instruction for each robot in the congestion point area; and sends a scheduling instruction to each robot in the congestion point area, so that the robot that receives the scheduling instruction is based on the The scheduling instruction passes through the congestion point area.

In combination with the fifth possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the determining the congestion point area includes: obtaining the paths of the multiple robots Determine the congestion point according to the paths of the multiple robots; determine the congestion point area from the adjacent area of the congestion point.

In combination with the sixth possible implementation manner of the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, wherein the passing request includes: the position of the robot in the congestion point area.

With reference to the first aspect, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, wherein the passing request sent by each robot in the congestion point area is respectively in the congestion point area The scheduling instructions for each robot in the configuration include: according to the time sequence of the passage request sent by each robot in the congestion point area, and the position of each robot in the congestion point area included in the passage request, A scheduling instruction is set for each robot in the congestion point area respectively.

With reference to the first aspect, an embodiment of the present invention provides a ninth possible implementation manner of the first aspect, wherein the scheduling instruction includes: the time when the robot starts running in the congestion point area, and the robot passes through the The route of the congestion point area and the speed of the robot passing through the congestion point area.

In a second aspect, an embodiment of the present invention also provides a device for robot field return, including: a first acquisition module for acquiring the current coordinates of the robot in the current idle state in the work area; and a second acquisition module, Used to obtain all the destination coordinates to be returned by the robot in the current idle state; wherein, there are multiple destination coordinates and multiple destination coordinates are outside the working area; the outside working area includes multiple For the storage areas of different areas, multiple destination coordinates are set in the storage area of the preset area outside the working area; the first calculation module is used to reach the destination coordinates according to the current coordinates of the robot in the current idle state. The distance and time of all destination coordinates are calculated, and the target destination coordinates closest to the current coordinates are calculated; the first control module is used to control the robot in the current idle state to drive along the return path corresponding to the target destination coordinates Leave the work area to ensure that the robots in the current idle state leave the field in an orderly manner.

With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, wherein the first calculation module includes: a first calculation unit configured to calculate the current idle state of the robot The return path from current coordinates to each of the destination coordinates; a second calculation unit, configured to calculate the current coordinates of the robot in the currently idle state and each of the destinations according to the distance and time corresponding to the return path The first matching cost between the coordinates; a first comparison unit for comparing a plurality of the first matching costs calculated; a first selection unit for selecting the smallest first match compared by the first comparison unit Cost; a first determining unit, configured to determine that the destination coordinates in the return path corresponding to the selected minimum first matching cost are the target destination coordinates that are closest to the current coordinates.

With reference to the first possible implementation manner of the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, wherein the first calculation unit includes: an acquisition subunit for acquiring other robots The current coordinates of the; calculation subunit for calculating the return path from the current coordinates of the currently idle robot to each of the destination coordinates according to the current coordinates of the currently idle robot and the current coordinates of other robots .

With reference to the second aspect, an embodiment of the present invention provides a third possible implementation manner of the second aspect, wherein the device further includes: a judgment module for judging whether the power of the robot in the current idle state meets the standard Electricity; a first determination module, used to determine that the corresponding robot is a robot to be charged when it is detected that the current idle state of the robot’s power is lower than the standard power; the second acquisition module is used to acquire The coordinates of all charging stations to be returned by the robot to be charged; wherein, there are multiple charging station coordinates and the multiple charging station coordinates are all located in a preset area outside the working area; the second calculation module is used for According to the distance and time from the current coordinates of the robot to be charged to the coordinates of all charging stations, calculate the coordinates of the target charging station closest to the current coordinates of the robot to be charged; the second control module is used to control the robot to be charged Drive out of the work area according to the return path corresponding to the coordinates of the target charging station to ensure that the robot to be charged enters the target charging station for charging in an orderly manner.

In combination with the third possible implementation manner of the second aspect, an embodiment of the present invention provides a fourth possible implementation manner of the second aspect, wherein the second calculation module includes: a third calculation unit for calculating The return path from the current coordinates of the robot to be charged to the coordinates of each charging station; the fourth calculation unit is used to calculate the current coordinates of the robot to be charged and each of the coordinates according to the distance and time corresponding to the return path A second matching cost between the coordinates of the charging station; a second comparison unit, used to compare a plurality of the second matching costs calculated; a second selection unit, used to select the smallest one obtained by the second comparison unit comparison A second matching cost; a second determining unit for determining that the charging station coordinates in the return path corresponding to the selected minimum second matching cost are the coordinates of the target charging station closest to the current coordinates of the robot to be charged.

In combination with the third possible implementation manner of the second aspect, an embodiment of the present invention provides a fifth possible implementation manner of the second aspect, wherein the device establishes data connections with multiple robots respectively, and further includes: 2. A determination module, used to determine the congestion point area; a setting module, used to set scheduling instructions for each robot in the congestion point area according to the pass request sent by each robot in the congestion point area The sending module is configured to send a scheduling instruction to each robot in the congestion point area, so that the robot that receives the scheduling instruction passes through the congestion point area according to the scheduling instruction.

With reference to the third possible implementation manner of the second aspect, an embodiment of the present invention provides a sixth possible implementation manner of the second aspect, wherein the second determining module includes: an acquiring unit configured to acquire The path of the multiple robots; a congestion point determination unit for determining a congestion point according to the paths of the multiple robots; a congestion point area determination unit for determining a congestion point area from the adjacent area of the congestion point.

In combination with the third possible implementation manner of the second aspect, an embodiment of the present invention provides a seventh possible implementation manner of the second aspect, wherein the passing request includes the position of the robot in the congestion point area.

In combination with the third possible implementation manner of the second aspect, an embodiment of the present invention provides an eighth possible implementation manner of the second aspect, in which the setting module is configured to perform according to each congestion point area. The time sequence of the passage request sent by each robot, and the position of each robot included in the passage request in the congestion point area, respectively set a scheduling instruction for each robot in the congestion point area.

In combination with the third possible implementation manner of the second aspect, an embodiment of the present invention provides a ninth possible implementation manner of the second aspect, wherein the scheduling instruction includes: the robot starts running in the congestion point area Time, the route of the robot passing the congestion point area and the speed of the robot passing the congestion point area.

An embodiment of the present invention provides a method and device for robot field return, including: first obtaining the current coordinates of the robot in the current idle state in the work area and all the destination coordinates to be returned; then, according to the current coordinates of the robot The distance and time to all destination coordinates are calculated, and the target destination coordinates closest to the current coordinates are calculated. Finally, the robot is controlled to drive out of the work area according to the return path corresponding to the target destination coordinates to ensure the orderly departure of idle robots, and The problem of the large number and high density of robot clusters in the field in order to leave the field in the previous technology has not been effectively resolved. Compared with the distance and time from the current coordinates of the robots in the idle state based on instant positioning to all destination coordinates , Calculate the coordinates of the target destination, and control the robot to drive out of the work area according to the return path corresponding to the calculated target destination coordinates, ensuring that the robot will leave the work area in an orderly manner as soon as possible after delivering the goods, effectively reducing the number of idle robots in the field At the same time, it also reduces the probability of robot path intersection; and when there is robot path intersection, the robots are queued, and the data connection with multiple robots is established to determine the congestion point area; according to each congestion point area The passing request sent by each robot and the path of each robot in the congestion point area are respectively set up scheduling instructions for each robot in the congestion point area; dispatching instructions are sent to each robot in the congestion point area to make the dispatch The instructed robot passes through the congestion point area according to the scheduling instruction, avoids the robot from being congested in the congestion point area, increases the speed of the robot through the congestion point, and improves the work efficiency of the robot in the field and the overall work efficiency of the robot cluster.

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are described in detail below in conjunction with the accompanying drawings.

1, 2‧‧‧Robot

11‧‧‧First acquisition module

12‧‧‧Second acquisition module

13‧‧‧The first calculation module

14‧‧‧The first control module

15‧‧‧Judgment Module

16‧‧‧First Confirmation Module

17‧‧‧Second acquisition module

18‧‧‧Second calculation module

19‧‧‧Second control module

51‧‧‧Second Confirmation Module

52‧‧‧Setting Module

53‧‧‧Send module

131‧‧‧First calculation unit

132‧‧‧Second calculation unit

133‧‧‧First comparison unit

134‧‧‧First choice unit

135‧‧‧First determination unit

181‧‧‧The third calculation unit

182‧‧‧Fourth calculation unit

183‧‧‧The second comparison unit

184‧‧‧Second Choice Unit

185‧‧‧Second Determining Unit

1311‧‧‧Get subunit

1312‧‧‧Calculation subunit

S101~S104‧‧‧Step

S201~S204‧‧‧Step

S301~S305‧‧‧Step

S401~S404‧‧‧Step

S501~S503‧‧‧Step

In order to explain the technical solutions of the embodiments of the present invention more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and therefore do not It should be regarded as a limitation of the scope. For those with ordinary knowledge in the technical field of the case, they can also obtain other related schemas based on these schemas without creative work.

Figure 1 shows a flow chart of a method for robot field return provided by an embodiment of the present invention; Figure 2 shows a flowchart of another method for robot field return provided by an embodiment of the present invention; 3 shows a flowchart of another method for robot field return provided by an embodiment of the present invention; FIG. 4 shows a flowchart of another method for robot field return provided by an embodiment of the present invention; 5 shows a flow chart of another method for backflow of a robot field provided by an embodiment of the present invention; FIG. 6 shows a schematic diagram of the positions of the robot 1 and the robot 2 in the congested area provided by the embodiment of the present invention; FIG. 7 shows another schematic diagram of the positions of the robot 1 and the robot 2 in the congestion point area provided by the embodiment of the present invention; FIG. 8 shows the position of the robot 1 and the robot 2 through the congestion point area provided by the embodiment of the present invention. Route map; Figure 9 shows a schematic structural diagram of a device for robot field return provided by an embodiment of the present invention; Figure 10 shows the first in the device for robot field return provided by an embodiment of the present invention Schematic diagram of the structure of the computing module; Figure 11 shows a schematic diagram of the structure of the first computing unit in a device for robot field return provided by an embodiment of the present invention; Figure 12 shows another embodiment of the present invention. Schematic diagram of the structure of the device for robot field return; FIG. 13 shows the structure of the second calculation module in the device for robot field return provided by an embodiment of the present invention.

Fig. 14 shows a schematic structural diagram of another device for robot field return provided by an embodiment of the present invention.

The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The elements of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by a person with ordinary knowledge in the technical field to which the case belongs without creative work shall fall within the protection scope of the present invention.

The emergence of robots has provided great help for the development of social economy, such as being able to meet the growing demand for the scale and number of large-scale crowds and logistics venues such as supermarkets, airports, stations, convention and exhibition centers, and logistics warehouses, such as applications in the logistics field , The robot can be used as a transmission device to transport the goods in the storage area from the storage area to the delivery area (that is, the cargo discharge area) and deliver them, and then return to the corresponding storage area, and there is only one storage area and the goods mentioned above. In the case of the discharge area, each robot has a single route. In this case, it is easier to control the robot's active route. However, when there are more storage areas and cargo discharge areas, the corresponding robots have more routes. At the time, when a large number of high-density robot clusters perform large-scale dynamic activities in the venue, that is, after each robot delivers or transports goods, it needs to leave the venue as soon as possible in an orderly manner, and the robots waiting to leave the venue may Affects other working robots in the field; in addition, when the robot cluster has a necessary point on the return path in the field, if it needs to pass through this point in a short time, congestion is prone to occur, resulting in a decrease in overall work efficiency Therefore, it is necessary to provide an optimized departure scheduling plan to improve work efficiency.

In this regard, referring to FIG. 1, an embodiment of the present invention provides a method for robot field return, and the method includes the following steps:

S101. Acquire the current coordinates of the robot in the currently idle state in the work area.

Specifically, the robot in the work area is in the idle state after delivering the goods to be transported. At this time, the current coordinates of the robot in the current idle state are first obtained, that is, the current coordinates of the robot in the current idle state are determined.

In fact, there are multiple robot delivery areas (that is, cargo discharge areas) in the work area, and determining the current coordinates of the robot in a large range is to determine the location of the delivery area where the robot is currently delivering.

Specifically, the working area of the above-mentioned robot can be divided into multiple spaces (the spaces can be understood as spaces with preset length and width), and each space corresponds to the coordinates of a position, and each space can only accommodate one robot. When a space is occupied by a robot, the space cannot accommodate another robot, that is, two or more robots cannot occupy the same space at the same time.

Therefore, the current coordinates of the robot that has delivered the goods are determined, that is, the position of the space where the robot has delivered the goods is obtained (that is, determined).

S102. Acquire all destination coordinates to be returned by the robot in the currently idle state; wherein there are multiple destination coordinates and multiple destination coordinates are outside the work area; the outside work area includes multiple For the cargo storage areas of different regions, a plurality of the destination coordinates are set in the cargo storage area of the preset area outside the working area.

Wherein, there may be multiple destination coordinates and multiple destination coordinates are outside the working area; and the robot’s working area includes multiple storage areas in different areas, and the multiple destination coordinates are It is correspondingly set in the storage area of the preset area outside the working area.

Specifically, after determining the position of the space where the robot has delivered the goods, it is also necessary to determine the destination coordinates of all the storage areas outside the work area where the idle robot is to leave (that is, to return), so as to determine The current coordinates of, and the return path of all destination coordinates, calculate the target destination coordinates closest to the current coordinates.

S103: Calculate the target destination coordinates closest to the current coordinates according to the distance and time from the current coordinates of the robot in the currently idle state to all destination coordinates.

Specifically, after determining the current coordinates of the robot in the idle state and all the destination coordinates, according to the distance and time from the current coordinates of the robot in the idle state to each of the destination coordinates, the corresponding combination of distance and time is calculated Optimal combination, and then the destination coordinates corresponding to the optimal combination are used as the target destination coordinates closest to the current coordinates.

Wherein, the distance from the current coordinates of the robot in the idle state to each of the destination coordinates (i.e. the driving route) is determined by comprehensively considering the routes of multiple robots, and the distance (i.e. the driving route) corresponds to the current idle state The route of the robot and other robots (including other idle robots and working robots) will not overlap (that is, avoid two or more robots occupying an idle space at the same time), so that the idle state of the machine can be made Everyone can return to the destination coordinates of the storage area in an orderly manner, so as to carry out the next cycle of pick-up, handling, unloading (ie delivery) and departure.

S104. Control the robot in the current idle state to drive out of the work area according to the return path corresponding to the target destination coordinates to ensure that the robot in the current idle state leaves the field in an orderly manner.

Specifically, the robot in the current idle state is controlled to drive out of the work area according to the return path corresponding to the target destination coordinates calculated above, and return to the target destination coordinates of the corresponding storage area to ensure that the robot will deliver the goods as soon as possible Leaving the work area in an orderly manner effectively reduces the number of idle robots in the field, and at the same time reduces the probability of robot paths crossing, and improves the efficiency of robots in the field.

The method for returning robots to the field provided by the embodiment of the present invention is compared with the problem that the large number and high-density robot clusters in the prior art have not effectively solved the problem of orderly leaving in the field. It is based on real-time positioning. The distance and time from the current coordinates of the idle robot to all destination coordinates, calculate the target destination coordinates, and control the robot to drive out of the work area according to the calculated return path corresponding to the target destination coordinates, ensuring that the robot will deliver the goods after delivery Leaving the work area as soon as possible in an orderly manner, effectively reducing the number of idle robots in the field, and at the same time reducing the probability of robot paths crossing, and improving the efficiency of robots in the field.

The robot’s work area includes multiple storage areas in different areas, and multiple destination coordinates are set in the storage area of the preset area outside the work area, in order to further ensure that the robot can deliver goods as soon as possible after delivery. To leave the work area in an orderly manner, the storage area of the target destination coordinates closest to the idle robot can be calculated for the current coordinates of the idle robot, and then the idle robot is controlled to store the coordinates along the target destination coordinate. The return path of the cargo area is driven out of the work area, so that the robot can leave the field faster.

Specifically, referring to FIG. 2, the foregoing step 103 specifically includes:

S201: Calculate a return path from the current coordinates of the robot in the currently idle state to each of the destination coordinates.

Specifically, the robot’s working area includes a plurality of storage areas in different areas, and multiple destination coordinates are set in the storage area of the preset area outside the working area. In order to facilitate the determination of the distance from the current idle state The current coordinate of the robot is the closest target destination coordinate target, and the return path from the current coordinates of the robot in the current idle state to each of the destination coordinates is first calculated, and the return path carries distance and time parameters.

Preferably, the method for determining the return path includes: first obtaining the current coordinates of other robots in the field; and then calculating the current coordinates of the current idle state based on the current coordinates of the robot in the currently idle state and the current coordinates of other robots in the field. The return path from the current coordinates of the robot to each of the destination coordinates is to ensure that the route of the idle robot out of the work area does not overlap with other robots, that is, to prevent two or more robots from occupying at the same time A free space.

S202: Calculate the first matching cost between the current coordinates of the robot in the currently idle state and each of the destination coordinates according to the distance and time corresponding to the return path.

Specifically, according to the return path determined in step 201, the first matching cost including distance and time parameters is calculated; specifically, the first matching cost can be calculated as: first matching cost=distance×distance weight+time× The weight of time; alternatively: the calculation method of the first matching cost can be: the first matching cost=the product of the weight of distance×distance and the weight of time×time.

It should be noted that the calculation method of the first matching cost in the embodiment of the present invention is not limited to the above two calculation methods, and the calculation method of the present invention is not specifically limited.

S203. Compare the multiple calculated first matching costs, and select the smallest first matching cost.

Specifically, select any one of the above calculation methods to calculate the first matching cost, and then compare all the first matching costs obtained by the above calculations, and select the matching cost with the smallest numerical result, so that the corresponding selected numerical value will be matched subsequently The destination coordinates of the cost are taken as the target destination coordinates closest to the current coordinates.

S204: Determine that the destination coordinates in the return path corresponding to the selected smallest first matching cost are the target destination coordinates that are closest to the current coordinates.

Considering that the robot in the idle state may have insufficient power, causing the robot to be unable to complete the next process from picking up to delivery to returning, or considering that the power of the idle robot is not enough to complete the goods in the entire work area When there is a problem with the farthest return path from the delivery point to the pickup point outside the work area, it is also necessary to detect the power of the robot immediately, and control the robot to go to the robot charging station outside the work area to charge when the power is insufficient. Figure 3, the specific implementation is as follows:

S301: Determine whether the power of the robot in the current idle state meets the standard power.

The standard electric quantity in the embodiment of the present invention is the electric quantity that enables the robot to satisfy the furthest path from picking up to transporting to unloading to returning to the storage area; and after the current robot has completed the unloading process, it first determines the idle state Whether the remaining power of the robot is lower than the standard power, if the remaining power of the idle robot is lower than the standard power, the robot needs to be dispatched to the robot charging station for charging in time to ensure that the idle robot can successfully complete the download A round of work from picking up to shipping to unloading to returning to the storage area.

S302: When it is detected that the power of the robot in the current idle state is lower than the standard power, it is determined that the corresponding robot is a robot to be charged.

Specifically, when it is detected that the remaining power of the robot in the idle state is lower than the standard power, in order to dispatch the robot in the idle state to charge in time, the robot is first determined as the robot to be charged, so that the robot to be charged will be dispatched uniformly subsequently. Robot charging station.

S303. Obtain all charging station coordinates to be returned by the robot to be charged; wherein there are multiple charging station coordinates and the multiple charging station coordinates are all located in a preset area outside the working area.

In fact, after determining the position of the space where the robot to be charged is located, it is also necessary to determine the coordinates of all the charging stations where the robot to be charged is to leave the field (that is, to be returned), so as to determine the current coordinates and the return of all the charging station coordinates. The path calculates the coordinates of the target charging station closest to the current coordinates.

S304: Calculate the coordinates of the target charging station closest to the current coordinates of the robot to be charged according to the distance and time from the current coordinates of the robot to be charged to the coordinates of all charging stations.

Specifically, after the current coordinates of the robot to be charged and the coordinates of all charging stations are determined, the optimal combination of distance and time is calculated according to the distance and time from the current coordinates of the robot to be charged to each of the charging station coordinates Then, the coordinates of the charging station corresponding to the optimal combination are used as the coordinates of the target charging station closest to the current coordinates.

Wherein, the distance from the current coordinates of the robot to be charged to each of the charging station coordinates (i.e. the driving route) is determined by comprehensively considering the routes of multiple robots. The distance (i.e. driving route) corresponds to the robot to be charged and other The routes of the robots (including the robot to be charged and the robot that will return to the target destination coordinates later) will not overlap (that is, to avoid two or more robots occupying an empty space at the same time), so that the robot to be charged can be Return to the target charging station in an orderly manner for charging, and then proceed to the next cycle of picking up, handling, unloading (ie delivery) and leaving the site.

S305. Control the robot to be charged to drive out of the work area according to the return path corresponding to the coordinates of the target charging station to ensure that the robot to be charged enters the target charging station in an orderly manner for charging.

Specifically, the robot to be charged is controlled to drive out of the work area according to the return path corresponding to the coordinates of the target charging station calculated above, and drive into the robot charging station corresponding to the coordinates of the charging station to ensure that the robot to be charged leaves the work area in an orderly manner as soon as possible Charging effectively reduces the number of idle robots in the field, and at the same time reduces the probability of robot paths crossing, and improves the working efficiency of robots in the field.

The robot’s working area includes multiple robot charging stations (including charging station coordinates) in different areas. The multiple charging station coordinates are all set in the storage area of the preset area outside the working area. In order to further ensure the robot After the goods are delivered, leave the work area and go to the robot charging station in an orderly manner. According to the current coordinates of the idle robot, the coordinates of the target charging station closest to the idle robot can be calculated, and then the idle robot can be controlled along The return path of the target charging station coordinates exits the work area, which enables the robot to leave the field faster. In this regard, referring to FIG. 4, in the embodiment of the present invention, the specific implementation of the foregoing step 304 is as follows:

S401: Calculate the return path from the current coordinates of the robot to be charged to the coordinates of each charging station.

In order to facilitate the determination of the target charging station coordinates closest to the current coordinates of the robot to be charged, first calculate the return path from the current coordinates of the robot to be charged to each of the charging station coordinates, and the return path carries distance and time parameters.

Preferably, the method for determining the return path includes: first obtaining the current coordinates of other robots; then, according to the current coordinates of the robot to be charged and the current coordinates of other robots, calculating the current coordinates of the robot to be charged to each of the robots. The purpose of describing the return path of the charging station coordinates is to ensure that the route of the robot to be charged out of the work area does not overlap with other robots, that is, to prevent two or more robots from occupying an empty space at the same time.

S402: Calculate a second matching cost between the current coordinates of the robot to be charged and the coordinates of each charging station according to the distance and time corresponding to the return path. Specifically, according to the return path determined in step 401, the second matching cost including distance and time parameters is calculated; specifically, the second matching cost can be calculated as follows: second matching cost=distance×distance weight+time× The weight of time; alternatively: the calculation method of the second matching cost can be: the second matching cost=the product of the weight of distance×distance and the weight of time×time.

It should be noted that the calculation method of the second matching cost in the embodiment of the present invention is not limited to the above two calculation methods, and the calculation method of the present invention is not specifically limited.

S403: Compare the multiple calculated second matching costs, and select the smallest second matching cost.

Specifically, select any one of the above calculation methods to calculate the second matching cost, and then compare all the second matching costs obtained by the above calculations, and select the matching cost with the smallest numerical result, so that the corresponding selected numerical value will be matched subsequently The coordinates of the charging station of the cost are taken as the coordinates of the target charging station closest to the current coordinates.

S404. Determine that the charging station coordinates in the return path corresponding to the selected minimum second matching cost are the coordinates of the target charging station closest to the current coordinates of the robot to be charged.

Further, referring to Fig. 5, when the robot path intersection occurs, the robots are queued and managed to establish data connections with multiple robots. The above method further includes:

Step S501: Determine the congestion point area.

In the embodiment of the present invention, the server establishes a data connection with multiple robots in the field (including idle robots and working robots), and then obtains the paths of the multiple robots (including the return of idle robots). The path and the travel path of the robot in the working state), and analyze the return paths of the multiple robots, determine that the location with a higher frequency in the path is the congestion point, and determine the congestion point from the adjacent area of the congestion point The congestion point area is different from arranging the robots in a row, and the robots that enter the congestion point area first are placed in the foremost queuing area, but include the robots scattered at various positions in the congestion point area.

Step S502: According to the passing request sent by each robot in the congestion point area, a scheduling instruction is set for each robot in the congestion point area.

Wherein, the passing request includes but is not limited to: the position of the robot in the congestion point area. Each robot entering the congestion point area will be triggered to send a pass request to the server. The server will send a pass request to each robot in the congestion point area according to the time sequence of the pass request, and each robot included in the pass request is in the congestion point area Set the scheduling instructions for each robot in the congestion area.

Specifically, to set scheduling instructions for robots in the congestion area, the following factors need to be considered:

(1) The time sequence in which the robot sends the approval request;

Each request sent by the robot has a time limit. In order to avoid the timeout of the response to the request sent by the robot, and to avoid that the robot that first reaches the congestion point area can not pass the congestion point area first, when the server sets the scheduling command for the robot, it needs to be sent according to the robot The time sequence of the request is set.

(2) The position of the robot in the congestion area;

The congestion point area is the area adjacent to the congestion point. After each robot enters the congestion point area, they are scattered at various positions in the congestion point area. They are not lined up. The robots that enter the congestion point area first are ranked first. If a robot is blocked by other robots on its route through a congestion point, in order to quickly pass through the congestion point area, a scheduling command can be set for the robot that blocks other robots to make it pass the congestion point area first.

Among them, according to the different requirements of the server for the robot to pass through the congestion point area, the priority order of the adjustment factors (1) and (2) can be adapted. For example, when the server has a higher timeliness requirement for the passage request of the robot to enter the congestion point area, increase the proportion of factor (1); when the server has a lower timeliness request for the robot to enter the congestion point area, it is for the robot to pass through the congestion point area. If the overall efficiency requirement of the dot area is higher, increase the ratio of factor (2).

It should be noted that in order to increase the speed of robots passing through the congestion point area, each robot should pass through the congestion point area at the maximum walking speed. Moreover, considering that the maximum walking speed of each robot is different, in order to avoid the robot in the congestion point area Congestion, the server should set scheduling instructions for each robot according to the maximum walking speed of each robot.

Among them, the scheduling instructions include but are not limited to: the time when the robot starts to run in the congestion point area, the route of the robot through the congestion point area, and the speed of the robot through the congestion point area.

It should be noted that the ways in which the scheduling instruction includes the time when the robot starts to run in the congestion point area include: A. Directly carry the start execution time in the scheduling instruction; B. When the time when the robot starts to run, send the robot containing the robot Scheduling instructions for the route through the congestion point area and the speed of the robot through the congestion point area.

It should be noted that after entering the congestion point area, the robot is in a waiting state. After receiving the dispatching instruction, it starts to pass the congestion point area according to the dispatching instruction. Among them, since the time for the server to set the scheduling command is very fast and can be ignored, the robot is in the waiting state for not long, and it will not affect the speed of the robot through the congestion point area.

Step S503: Send a scheduling instruction to each robot in the congestion point area, so that the robot that receives the scheduling instruction passes through the congestion point area according to the scheduling instruction.

After the server sets the scheduling instructions for each robot in the congestion point area, it sends the scheduling instructions for each robot to the corresponding robots. The robots receive the scheduling instructions and start with the scheduling instructions according to the start execution time in the scheduling instructions. The route and speed through the congestion point area.

In the method provided by the embodiment of the present invention, the congestion point area is further determined; according to the passing request sent by each robot in the congestion point area and the path of each robot in the congestion point area, the Each robot in the congestion point area sets a scheduling instruction; and each robot in the congestion point area is sent a scheduling instruction, so that the robot that receives the scheduling instruction passes through the congestion point area according to the scheduling instruction. Analyze the passing request of each robot in the congestion point area, and set its own scheduling instructions for each robot to avoid the robot from being congested in the congestion point area, improve the speed of the robot passing the congestion point, and improve the overall robot cluster Work efficiency.

The above steps S501-S503 will be described in detail below in conjunction with specific application scenarios. Among them, there are robots 1, 2 and servers in the system, and there is a robot work area in the field, where point A is a node between the work area and the storage area, the robot charging area and the storage area C1, C2... CN, in order to facilitate the setting of the return path, the server nodeizes the entire work area, assigns coordinates (x, y) to each node (space), and sets the gravity value of the congestion point to (0,0), and then moves it around For node radiation, every time the distance increases by 1 coordinate unit, the gravity value increases by 1 unit, that is, the gravity value is the minimum distance from the coordinate point to the coordinate origin, where the gravity value = X coordinate + Y coordinate.

The server learns that the path of the robot 1 is: from a certain position in the work area-A-C1, and the path of the robot 2 is from a certain position in the work area-A-C2. After analysis, the server determines that all robots will pass through point A, and point A appears the most frequently. Therefore, it determines that A is the congestion point and selects the congestion point area from the area adjacent to A. The robot is set to be triggered to send a pass request to the server when it enters the congestion area.

When robot 1 and robot 2 enter the congestion point area in turn, they respectively send their positions in the congestion point area to the server. As shown in FIG. 6, the position of robot 1 and robot 2 in the congestion point area is provided in this embodiment. Location map, where the position coordinate of robot 1 is (5,6) and the gravity value is 11; the position coordinate of robot 2 is (5,0), the gravity value is 5, and there is a minimum of non-coincidence between robot 1 and robot 2. Path, where the path of robot 1 is S1, and the path of robot 2 is S2.

It can be seen from Figure 6 that although the robot 1 sends a pass request to the server first, the gravity value of the robot 2 is smaller and the location of the congestion point is closer. If the time T1 for the robot 1 to pass the congestion point A is greater than that of the robot 2 to pass the congestion At time T2 of point A, in order to improve the efficiency of robots passing through congestion point A, robots 1 and 2 choose the smallest path to pass through congestion point A. While not affecting robot 1’s passage through congestion point A, set robot 2 to include and robot 1 The same start execution time scheduling instruction, and the path S1 of robot 1 and the path S2 of robot 2 in the scheduling instruction do not overlap, as shown in the S1 and S2 paths in Figure 6, which saves the robot 2 from passing through the congestion point A through the path S2 Time, thereby increasing the overall speed of the robots 1 and 2 through the congestion point A.

If the time T1 for robot 1 to pass through congestion point A is less than the time T2 for robot 2 to pass through congestion point A (due to the different speeds of each robot, this will happen if the speed of robot 1 is greater than that of robot 2), then It is possible to set a scheduling instruction containing the same start execution time for robot 1 and robot 2, so that after robot 1 passes through congestion point A, the time for robot 2 to pass through congestion point A is not affected, thereby increasing the time for robots 1 and 2 to pass through congestion point A. The overall speed.

If the time T1 for robot 1 to pass through congestion point A is equal to the time T2 for robot 2 to pass through congestion point A, then when the server has requirements for the time sequence of the robot's passing requests, it can start execution included in the scheduling instructions set for robot 1 The time has priority over the start execution time included in the scheduling instruction set for robot 2, and the path S1 of robot 1 and the path S2 of robot 2 in the scheduling instruction do not overlap. For example, the scheduling instruction set for robot 1 is "10:00 in accordance with S1 The path passes through the congestion point A at a speed of 3 km/h. The scheduling instruction set for the robot 2 can be “10:01 to pass through the congestion point A at a speed of 3.5 km/h according to the S2 path”.

As shown in Fig. 7, another position map of robot 1 and robot 2 in the congestion point area provided by this embodiment, where the position coordinate of robot 1 is (6, 0), the gravity value is 6; the position of robot 2 The coordinates are (5, 0), the gravity value is 5, the path of the robot 1 is S1, the path of the robot 2 is S2, and the robot 2 is on the minimum path of the robot 1.

Although robot 1 first sends a pass request to the server, robot 2 is closer to congestion point A. If the time T1 for robot 1 to pass congestion point A is greater than the time T2 for robot 2 to pass congestion point A, in order to improve the robot passing The efficiency of congestion point A is to set scheduling instructions with the same start execution time for robot 1 and robot 2. Among them, the path of robot 1 is S1, and the path of robot 2 is S2, that is, the path that does not affect robot 1 passing through congestion point A At the same time, the time for the robot 2 to pass through the congestion point A is saved, thereby increasing the overall speed of the robots 1 and 2 through the congestion point A.

If the time T1 for the robot 1 to pass through the congestion point A is less than or equal to the time T2 for the robot 2 to pass through the congestion point A (due to the different speeds of each robot, this situation will occur if the speed of the robot 1 is greater than the speed of the robot 2), then According to the time sequence of the robot sending the request, the start execution time included in the scheduling instruction set for robot 1 has priority over the start execution time included in the scheduling instruction set for robot 2. The path of robot 1 is S1', where S1' In order to bypass the path of the robot 2 through the congestion point A, as shown in FIG. 8 S1'. If the scheduling instruction is set according to the position of the robot in the congestion point area, the start execution time included in the scheduling instruction set for robot 2 has priority over the start execution time included in the scheduling instruction set for robot 1, and the path of robot 1 is S1', the path of the robot 2 is S2, so that the robot 2 passes before the robot 1 passes the congestion point A.

It should be noted that Figs. 6 and 7 are only a specific application scenario provided by this embodiment. In actual applications, the robot cluster is not limited to two robots, as long as it is provided according to this embodiment according to each of the congestion point areas. The time sequence of the passing requests sent by each robot, the position of each robot included in the passing request within the congestion point area, and the method of setting scheduling instructions for each robot in the congestion point area are all in this Within the scope of protection of the invention.

In the method provided by the embodiment of the present invention, the congestion point area is further determined; according to the passing request sent by each robot in the congestion point area and the path of each robot in the congestion point area, the Each robot in the congestion point area sets a scheduling instruction; and each robot in the congestion point area is sent a scheduling instruction, so that the robot that receives the scheduling instruction passes through the congestion point area according to the scheduling instruction. Analyze the passing request of each robot in the congestion point area, and set its own scheduling instructions for each robot to avoid the robot from being congested in the congestion point area, improve the speed of the robot passing the congestion point, and improve the overall robot cluster Work efficiency.

The method for returning robots to the field provided by the embodiment of the present invention is compared with the problem that the large number and high-density robot clusters in the prior art have not effectively solved the problem of orderly leaving in the field. It is based on real-time positioning. The distance and time from the current coordinates of the idle robot to all destination coordinates, calculate the target destination coordinates, and control the robot to drive out of the work area according to the calculated return path corresponding to the target destination coordinates, ensuring that the robot will deliver the goods after delivery Leaving the work area as soon as possible in an orderly manner, effectively reducing the number of idle robots in the field, and at the same time reducing the probability of robot path intersections; and when robot path intersections occur, the robots are queued and managed by establishing a connection with multiple robots. According to the data connection of the congestion point area, determine the congestion point area; according to the passing request sent by each robot in the congestion point area and the path of each robot in the congestion point area, set scheduling instructions for each robot in the congestion point area; Each robot in the point area sends a scheduling instruction so that the robot that receives the scheduling instruction passes through the congestion point area according to the scheduling instruction, avoiding the robot from being congested in the congestion point area, increasing the speed of the robot passing the congestion point, and improving the robot’s presence in the field The work efficiency and the overall work efficiency of the robot cluster.

The embodiment of the present invention also provides a device for robot field return, the device is used to implement the above method for robot field return, the device can be set in a server that controls the robot's work, referring to FIG. 9, The device includes: a first acquisition module 11 for acquiring the current coordinates of the robot in the current idle state in the work area; a second acquisition module 12 for acquiring all the destination coordinates of the robot in the current idle state to be returned; Among them, there are multiple destination coordinates and multiple destination coordinates are outside the working area; outside the working area includes multiple storage areas in different areas, and multiple destination coordinates are set in the storage area of the preset area outside the working area. In the cargo area; the first calculation module 13 is used to calculate the target destination coordinates closest to the current coordinates according to the distance and time from the current coordinates of the robot in the currently idle state to all destination coordinates; the first control module 14, It is used to control the robot in the current idle state to drive out of the work area according to the return path corresponding to the target destination coordinates to ensure that the robot in the current idle state leaves the field in an orderly manner.

An embodiment of the present invention provides a device for returning robots to the field. Compared with the problem of the large number and high-density of robot clusters in the prior art, the problem of orderly leaving the field after activities in the field has not been effectively solved, it is based on real-time positioning. The distance and time from the current coordinates of the idle robot to all destination coordinates, calculate the target destination coordinates, and control the robot to drive out of the work area according to the calculated return path corresponding to the target destination coordinates, ensuring that the robot will deliver the goods after delivery Leaving the work area as soon as possible in an orderly manner, effectively reducing the number of idle robots in the field, and at the same time reducing the probability of robot paths crossing, and improving the efficiency of robots in the field.

The robot’s work area includes multiple storage areas in different areas, and multiple destination coordinates are set in the storage area of the preset area outside the work area, in order to further ensure that the robot can deliver goods as soon as possible after delivery. To leave the work area in an orderly manner, the storage area of the target destination coordinates closest to the idle robot can be calculated for the current coordinates of the idle robot, and then the idle robot is controlled to store the coordinates along the target destination coordinate. The return path of the cargo area is driven out of the work area, so that the robot can leave the field faster. In this regard, referring to FIG. 10, the first calculation module 13 includes: a first calculation unit 131 for calculating the return path from the current coordinates of the robot in the current idle state to each destination coordinate; and a second calculation unit 132 for According to the distance and time corresponding to the return path, calculate the first matching cost between the current coordinates of the robot in the current idle state and each destination coordinate; the first comparison unit 133 is used to perform the calculation of multiple first matching costs Comparison; a first selection unit 134 for selecting the smallest first matching cost compared by the first comparison unit; a first determining unit 135 for determining the destination in the return path corresponding to the selected smallest first matching cost The coordinates are the coordinates of the target destination closest to the current coordinates.

Preferably, the method for determining the return path is specifically realized by the following device. Referring to FIG. 11, further, the first calculation unit 131 includes: an acquisition subunit 1311 for acquiring the current coordinates of other robots; a calculation subunit 1312 for Based on the current coordinates of the robot in the current idle state and the current coordinates of other robots, the return path from the current coordinates of the robot to each destination coordinate is calculated.

Considering that the robot in the idle state may have insufficient power, causing the robot to be unable to complete the next process from picking up to delivery to returning, or considering that the power of the idle robot is not enough to complete the goods in the entire work area When there is a problem with the farthest return path from the delivery point to the pickup point outside the work area, it is also necessary to detect the power of the robot immediately, and control the robot to go to the robot charging station outside the work area to charge when the power is insufficient. Figure 12, the specific implementation is as follows: the device further includes: a judging module 15 for judging whether the power of the robot in the current idle state meets the standard power; the first determining module 16 is used for detecting the current idle state When the power of the robot is lower than the standard power, the corresponding robot is determined to be the robot to be charged; the second acquisition module 17 is used to acquire the coordinates of all the charging stations to be returned by the robot to be charged; wherein there are multiple and multiple charging station coordinates The coordinates of the charging station are all located in a preset area outside the working area; the second calculation module 18 is used to calculate the closest distance to the current coordinates of the robot to be charged according to the distance and time from the current coordinates of the robot to be charged to the coordinates of all charging stations The coordinates of the target charging station; the second control module 19 is used to control the robot to be charged to drive out of the work area according to the return path corresponding to the coordinates of the target charging station to ensure that the robot to be charged enters the target charging station for charging in an orderly manner.

The robot’s working area includes multiple robot charging stations (including charging station coordinates) in different areas. The multiple charging station coordinates are all set in the storage area of the preset area outside the working area. In order to further ensure the robot After the goods are delivered, leave the work area and go to the robot charging station in an orderly manner. According to the current coordinates of the idle robot, the coordinates of the target charging station closest to the idle robot can be calculated, and then the idle robot can be controlled along The return path of the target charging station coordinates exits the work area, which enables the robot to leave the field faster. In this regard, referring to FIG. 13, the second calculation module 18 includes: a third calculation unit 181 for calculating the return path from the current coordinates of the robot to be charged to the coordinates of each charging station; a fourth calculation unit 182 for calculating the return path The distance and time corresponding to the path are calculated, and the second matching cost between the current coordinates of the robot to be charged and the coordinates of each charging station is calculated; the second comparison unit 183 is used to compare the calculated multiple second matching costs; the second option The unit 184 is used to select the smallest second matching cost compared by the second comparison unit; the second determining unit 185 is used to determine the coordinates of the charging station in the return path corresponding to the selected smallest second matching cost as the distance to be charged The coordinates of the nearest target charging station of the robot's current coordinates.

Further, referring to Fig. 14, when there is a robot path intersection, the robots are queued and managed. The above-mentioned device establishes data connections with multiple robots respectively, and further includes: a second determination module 51 for determining the congestion point area; The module 52 is used to set scheduling instructions for each robot in the congestion point area according to the passing request sent by each robot in the congestion point area; the sending module 53 is used to respectively send a dispatch instruction to the congestion point Each robot in the area sends a scheduling instruction, so that the robot that receives the scheduling instruction passes through the congestion point area according to the scheduling instruction.

Wherein, the second determination module 51 includes: an acquisition unit for acquiring the paths of the multiple robots; a congestion point determination unit for determining a congestion point according to the paths of the multiple robots; and determining a congestion point area The unit is used to determine the congestion point area from the adjacent area of the congestion point.

Wherein, the passing request includes: the position of the robot in the congestion point area.

Wherein, the setting module 52 is configured to according to the time sequence of the passage request sent by each robot in the congestion point area, and the position of each robot included in the passage request in the congestion point area , Respectively set scheduling instructions for each robot in the congestion point area.

Wherein, the scheduling instruction includes: the time at which the robot starts to run in the congestion point area, the route of the robot through the congestion point area, and the speed of the robot through the congestion point area.

In the device provided by the embodiment of the present invention, the congestion point area is further determined; the passage request sent by each robot in the congestion point area and the path of each robot in the congestion point area are respectively the Each robot in the congestion point area sets a scheduling instruction; and each robot in the congestion point area is sent a scheduling instruction, so that the robot that receives the scheduling instruction passes through the congestion point area according to the scheduling instruction. Analyze the passing request of each robot in the congestion point area, and set its own scheduling instructions for each robot to avoid the robot from being congested in the congestion point area, improve the speed of the robot passing the congestion point, and improve the overall robot cluster Work efficiency.

An embodiment of the present invention provides a device for returning robots to the field. Compared with the problem of the large number and high-density of robot clusters in the prior art, the problem of orderly leaving the field after activities in the field has not been effectively solved, it is based on real-time positioning. The distance and time from the current coordinates of the idle robot to all destination coordinates, calculate the target destination coordinates, and control the robot to drive out of the work area according to the calculated return path corresponding to the target destination coordinates, ensuring that the robot will deliver the goods after delivery Leaving the work area as soon as possible in an orderly manner, effectively reducing the number of idle robots in the field, and at the same time reducing the probability of robot path intersections, improving the efficiency of robots in the field; and queuing robots when there is a robot path intersection Management, by separately establishing data connections with multiple robots to determine the congestion point area; according to the passage request sent by each robot in the congestion point area and the path of each robot in the congestion point area, each of the congestion point areas Set scheduling instructions for each robot; send scheduling instructions to each robot in the congestion point area, so that the robot that receives the scheduling instruction passes through the congestion point area according to the scheduling instruction, avoids the robot from being congested in the congestion point area, and improves the robot’s passage through congestion. The speed of the point can improve the working efficiency of the robot in the field and the overall working efficiency of the robot cluster.

The computer program product of the method for reflowing the robot field provided by the embodiment of the present invention includes a computer-readable storage medium storing a program code, and the program code includes instructions that can be used to execute the method described in the previous method embodiment, For specific implementation, please refer to the method embodiment, which will not be repeated here.

Those with ordinary knowledge in the technical field can clearly understand that for the convenience and conciseness of the description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment, and will not be repeated here. .

In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation. For example, multiple units or elements may be combined or may be Integrate into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some communication interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units . Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.

If the function is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several The instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc., which can store program codes. Medium.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. It should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the patent application.

S101~S104‧‧‧Step

Claims (8)

A method for robot field return, including the following steps: acquiring the current coordinates of the robot in the currently idle state in the work area; acquiring all the destination coordinates of the robot in the current idle state to be returned; wherein the aforementioned destination coordinates are multiple One and more of the aforementioned destination coordinates are all located outside the work area; the aforementioned work area includes multiple storage areas of different areas, and the multiple aforementioned destination coordinates are all set in the storage area of the preset area outside the work area; According to the distance and time from the current coordinates of the robot in the current idle state to all the destination coordinates, calculate the target destination coordinates closest to the current coordinates; and control the return path of the robot in the current idle state according to the target destination coordinates. Driving out of the work area to ensure that the aforementioned robots in the current idle state leave the field in an orderly manner, wherein data connections with multiple robots are established respectively, and the aforementioned method further includes the following steps: determining the congestion point area; according to the aforementioned congestion point area The pass request sent by each robot sets a scheduling instruction for each robot in the aforementioned congestion point area; sends a scheduling instruction to each robot in the aforementioned congestion point area, so that the robot that receives the scheduling instruction passes through the aforementioned scheduling instruction The aforementioned congestion point area, and Wherein, determining the congestion point area includes the following steps: acquiring the paths of the aforementioned multiple robots; determining the congestion point according to the paths of the aforementioned multiple robots; determining the congestion point area from the neighborhood of the aforementioned congestion point. The method described in claim 1, wherein the calculation of the target destination coordinates closest to the current coordinates based on the distance and time from the current coordinates of the robot in the current idle state to all destination coordinates includes the following steps: calculating the current coordinates The return path from the current coordinates of the robot in the idle state to each of the aforementioned destination coordinates; according to the distance and time corresponding to the aforementioned return path, calculate the first between the current coordinates of the aforementioned robot in the current idle state and each of the aforementioned destination coordinates. Matching cost; compare multiple calculated first matching costs, select the smallest first matching cost; determine the destination coordinates in the return path corresponding to the selected minimum first matching cost as the target closest to the aforementioned current coordinates Destination coordinates. For the method described in claim 2, wherein the aforementioned calculation of the return path from the current coordinates of the robot in the current idle state to each of the aforementioned destination coordinates includes the following steps: obtaining the current coordinates of other robots; according to the robot in the current idle state The current coordinates of and The current coordinates of other robots are calculated, and the return path from the current coordinates of the robot in the current idle state to each of the aforementioned destination coordinates is calculated. The method described in claim 1, wherein the aforementioned method further includes the following steps: judging whether the power of the robot in the current idle state meets the standard power; when it is detected that the power of the robot in the current idle state is lower than the standard power, It is determined that the corresponding robot in the current idle state is the robot to be charged; all the coordinates of the charging station to be returned by the robot to be charged are obtained; wherein, the coordinates of the charging station are multiple, and the coordinates of the multiple charging stations are all located outside the working area. Set the area; according to the distance and time from the current coordinates of the robot to be charged to the coordinates of all charging stations, calculate the coordinates of the target charging station closest to the current coordinates of the robot to be charged; control the robot to be charged to correspond to the coordinates of the target charging station To ensure that the aforementioned robot to be charged enters the target charging station for charging in an orderly manner. The method described in claim 4, wherein the calculation of the coordinates of the target charging station closest to the current coordinates of the robot to be charged based on the distance and time from the current coordinates of the robot to be charged to the coordinates of all charging stations includes the following steps: calculation The current coordinates of the aforementioned robot to be charged to each of the aforementioned The return path of the charging station coordinates; calculate the second matching cost between the current coordinates of the aforementioned robot to be charged and each of the aforementioned charging station coordinates according to the distance and time corresponding to the aforementioned return path; compare the calculated multiple second matching costs , Select the smallest second matching cost; determine that the charging station coordinates in the return path corresponding to the selected minimum second matching cost are the coordinates of the target charging station closest to the current coordinates of the robot to be charged. The method described in claim 1, wherein the passing request includes the position of the robot in the congestion point area, wherein the passing request sent by each robot in the congestion point area is respectively in the congestion point area The scheduling instructions for each robot in the above-mentioned congestion point area include: according to the time sequence of the passage request sent by each robot in the aforementioned congestion point area, and the position of each robot in the aforementioned congestion point area included in the aforementioned passage request, respectively, the aforementioned congestion point Set scheduling instructions for each robot in the dot area. The method described in claim 1, wherein the scheduling instruction includes: the time when the robot starts to run in the congestion point area, the route of the robot through the congestion point area, and the speed of the robot through the congestion point area. A device for robot field return using the method described in any one of Claims 1 to 7, including: The first acquisition module is used to acquire the current coordinates of the robot in the current idle state in the work area; the second acquisition module is used to acquire all the destination coordinates of the robot in the current idle state to be returned; wherein, the aforementioned destination There are multiple coordinates and multiple of the aforementioned destination coordinates are all outside the work area; the aforementioned work area includes multiple storage areas in different areas, and multiple aforementioned destination coordinates are all set in the preset area outside the work area. The first calculation module is used to calculate the closest target destination coordinates to the current coordinates of the target according to the distance and time from the current coordinates of the robot in the current idle state to all the destination coordinates; and the first control module, It is used to control the aforementioned robot in the current idle state to drive out of the work area according to the return path corresponding to the aforementioned target destination coordinates, so as to ensure the orderly departure of the aforementioned robot in the current idle state.

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