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Robot avoidance prediction method and device

A robot and pre-judgment technology, applied in the field of robot movement, can solve problems such as immature robot technology and achieve the effect of avoiding mutual blocking

Active Publication Date: 2020-08-14
刘亚军
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the current robot technology is not mature enough, there are still many problems

Method used

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  • Robot avoidance prediction method and device
  • Robot avoidance prediction method and device

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0026] Please refer to image 3 , image 3 It is a flow chart of a robot avoidance prediction method provided by a preferred embodiment of the present invention. apply to figure 1 Server 100 in . The above-mentioned avoidance prediction method for a robot includes the following steps:

[0027] Step S101 , predicting at least one set of interfering road section combinations in which the first remaining path of the first robot interferes with the second remaining path of the second robot.

[0028] In the embodiment of the present invention, the combination of interfering road sections includes a first interfering road section belonging to the first remaining path and a second interfering road section belonging to the second remaining path. It should be noted that when the first robot needs to start displacement along the first displacement path, the existing combination of interfering road sections is predicted. Specifically, the server 100 respectively acquires the first r...

Embodiment approach

[0038] As an implementation manner, the following algorithm may be used to implement step S103, specifically:

[0039]

[0040] in, Represents the sequence number i on the first path with sequence number n j The sequence number of the raster path point and the second path with sequence number n is i k The distance length value of the raster path point. Represents that the sequence number on the first path is i j The first direction coordinate value of the raster path point, Represents that the sequence number on the first path is i j The second direction coordinate value of the raster path point. Represents that the sequence number on the second path is i k The first direction coordinate value of the raster path point, Represents that the sequence number on the second path is i k The second direction coordinate value of the raster path point. It should be noted that i j The value of can be the sequence number of the grid path point belonging to the first path...

no. 2 example

[0101] Please refer to Figure 5 , Figure 5 It is a schematic diagram of functional modules of a robot avoidance prediction device 300 provided in a preferred embodiment of the present invention. The device is used in figure 1 Server 100 in . The above robot avoidance prediction device 300 may include: a prediction module 301 , a calculation module 302 , a determination module 303 , a prediction module 304 and an acquisition module 305 .

[0102] A predicting module 301, configured to predict at least one set of interfering road segment combinations that interfere with the first remaining path of the first robot and the second remaining path of the second robot, wherein the interfering road segment combinations include A first interfering section of the remaining path and a second interfering section belonging to the second remaining path.

[0103] The calculating module 302 is configured to calculate a first priority factor corresponding to the first robot according to t...

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Abstract

A robot avoidance prediction method and device provided by the present invention, wherein the robot avoidance prediction method includes: predicting at least one set of interference road section combinations; respectively calculating the first priority factor corresponding to the first robot and the corresponding first priority factor of the second robot; according to the first priority factor of the first robot and the first priority factor of the second robot, respectively, determine the first priority and the corresponding first priority of the first robot in the first interference road section The second priority of the second robot corresponding to the second interfering road section; using the first priority and the second priority to predict the interfering road section from the first robot and the second robot Combining corresponding avoidance robots so as to avoid in time when the avoidance robots arrive at the combination of interfering road sections. An avoidance plan is determined in advance, so that when the avoidance robot arrives at the combination of interfering road sections, the avoidance robot can avoid in time to avoid blocking each other.

Description

technical field [0001] The present invention relates to the technical field of robot movement, in particular to a robot avoidance prediction method and device. Background technique [0002] With the advancement of technology, robots are no longer just characters in technology movies, but actually appear in real life. A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. It can undertake a lot of work in life and save labor costs. [0003] However, the current robot technology is not mature enough, and there are still many problems. For example, when multiple mobile robots are running in the same connected space, the problem of mutual blocking between the robots cannot be avoided, especially in a narrow space, the robots will be deadlocked or blocked. [0004] Therefore, how to predict the avoidance plan in advance is very i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1666B25J13/00
Inventor 刘亚军谢庆华
Owner 刘亚军
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