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Robot path interference prediction method and device

A robot and path technology, applied in the field of robot movement, can solve problems such as robot deadlock, immature robot technology, and blocking, and achieve the effect of avoiding encounters and making judgment methods efficient and simple

Active Publication Date: 2021-08-13
广州安商智能科技有限公司
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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
For example, when multiple mobile robots are running in the same connected space, the problem of meeting cannot be avoided, especially in a narrow space, the robots will be deadlocked or blocked.

Method used

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  • Robot path interference prediction method and device
  • Robot path interference prediction method and device
  • Robot path interference 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 path interference prediction method provided by a preferred embodiment of the present invention. apply to figure 1 Server 100 in . The above-mentioned robot path interference prediction method includes the following steps:

[0027] Step S101, respectively acquiring a first remaining path of the first robot and a second remaining path of the second robot.

[0028] In the embodiment of the present invention, when the first robot needs to start to move along the first displacement path, the server 100 respectively obtains the first remaining path and the second remaining path of the running second robot from the first robot. It should be noted that the displacement path pre-generated by the first robot is the first displacement path, and the displacement path generated by the second robot is the second displacement path. The above-mentioned first remaining path belongs to the first displacement path, an...

Embodiment approach

[0049] As an implementation manner, the following algorithm may be used to implement step S103, specifically:

[0050]

[0051] 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

[0056] Please refer to Figure 6 , Figure 6 It is a schematic diagram of functional modules of a robot path interference prediction device provided by a preferred embodiment of the present invention. The device is used in figure 1 Server 100 in . The above robot path interference prediction device may include: an acquisition module 301 , a division module 302 , a comparison module 303 and a prediction module 304 .

[0057] The acquisition module 301 is configured to respectively acquire the first remaining path of the first robot and the second remaining path of the second robot.

[0058] In the embodiment of the present invention, the above step S101 may be executed by the acquisition module 301 . Preferably, the acquiring module 301 includes an acquiring submodule, a receiving submodule and a dividing submodule.

[0059] The obtaining sub-module is used to obtain the first displacement path and the second displacement path respectively.

[0060] In the embodiment of t...

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Abstract

A robot path interference prediction method and device provided by the present invention are applied to a server, and the server is respectively connected to the first robot and the second robot through communication. The robot path interference prediction method includes: obtaining the first robot and the second robot respectively. The first remaining path of the robot and the second remaining path of the second robot; dividing the first remaining path into a plurality of first road sections according to a preset safety distance, and dividing the second remaining path into multiple a second road section; each section of the first road section is compared with the second road section to obtain a comparison result; according to the comparison result, whether there will be path interference between the first robot and the second robot Make predictions. There is no need to analyze whether the trajectories are parallel, the judgment method is more efficient and simple, and it is convenient to grasp the intervention of the robot path in advance, so as to take measures in advance to avoid encounters.

Description

technical field [0001] The invention relates to the technical field of robot movement, in particular to a method and device for predicting robot path interference. 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 meeting cannot be avoided, especially in a narrow space, the robots will be deadlocked or blocked. Contents of the invention [0004] The purpose of the present invention is to provide a robot p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0297
Inventor 刘亚军谢庆华
Owner 广州安商智能科技有限公司
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