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Scheduling and way-finding method and system for AMR cluster

A clustering and pathfinding technology, applied in the field of scheduling and pathfinding of AMR clusters, which can solve problems such as prediction conflicts, system failures, and limited information sources for distributed algorithms.

Pending Publication Date: 2020-01-10
广州蓝胖子移动科技有限公司
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Problems solved by technology

[0003] However, for large-scale clusters of AMRs, distributed algorithms have limited vision, communication and other information sources, so they can only plan short-sightedly, which will cause congestion and deadlocks, while the central pathfinding algorithm has a large amount of calculation and cannot be accurate The difference between planning and actual operation caused by matching the kinematic model of AMR may lead to system failure, resulting in conflicts beyond prediction

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  • Scheduling and way-finding method and system for AMR cluster
  • Scheduling and way-finding method and system for AMR cluster

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Embodiment Construction

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0033] Such as figure 1 Shown, the present invention provides following method:

[0034] S1. Discretize the working area;

[0035] S2. The central server plans the global route and updates the traffic flow;

[0036] S3. The AMR autonomously avoids obstacles and tracks the global route to the destination.

[0037] In order to further optimize the above-mentioned technical solution, in the S1, the central server divides the working area into several polygonal grids, and the several polygonal grids cover the entire working area, which is...

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Abstract

The invention provides a scheduling and way-finding method for an AMR cluster. The method comprises the specific steps of (S1) discretizing a working area, (S2) planning a global route by a central server and updating the traffic flow of each area, and (S3) autonomously avoiding obstacles by the ARM and tracking the global route to reach a destination. According to the method, a scheduling and way-finding system for the AMR cluster is designed, the defects of an AMR single-chip-microcomputer way-finding algorithm and a central way-finding algorithm are overcome, so the AMR cluster is preventedfrom being jammed and deadlocked before arriving at the destination, and the purpose of efficiently transporting goods is achieved.

Description

technical field [0001] The present invention relates to the field of autonomous mobile robots and pathfinding algorithms, and more specifically relates to a method and system for dispatching and pathfinding of AMR clusters. Background technique [0002] At present, the more sophisticated, flexible and cost-effective autonomous mobile robot (AMR) technology has brought severe challenges to the AGV market. AMR can use software to draw maps inside the factory or import factory building drawings in advance to realize navigation. In a car equipped with GPS and pre-installed maps, AMR can use data from cameras, built-in sensors, laser scanners, and complex software to detect the surrounding environment, select the most efficient way to reach the destination, and be able to work completely autonomously. When encountering obstacles, it can detour with the best safe route. [0003] However, for large-scale clusters of AMRs, distributed algorithms have limited vision, communication a...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00G05D1/02
CPCG05D1/0088G05D1/0248G05D1/0287
Inventor 邓耀桓陈翀张浩
Owner 广州蓝胖子移动科技有限公司
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