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A navigation positioning and task planning method for archival robots

A task planning, navigation and positioning technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to guarantee the same width of the work area, difficulty in robot target recognition, and difficulty in human-computer interaction on the client side. Wide applicability and efficient human-computer interaction

Active Publication Date: 2022-03-29
SOUTHEAST UNIV +4
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Limited by the current technology and cost factors, when there are multiple file racks open, neither the number of each work area nor the width of each work area can be guaranteed. Therefore, each file rack and its working channel The location of the robot is random, and the location of the workspace will also change, which will lead to difficulties in robot target recognition and human-computer interaction on the client side.

Method used

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  • A navigation positioning and task planning method for archival robots
  • A navigation positioning and task planning method for archival robots
  • A navigation positioning and task planning method for archival robots

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Embodiment Construction

[0037] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0038] The invention is carried out using the following devices, robotic devices such as figure 1 shown.

[0039] The rangefinder group 2 is installed on the robot 1. The rangefinder includes four laser rangefinders, X1, X2, Y1, and Y2. Their range is 0-50m, the measurement accuracy is 1mm, and the response frequency is up to 10Hz. At the same time, X1, X2, Y1, and Y2 also represent the reading values ​​of the four sensors.

[0040] figure 2 It is a schematic diagram of the layout of a large archive. The outermost black box is the wall of the warehouse, and the bottom of the picture is the robot parking area. There are four file racks in the library. When the files are stored, the file racks are grouped together and opened only when access is required. Such as figure 1 There are a total of N file racks on the right side of the center, No...

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Abstract

The invention discloses a method for navigation, positioning and task planning of a robot for archives, which includes the following steps: (1) preprocessing: defining the coordinate axes and initial parameters of the archive shelf area; (2) starting from the initial position, the robot passes through the archives (3) judging whether the robot has passed the file shelf with the largest number in the task; (4) judging whether it is an executable task according to the task matrix to be executed, (5) decomposing the task to form a new task matrix; ( 6) Establish the objective function and optimize the new task matrix; (7) Execute the task. The invention can solve the problem that the robot is difficult to identify when the file rack is opened, so that the robot can monitor changes in the external environment in real time, effectively and quickly adapt to the changed external environment, is applicable to different maps, has wide applicability, and can realize Efficient human-computer interaction between clients and robots.

Description

technical field [0001] The invention relates to a navigation positioning and task planning method, in particular to a navigation positioning and task planning method of an archive robot. Background technique [0002] The number of files stored in the archives room is tens of thousands, which often consumes a lot of manpower and material resources when accessing files, which restricts the professional and technical capabilities of the file administrators, reduces the use value of files, and the automation level of file management Desperately needs improvement. In recent years, the archives industry has generally sought to use robots to replace manual inventory and access to archives. [0003] Archival robots are highly automated archival equipment, generally composed of robot mobile chassis, manipulator arms and functional equipment. The robot mobile chassis is responsible for walking, replacing the functions of human legs, and realizing autonomous navigation and target reco...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1661B25J9/1664B25J11/00
Inventor 于淼崔建伟展宵鹏张敏张颖余冠霖周志成张星陈亮
Owner SOUTHEAST UNIV
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