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Arbitration planning system and method

A planning system and planning technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of improving work efficiency

Active Publication Date: 2020-08-07
深圳国信泰富科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] According to the above-mentioned problems existing in the prior art, a technical scheme of an arbitration planning system and method is now provided, aiming at solving the arbitration problem when conflicts arise between robot planned actions and the external environment

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  • Arbitration planning system and method

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Embodiment Construction

[0063] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0064] In a preferred embodiment of the present invention, according to the above-mentioned problems in the prior art, an arbitration planning system is now provided.

[0065] The intelligent robot used in the arbitration planning system has a robot body A and an instruction issuing device B connected to the robot body A. The user sends planning instructions to the robot body A through the instruction issuing device B. The planning instructions are used to instruct the robot body A Execute a predetermined execution plan;

[0066] The robot body A includes multiple limb rigid bodies, and multiple movable joints connecting adjacent limb rigid bodies. Each movable joint is connected to a motor unit A1, and the motor unit A1 is used to control the corresponding movable joints to move ( figure 1 On...

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Abstract

The invention discloses an arbitration planning system and method, and belongs to the technical field of robot control. The arbitration planning method comprises the following steps of receiving, by the arbitration planning system, a plan command input from the external and converting to form an executing plan; simultaneously, receiving, by the arbitration planning system, external environment information sent by a sensing system; performing, by the arbitration planning system, conflict arbitration judgment on the executing plan and the external environment information; if a conflict is not generated, handing the executing plan and the external environment information to a control unit to generate a corresponding control command, issuing the control command to a control system of a robot,and controlling, by the control system, motor units of various movable joints of the robot to execute the control command; and if the conflict is generated, returning to the arbitration planning system and performing re-planning, wherein the re-planned executing plan is different from an originally executed plan. The technical scheme has the beneficial effects that an arbitration problem when theconflict is generated between a planned action of the robot and the external environment can be solved through the arbitration planning system and the arbitration planning method thereof, so that a predetermined executing plan is executed smoothly; the robot can complete a established action; and the work efficiency of the robot is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an arbitration planning system and method. Background technique [0002] With the development of intelligent robot technology, intelligent robots can be seen everywhere in people's daily life, such as household robots for daily use and welcome robots for welcoming and navigating in public places. This type of robot is mainly composed of a head and a torso, and it mainly interacts with users through voice, image, and movement. Therefore, this type of robot does not need to carry too many long mechanical arms and legs, and there is no mechanical The conflict between the arm / robot leg and the outside world during the movement. [0003] In addition to being used in the above-mentioned daily environment, intelligent robots are also gradually applied to more dangerous scenarios such as disaster rescue to replace rescuers in operations, thereby reducing the risk of casualties of ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1679B25J9/1664B25J9/1661B25J9/1602
Inventor 史超
Owner 深圳国信泰富科技有限公司
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