210 results about "Robot scheduling" patented technology

The invention provides a robot scheduling method and apparatus. The method comprises the following steps: according to a current work task, selecting a robot to be scheduled; obtaining initial node coordinates and destination node coordinates of the robot to be scheduled in a corresponding three-dimensional coordinate system in a work place; according to the initial node coordinates and the destination node coordinates, a moving speed of the robot to be scheduled and a time table about planned nodes which a robot moves past in the work place, planning a movement path of the robot to be scheduled; and triggering the robot to be scheduled to execute a work task according to the movement path. According to the invention, a mode of demonstrating the work place in the form of nodes and the movement path in the form of time through the three-dimensional coordinate system is employed, and according to states of all nodes within preset time between initial nodes and destination nodes of robots, centralized scheduling is performed on the robots in the work place, such that mutual bumps between the robots is avoided, and at the same time, the flexibility of the control mode of the robots is improved.

The present invention discloses a robot scheduling method, a robot scheduling device and a computer readable storage medium and belongs to the computer technical field. The method includes the following steps that: path condition information in a warehouse is acquired; goods picking time of robots is calculated according to the positions of the robots and the path condition information; and a robot for executing a goods picking task is determined according to the goods picking time of the robots. When the robot scheduling method of the invention is adopted to schedule the robots, the goods picking time of the robots is calculated according to the positions of the robots and the path condition information in the warehouse, and the robot for executing the goods picking task is determined according to the goods picking time, and therefore, the robots are not scheduled only based on distances any more, a condition that a robot which is located at a short distance while needs long goods picking time is selected to execute a goods picking task can be avoided, and goods picking efficiency can be improved.

The invention discloses a multi-robot collaborative scheduling method, and relates to the technical field of multi-robot control. The method can solve the problem of task allocation and path planningof multiple robots under a dynamic environment. The method comprises the following steps: dynamically obtaining task information and environment information of the robots; allocating tasks to the robots and planning an initial moving path at the same time by utilizing an SOM neural network and a lock mechanism according to the task information and environment information; and dynamically calculating the moving direction of the robot performing the task by utilizing an artificial potential field method according to the environment information, thereby updating the moving path. The invention also discloses a multi-robot collaborative scheduling device, electronic equipment and a computer storage medium. The method and device solve the problem of multi-robot collaborative task scheduling andallocation, and can improve communication efficiency of the robots in the scheduling process.

The invention provides a robot scheduling method, a server and a storage medium. The method comprises the steps of searching a target elevator meeting the occupation demands of a robot for the robot to take according to obtained obstacle density information of an elevator car when an elevator taking request of the robot is received; and after it is determined that the robot takes the target elevator to reach the target floor, handing over the control right of the robot to a micro server of the target floor. The robot is dispatched to move according to the obstacle density so as to avoid obstacles in advance, and the purpose of improving the passing efficiency of the robot is achieved.

The invention discloses a dynamic avoidance method for multiple robots in collaborative operation. The method comprises the steps: carrying out the path pre-planning of all tasks in a task pool according to the priorities, and reducing the conflict intervention between robots from a planning layer; monitoring the current operation states of all the robots, dynamically pre-judging the safety distance, generating different types of stop points, coordinating the operation of the robots, and solving the technical problems of collision, delay, interlocking and the like during the cooperative operation of the robots. Overall scheduling is carried out to optimize resource distribution, traffic control and coordinated avoidance are achieved, local peer-to-peer communication solves the overall operation problem after the robot individual is abnormal, and therefore the robustness of the whole scheduling system is guaranteed. The method is suitable for multi-robot scheduling avoidance scenes suchas factory automation and storage commodity transfer.

The embodiment of the invention discloses a multi-robot scheduling method and device, a server and a computer readable storage medium. The method comprises the following steps that: planning the motion paths of a plurality of robots, wherein each motion path comprises the first motion path of a target robot and the second motion path of at least one of other robots; judging whether the real-time positions of other robots are positioned on the first motion path or not, and when the real-time positions of other robots are positioned on the first motion path, according to the motion states of thetarget robot and other robots, judging whether the target robot and other robots meet in a proceeding process or not; when a judgment result shows that the target robot and other robots meet in the proceeding process, according to the width of the target robot, the widths of other robots and the width of an area where the target robot and other robots meet, determining the motion state of the target robot. The embodiment of the invention provides the multi-robot scheduling method, the problem that multiple robots collide due to path overlapping in a working process is effectively solved, andthe working efficiency of the robots is improved.

The invention discloses a robot scheduling system and method, an electronic device, and a storage medium. The system includes a robot control system and an intermediate control system. The robot control system is used for acquiring robot management information from the intermediate control system, generating a task instruction according to the robot management information, and sending the task instruction to a guided vehicle or an external device associated with the task instruction. The intermediate control system includes a first interface layer which includes a service interface used for acquiring a task package from a service management system, an intermediate service processing layer which is used for generating robot management information according to the task package acquired from the service management system, and an access layer which includes a control interface and is connected to the robot control system through the control interface. By adding the intermediate control system between the conventional robot control system and the service management system, flexible access of different robot control systems and business management systems can be realized, and the scalability of the robot scheduling system is enhanced.

The invention discloses a robot capable of switching over the navigation mode, a navigation mode switching method and a medium, wherein the robot comprises a motion mechanism and a control mechanism;the control mechanism comprises an information acquisition module and a monitoring module; the information acquisition module is used for acquiring the state information of the robot and determining the current navigation mode of the robot according to the state information; the monitoring module is used for monitoring the state information of the robot and controlling the robot to switching the navigation mode if monitoring that the state information of the robot changes within certain period of time to enable the switched navigation mode to be matched with the changed state information; andthe motion mechanism of the robot adopts different advancing manners under different navigation modes of the control mechanism. With adoption of the robot, the problems in the prior art that robot dispatch is crowded and the robot utilization ratio is low are solved, the robot utilization ratio is increased, and the total number of the robots in a warehouse is reduced to further remit the phenomenon that the robot dispatch is crowded and improve the working efficiency of the robot.

A robot simulation system comprises a cloud platform, a robot development terminal and a plurality of simulation cells, wherein the cloud platform comprises a central server and a cloud development environment device; the robot development terminal is connected with the cloud platform and used for performing programming on robots through the cloud development environment device; each simulation cell is connected with the cloud platform and the robot development terminal, and at least internally comprises a robot dispatch server and a monitor server; and each monitor server comprises a camera. The robot simulation system is characterized in that each robot dispatch server receives programmed robot programs distributed by the central server and controls the robots to execute tasks in the simulation cells through the programmed robot programs; the robots execute the tasks in the simulation cells, record the tasks, generate execution reports according to the recording results and send the reports to the central server; and then the central server integrates videos and the generated execution reports to form a summary video and a summary report, and thus the robot development terminal can be informed of the task execution types of the robots in the simulation cells.

The invention provides a robot scheduling system based on magnetic stripe navigation, and the system comprises robots, wherein the number of robots is two or three; magnetic stripes, wherein the number of magnetic stripe is not less than four so as to form moving tracks for the robots, the intersections of the magnetic stripes are nodes, and each node is adjacent to the four magnetic stripes; observation points, wherein magnetic stripes adjacent to each node are respectively provided with the observation points, and the observation points are disposed at positions adjacent to the node. The invention also provides a robot scheduling method based on magnetic stripe navigation. Through inspecting moving paths, locking the observation points and dynamically dispatching the moving paths of the robots, the method solves problems that the moving paths are occupied and blocked, and also solves a problem that two or three robots collide with each other during simultaneous operation.

The invention relates to a robot scheduling method, in particular to a scheduling method capable of achieving schedule by dividing a robot operation environment in a critical zone mode and through a locking mechanism.

The invention provides a distributed scheduling method and system. The method comprises the following steps: a robot sends scheduling information through a near field communication module; the robot receives the scheduling information of other robots within a distance of 20 meters; the robot judges whether there is a path conflict with other robots or not according to the scheduling information; and if there is a path conflict, the robot judges the priorities of the robot and the other robots, and the robot executes a waiting, avoiding or passing action according to the priorities. According to the distributed scheduling method and system provided by the invention, timely communication can be realized between the robots in a short distance and is not influenced by WIFI signal intensity, and there is no need for scheduling by a central system. When there is a path conflict, the robots independently judge the priorities according to the scheduling information, and the robots with the lowpriority make way for the robots with the high priority. The efficiency of robot scheduling is improved, and the occurrence probability of conflict is reduced.

Method and apparatus for working-place backflow of robots, comprising: acquiring current coordinates of robots currently in an idle state in a working place; acquiring all destination coordinates where the robots are going to return; calculating, according to distances and time from the current coordinates to all destination coordinates, target destination coordinates nearest to the current coordinates; controlling the robots to move out of the working place according to backflow paths corresponding to the target destination coordinates, ensuring order departure of the robots; performing, when paths intersect, queuing management on the robots, to determine a crowding point zone; setting, according to pass requests sent by robots in the crowding point zone, scheduling commands respectively for the robots in the crowding point zone; and sending the commands respectively to the robots in the crowding point zone, to make the robots having received the commands pass through the crowding point zone based thereon.

The application relates to a multi-robot scheduling method based on a repulsion potential field. According to the method, walking states of robots are arranged based on repulsions among the robots, so that multiple robots which move indoors reasonably avoid other robots when walking in preset paths, thereby not interfering and colliding with one another. The method can ensure that the robots have no collisions with one another in the operation process, and has the following characteristics that the robot which arrives earlier slightly decelerates and passes when passing a crossroad, the robot which arrives later stops to give way and then passes; on the same road, the robot in the front stops while meeting an obstacle, and the robot in the rear slowly decelerates and stops; in a three-way intersection, the slightly ahead robot slightly accelerates to enter, and the slightly rear robot slightly decelerates to enter; on two roads which are parallel and close to each other, the front-rear distance of the two robots is reasonably adjusted.

The invention belongs to the technical field of computer vision and robot control, A multi-mobile-robot scheduling system design method based on multiple sensors comprises the following steps: (1) constructing a plurality of mobile robot platforms; (2) constructing a two-dimensional experiment scene map and realizing wireless communication of a plurality of mobile robots; (3) designing a global path plan; (4) allocating design tasks; (5) designing multi-mobile-robot collision prevention strategy; and (6) developing multi-mobile-robot scheduling platform software. The multi-mobile-robot scheduling system design method has the following advantages that 1, a trackless autonomous navigation mode is adopted, so that the free moving range of the robot is expanded; 2, distributed control is adopted for multiple robots, so that the dynamic coordination and stability of the whole dispatching system are improved; and 3, the laser radar and the depth real-time camera sensor are used for identifying and detecting the surrounding environment of the robot at the same time, so that the safety of the robot in the whole task execution process is improved.

The invention discloses an unmanned intelligent warehouse system based on a robot, and belongs to the technical field of intelligent warehouses. The warehouse system comprises a central server, a warehouse robot and an emergency robot, any two of the central server, warehouse robot and emergency robot are in bi-directional signal connection with each other, the central server comprises a multi-robot communication module, a multi-robot scheduling and planning module and a warehouse state collecting and detecting module, wherein the warehouse robot comprises a main control module, an obstacle detection module, a two-dimension code reading module, a radio frequency reading module, a wireless communication module, a map storing and positioning module and a non-contact charging and receiving module. Fast and safe non-contact charging for the warehouse robot can be achieved, fire potential caused by contact charging of the robot is avoided, meanwhile, the emergency robot is introduced, theefficiency and safety of the warehouse can be greatly improved, and meanwhile, the processing and response speed for a burst condition can be improved.

The invention relates to a cloud-based robot scheduling system and method. The cloud-based robot scheduling system includes a server terminal and a robot terminal, wherein the server terminal providesa first scheduling page input port or a second scheduling page input port for inputting a task request, is used for managing and calling the task request, and sends the scheduling information to therobot terminal according to the scheduling algorithm preset by the server terminal; and the robot terminal provides a third scheduling page input port for inputting the task request according to the requirement of the scheduling system, and is used for issuing a scheduling task request after analyzing the scheduling information sent from the server terminal. The cloud-based robot scheduling systemand method can issue a scheduling task through a web page or a customized page embedded into a flat from a total scheduling station and a nurse station or issue a single scheduling task from an operation panel on a robot and allow one or more robots to execute the scheduling task, so as to realize artificial scheduling and intelligent scheduling of the robot, on the basis of the cloud.

The invention provides a mobile robot hybrid scheduling method and system based on a topological map. The hybrid scheduling method pre-establishes the topological map and acquires size information andposition information of a target robot and an obstacle, and the method comprises the following steps: acquiring a robot moving and rotating sweeping area according to the size and position of the robot; obtaining a robot planning path, and establishing a geometric intersection judgment function according to the robot sweeping area and the obstacle size; judging the geometric intersection condition of the robot according to the position and moving mode of the robot; and maintaining or replanning path by combining geometric intersection condition and map information. According to the robot hybrid scheduling method provided by the invention, the accurate geometric intersection judgment function is established, and the robot scheduling operation is executed through algorithm deep optimizationso that the operand is reduced and the scheduling efficiency is improved on the basis of realizing a high space utilization rate.

The invention discloses a priority determination processing method and device suitable for robot scheduling. The priority determination processing method suitable for the robot scheduling comprises the following steps of determining priority factors during the robot scheduling, determining a proportion coefficient of each priority factor, determining parameter information of each priority factor of a robot in real time and determining a real-time priority factor of the robot according to the parameter information of each priority factor of the robot and the proportion coefficient of each priority factor. According to the priority determination processing method and device suitable for the robot scheduling, an effective measurement model is provided to effectively measure and optimize the efficiency of the robot in the environment through dynamic learning, so that the technical effects of group efficiency and intelligence of the robot are achieved, and the technical problem that the scheduling efficiency and intelligence of a robot group cannot be realized within a limited time due to the fact that the related processing efficiency of a current scheduling scheme is low is further solved.

The invention provides a robot scheduling method and system based on a block chain. The method comprises the steps that a current node acquires a to-be-scheduled task from a block chain account book of the node; transaction information is generated; the current node sends the transaction information to a current block chain network to participate in a consensus; and the current node receives returned consensus result information and judges whether the transaction information passes the consensus or not. According to the robot scheduling method and system, space position information of the to-be-scheduled task and space position information of a robot corresponding to the current node are sent to the block chain network through the current node, and the distance between the robot and the task is compared by each node of the block chain network to form the consensus whether the task is scheduled to the current node or not, so that the de-centralized scheduling and the distance optimization-based scheduling of the robot are achieved.

The invention relates to the technical field of logistics, in particular to a robot scheduling method and device, which are applied to a warehouse comprising a robot, and the method comprises the following steps: tracking a scheduling event, and filling a matching pool with the scheduling event, the scheduling event located in the matching pool being a target scheduling event; establishing a tripartite graph matching model according to the current position of the robot and the target scheduling event; according to the tripartite graph matching model, allocating a scheduling task to the robot,and the scheduling task at least comprising a task destination; and based on disjoint path conditions of time and space, determining a motion path and a motion state of the robot between the current position of the robot and the task destination of the scheduling task. According to the invention, the phenomena of detouring and congestion of the robot can be avoided, manual forced intervention is not needed, and the transportation efficiency of the robot is improved.

The invention discloses a robot automatic disinfection system. The system comprises a scheduling management background, a server, communication equipment and a disinfection device, a main control unitand a communication module are arranged on the disinfection device; the disinfection device has a communication capability; wherein the communication equipment is connected with a to-be-disinfected robot and a communication module of the disinfection device respectively; a dispatching management background acquires operation state information of the disinfection device and the robot; the main control unit is used for controlling an ultraviolet lamp, an infrared sensor, a sprayer, an electric push rod and a liquid level sensor which are arranged on the disinfection device; meanwhile, the dispatching management background is connected with the plurality of disinfection devices and the to-be-disinfected robot through the communication equipment; the scheduling management background acquiresthe working state of the disinfection device and schedules the robot to be disinfected or other automatic equipment into the disinfection device in real time for disinfection treatment; centralized management of multiple disinfection devices in the same area is achieved, unmanned disinfection of robots or automatic equipment is achieved, and the utilization rate of the disinfection devices is increased.

The invention relates to a system for planning a dynamic path of a robot based on a cloud terminal, and the system employs a method which comprises the steps: building preset maps at a robot side, anduploading the preset maps to a server side; marking barrier points of the preset maps at the server side, connecting a passable path, setting a weight value of the passable path at the server side according to a first preset algorithm, carrying out the configuration of the same barrier point on a plurality of preset maps to generate a barrier point path, setting the weight value of the barrier point path according to a second preset algorithm and then connecting the plurality of preset maps to generate a dynamic map, transmitting the dynamic map to the robot side, storing the dynamic map in adatabase of the server side, calculating the optimal dynamic path according to a third preset algorithm and transmitting the optimal dynamic path to the robot for execution. The invention also discloses a method for planning the dynamic path of the robot based on the cloud terminal, and the method can solve a problem of robot dispatching automatic path planning across regions, can achieve the dynamic global planning, and improves the operation efficiency.

The invention discloses a mobile cooperative control system and control method for distribution robots. The system comprises a user terminal used for initiating a robot call instruction, a robot scheduling terminal which is in communication connection with the distribution robots and is used for performing distribution task scheduling of a plurality of distribution robots corresponding to the robot scheduling terminal, and a cooperative control terminal which is in communication connection with the user terminal and the robot scheduling terminal through the network, wherein the cooperative control terminal receives a robot scheduling instruction from the user terminal and forwards the robot scheduling instruction to the robot scheduling terminal, and the real-time dynamic information of the distribution robots and the obstacle avoidance auxiliary information of the distribution robots can be obtained from the robot scheduling terminal, and the cooperative control terminal controls movement avoidance of the distribution robots according to the real-time dynamic information of the distribution robots and the obstacle avoidance auxiliary information. The system is advantaged in that abnormal conditions such as collision of the distribution robots due to different navigation systems or avoidance strategies can be avoided, and smooth completion of distribution tasks can be guaranteed.

The invention discloses a route search method of a multi-robot scheduling system.By means of the method, initial route planning is conducted in robot scheduling in the multi-robot system, certain search limit conditions are added, and the optimal routes are found within a short period of time and output in the form of sets, so a subsequent algorithm can select other routes when an original route is blocked.The method is suitable for the scene and navigation mode with multiple robots and solves the problem that an existing route search method is slow in traversing or large in required space.

The invention discloses an elevator taking dispatching method of a robot, a robot dispatcher, an elevator group controller, a dispatching server, the robot and a robot dispatching system. According to the method, the robot dispatcher executes the following steps that an elevator taking request sent by the robot is received; the elevator taking request comprises a robot identifier, an identifier of a target elevator, departure floor information and target floor information; the elevator taking request of the robot is added to an elevator taking task queue corresponding to the identifier of the target elevator; a priority sequence of the elevator taking requests in the elevator taking task queue is determined; and when it is determined that the elevator taking request needs to be processed according to the priority sequence, an elevator group controller corresponding to the identifier of the target elevator is indicated to control one elevator car of the target elevator with one or more elevator cars to reach the departure floor, and a robot corresponding to the robot identifier is indicated to take the elevator car to reach the target floor. By adopting the embodiment of the invention, a plurality of robots can take the elevator in order, so that elevator taking congestion and robot damage are avoided.

The embodiment of the invention provides a sorting scheduling method and device, a storage system and a readable storage medium. The method comprises the steps that a plurality of stations where the robot needs to go are determined, one target station is determined from the stations to serve as a next station where the robot goes according to the distance between the current position where a robotis located and the stations and the states of private queues of the stations, and the robot is dispatched to the target station. The problems of long consumed time and low efficiency caused by manualpicking in the prior art are solved, and the picking operation efficiency is greatly improved.

The invention discloses a robot scheduling method and device, equipment and a storage medium. The method comprises the steps of obtaining to-be-distributed task information corresponding to a to-be-distributed task and carrying state information of each robot; determining a target robot according to the to-be-distributed task information and the carrying state information of each robot; and sending a scheduling instruction to the target robot to enable the target robot to execute the to-be-distributed task based on the scheduling instruction, through the technical scheme of the invention, the robot loaded with the corresponding storage box type can be scheduled to execute the to-be-distributed task according to the type of the distribution task, the requirements of different distribution tasks are met, the utilization rate of the robot is improved, and investment cost is saved.

The invention relates to the technical field of substation inspection robot scheduling. The invention relates to an inspection robot scheduling method, in particular to an inspection robot cross-regional scheduling method based on a hybrid genetic-ant colony algorithm. For the lack of pheromones of an initial ant colony algorithm; a genetic algorithm is used to obtain an optimal solution, inspection task characteristics, robot utilization rate, circulation cost and other factors can be comprehensively considered, path pheromones are initialized based on an adaptive value W to form initial pheromone distribution, then node pheromones are selected, traversed and updated according to an ant colony algorithm, and finally the optimal solution is obtained. In the optimization process, the searchspace of an ant colony algorithm solution is expanded through the domain search characteristics of a genetic algorithm cross operator, local optimization is avoided, and the quality of the solution is improved. By applying the method provided by the invention, the robot circulation efficiency and utilization rate are improved while the inspection requirements of the robots of the transformer substations are met, the company resource allocation management level is improved, and the investment of capital and maintenance work is reduced.

The invention discloses a method, a device and a system for dispatching a robot. The method for dispatching the robot comprises the following steps of obtaining environment data of a target detection area, and storing the environment data into an environment parameter database; according to preset early warning items, obtaining environment data corresponding to the early warning items in real time, performing weighted computing according to a preset weight relationship, and producing alarming information when the weighting result exceeds the warming threshold value by real-time judging; according to the alarming information, obtaining a corresponding control instruction sequence in an instruction set database; according to the interaction between the instruction sequence and a robot information database, obtaining the robot which can execute tasks at present, and distributing the instruction sequence to the robot, so as to control the robot to perform cooperated treatment and alarming. The method has the advantage that the efficiency of robot dispatching is higher.