Method and apparatus for working-place backflow of robots
First Claim
1. A method for working-place backflow of robots, comprising:
- acquiring current coordinates of a robot in a working area with the robot currently in an idle state;
acquiring coordinates of all destinations which the robot currently in an idle state is going to return to, wherein the coordinates of the destinations are plural, with the plural coordinates of the destinations all located outside of the working area;
a plurality of storage areas are located outside of the working area, with plurality of storage areas at different zones, and the plurality of coordinates of destinations are all set in the storage areas at predetermined zones outside the working area;
calculating, according to distances from the current coordinates of the robot currently in an idle state to the coordinates of all the destinations and time for the robot moving from a current location to all the destinations, coordinates of a target destination nearest to the current coordinates; and
controlling the robot currently in an idle state to move out of the working area according to a backflow path corresponding to the coordinates of the target destination, so as to ensure that the robot currently in an idle state departs orderly,wherein the step of calculating, according to distances from the current coordinates of the robot currently in an idle state to the coordinates of all the destinations and time for the robot moving from a current location to all the destinations, coordinates of a target destination nearest to the current coordinates comprises;
calculating a backflow path from the current coordinates of the robot currently in an idle state to coordinates of each of the destinations;
calculating, according to distances and time corresponding to the backflow paths, a first matching cost between the current coordinates of the robot currently in an idle state and the coordinates of each of the destinations;
comparing a plurality of the first matching costs calculated, and choosing smallest one from the plurality of the first matching costs; and
determining coordinates of a destination in the backflow path corresponding to the chosen smallest first matching cost as the coordinates of the target destination nearest to the current coordinates.
2 Assignments
0 Petitions
Accused Products
Abstract
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.
-
Citations
18 Claims
-
1. A method for working-place backflow of robots, comprising:
-
acquiring current coordinates of a robot in a working area with the robot currently in an idle state; acquiring coordinates of all destinations which the robot currently in an idle state is going to return to, wherein the coordinates of the destinations are plural, with the plural coordinates of the destinations all located outside of the working area;
a plurality of storage areas are located outside of the working area, with plurality of storage areas at different zones, and the plurality of coordinates of destinations are all set in the storage areas at predetermined zones outside the working area;calculating, according to distances from the current coordinates of the robot currently in an idle state to the coordinates of all the destinations and time for the robot moving from a current location to all the destinations, coordinates of a target destination nearest to the current coordinates; and controlling the robot currently in an idle state to move out of the working area according to a backflow path corresponding to the coordinates of the target destination, so as to ensure that the robot currently in an idle state departs orderly, wherein the step of calculating, according to distances from the current coordinates of the robot currently in an idle state to the coordinates of all the destinations and time for the robot moving from a current location to all the destinations, coordinates of a target destination nearest to the current coordinates comprises; calculating a backflow path from the current coordinates of the robot currently in an idle state to coordinates of each of the destinations; calculating, according to distances and time corresponding to the backflow paths, a first matching cost between the current coordinates of the robot currently in an idle state and the coordinates of each of the destinations; comparing a plurality of the first matching costs calculated, and choosing smallest one from the plurality of the first matching costs; and determining coordinates of a destination in the backflow path corresponding to the chosen smallest first matching cost as the coordinates of the target destination nearest to the current coordinates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. An apparatus for working-place backflow of robots, comprising:
-
a first acquiring module, configured to acquire current coordinates of a robot currently in an idle state in a working area; a second acquiring module, configured to acquire coordinates of all destinations which the robot currently in an idle state is going to return to, wherein the coordinates of the destinations comprise a plurality of destinations and the coordinates of the plurality of the destinations are all located at outside of the working area;
a plurality of storage areas are located outside of the working area, with the plurality of storage areas at different zones, and the coordinates of the plurality of the destinations are all set in the storage areas at predetermined zones outside the working area;a first calculating module, configured to calculate, according to distances from the current coordinates of the robot currently in an idle state to the coordinates of all the destinations and time for the robot currently in an idle state, coordinates of a target destination nearest to the current coordinates; and a first controlling module, configured to control the robot currently in an idle state to move out of the working area according to a backflow path corresponding to the coordinates of the target destination, so as to ensure that the robot currently in an idle state departs orderly, wherein the first calculating module comprises; a first calculating unit, configured to calculate a backflow path from the current coordinates of the robot currently in an idle state to coordinates of each of the destinations; a second calculating unit, configured to calculate, according to distances and the time corresponding to the backflow paths, a first matching cost between the current coordinates of the robot currently in an idle state and the coordinates of each of the destinations; a first comparing unit, configured to compare a plurality of the calculated first matching costs; a first choosing unit, configured to choose smallest one from the first matching costs obtained by comparison of the first comparing unit; and a first determining unit, configured to determine coordinates of a destination in the backflow path corresponding to the chosen smallest first matching cost as the coordinates of the target destination nearest to the current coordinates. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
-
Specification