METHOD AND APPARATUS FOR WORKING-PLACE BACKFLOW OF ROBOTS

• US 20180333847A1
• Filed: 08/03/2016
• Published: 11/22/2018
• Est. Priority Date: 01/04/2016
• Status: Active Grant

• Current Assignee: Zhejiang Libiao Robots Co., Ltd.
• Original Assignee: Hangzhou Yameilijia Technology Co., Ltd.
• Inventors: Ma, Ming, Zhu, Jianqiang
• Granted Patent: US 10,421,186 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: G05B 2219/40417 For cooperating manipulators
• CPC Class Codes: G05B 2219/45083 Manipulators, robot
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127

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.

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.

2. The method according to claim 1, 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.

3. The method according to claim 2, wherein the step of calculating a backflow path from the current coordinates of the robot currently in an idle state to coordinates of each of the destinations comprises:

acquiring current coordinates of other robots; and

calculating, according to the current coordinates of the robot currently in an idle state and the current coordinates of the other robots, the backflow path from the current coordinates of the robot currently in an idle state to the coordinates of each of the destinations.

4. The method according to claim 1, wherein the method further comprises:

judging whether electric quantity of the robot currently in an idle state reaches standard electric quantity;

determining, when the electric quantity of the robot currently in an idle state is detected to be lower than the standard electric quantity, the corresponding robot currently in an idle state as a to-be-charged robot;

acquiring coordinates of all charging stations which the to-be-charged robot is going to return to, wherein coordinates of the charging stations comprise coordinates of a plurality of the charging stations and the coordinates of the plurality of the charging stations are all located in predetermined zones outside the working area;

calculating, according to distances from the current coordinates of the to-be-charged robot to coordinates of all the charging stations and time for the to-be-charged robot, coordinates of a target charging station nearest to the current coordinates of the to-be-charged robot; and

controlling the to-be-charged robot to move out of the working area according to a backflow path corresponding to the coordinates of the target charging station, so as to ensure that the to-be-charged robot orderly moves into the target charging station for charging.

5. The method according to claim 4, wherein the calculating, according to distances from the current coordinates of the to-be-charged robot to coordinates of all the charging stations and time for the to-be-charged robot, coordinates of a target charging station nearest to the current coordinates of the to-be-charged robot comprises:

calculating a backflow path from the current coordinates of the to-be-charged robot to coordinates of each of the charging stations;

calculating, according to distances and the time corresponding to the backflow paths, a second matching cost between the current coordinates of the to-be-charged robot and the coordinates of each of the charging stations;

comparing a plurality of the calculated second matching costs, and choosing smallest one from the second matching costs; and

determining coordinates of a charging station in the backflow path corresponding to the chosen smallest second matching cost as the coordinates of the target destination nearest to the current coordinates of the to-be-charged robot.

6. The method according to claim 1, wherein data connections with a plurality of robots are respectively established, and the method further comprises:

determining a crowding point zone;

setting, according to pass requests sent by individual robots in the crowding point zone, scheduling commands for the individual robots in the crowding point zone; and

sending the scheduling commands respectively to the individual robots in the crowding point zone, so that robots having received the scheduling commands pass through the crowding point zone according to the scheduling commands.

7. The method according to claim 6, wherein the step of determining a crowding point zone comprises:

acquiring paths of the plurality of robots;

determining a crowding point according to the paths of the plurality of robots; and

determining the crowding point zone from zones adjacent to the crowding point.

8. The method according to claim 6, wherein

the pass request comprises:

a position of the robot in the crowding point zone.

9. The method according to claim 8, wherein the step of setting according to pass requests sent by individual robots in the crowding point zone scheduling commands for individual robots in the crowding point zone comprises:

setting, according to time sequence of the pass requests sent by individual robots in the crowding point zone and positions of the individual robots in the crowding point zone included in the pass requests, the scheduling commands respectively for the individual robots in the crowding point zone.

10. The method according to claim 6, wherein the scheduling command comprises:

time when a robot starts to operate in the crowding point zone, a path for the robot passing through the crowding point zone and a speed for the robot passing through the crowding point zone.

11. 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.

12. The apparatus according to claim 11, 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.

13. The apparatus according to claim 12, wherein the first calculating unit comprises:

an acquiring sub-unit, configured to acquire current coordinates of other robots; and

a calculating sub-unit, configured to calculate, according to the current coordinates of the robot currently in an idle state and the current coordinates of the other robots, the backflow path from the current coordinates of the robot currently in an idle state to the coordinates of each of the destinations.

14. The apparatus according to claim 11, wherein the apparatus further comprises:

a judging module, configured to judge whether electric quantity of the robot currently in an idle state reaches standard electric quantity;

a first determining module, configured to determine, when the electric quantity of the robot currently in an idle state is detected to be lower than the standard electric quantity, the corresponding robot as a to-be-charged robot;

a second acquiring module, configured to acquire coordinates of all charging stations which the to-be-charged robot is going to return to, wherein coordinates of the charging stations comprise coordinates of a plurality of the charging stations and the coordinates of the plurality of the charging stations are all located in predetermined zones outside the working area;

a second calculating module, configured to calculate, according to distances from the current coordinates of the to-be-charged robot to the coordinates of all the charging stations and time for the to-be-charged robot, coordinates of a target charging station nearest to the current coordinates of the to-be-charged robot; and

a second controlling module, configured to control the to-be-charged robot to move out of the working area according to a backflow path corresponding to the coordinates of the target charging station, so as to ensure that the to-be-charged robot orderly moves into the target charging station for charging.

15. The apparatus according to claim 14, wherein the second calculating module comprises:

a third calculating unit, configured to calculate the backflow path from the current coordinates of the to-be-charged robot to the coordinates of each of the charging stations;

a fourth calculating unit, configured to calculate, according to distances and time corresponding to the backflow paths, a second matching cost between the current coordinates of the to-be-charged robot and the coordinates of each of the charging stations;

a second comparing unit, configured to compare a plurality of the calculated second matching costs;

a second choosing unit, configured to choose smallest one from the second matching costs obtained by comparison of the second comparing unit; and

a second determining unit, configured to determine coordinates of a charging station in the backflow path corresponding to the chosen smallest second matching cost as the coordinates of the target charge station nearest to the current coordinates of the to-be-charged robot.

16. The apparatus according to claim 11, wherein the apparatus respectively establishes data connections with a plurality of robots, and further comprises:

a second determining module, configured to determine a crowding point zone;

a setting module, configured to set, according to pass requests sent by individual robots in the crowding point zone, scheduling commands respectively for the individual robots in the crowding point zone; and

a sending module, configured to send the scheduling commands respectively to the individual robots in the crowding point zone, so that robots having received the scheduling commands pass through the crowding point zone according to the scheduling commands.

17. The apparatus according to claim 16, wherein the second determining module comprises:

an acquiring unit, configured to acquire paths of the plurality of robots;

a crowding point determining unit, configured to determine a crowding point according to the paths of the plurality of robots; and

a crowding point zone determining unit, configured to determine the crowding point zone from zones adjacent to the crowding point.

18. The apparatus according to claim 16, wherein the pass request comprises:

a position of the robot in the crowding point zone.

19. The apparatus according to claim 18, wherein the setting module is configured to set, according to time sequence of the pass requests sent by the individual robots in the crowding point zone and positions of the individual robots in the crowding point zone included in the pass requests, the scheduling commands respectively for the individual robots in the crowding point zone.

20. The apparatus according to claim 16, wherein the scheduling command comprises:

time when a robot starts to operate in the crowding point zone, a path for the robot passing through the crowding point zone and a speed for the robot passing through the crowding point zone.