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Method and apparatus for working-place backflow of robots

  • US 10,421,186 B2
  • Filed: 08/03/2016
  • Issued: 09/24/2019
  • Est. Priority Date: 01/04/2016
  • Status: Active Grant
First Claim
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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.

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