CN108829111A - Multirobot uses the dispatching method and device of more charging piles - Google Patents
Multirobot uses the dispatching method and device of more charging piles Download PDFInfo
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- CN108829111A CN108829111A CN201810893288.8A CN201810893288A CN108829111A CN 108829111 A CN108829111 A CN 108829111A CN 201810893288 A CN201810893288 A CN 201810893288A CN 108829111 A CN108829111 A CN 108829111A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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Abstract
This application discloses dispatching methods and device that a kind of multirobot uses more charging piles.The multirobot includes using the dispatching method of more charging piles：Obtain the range information of each effectively charging pile in robot and working region；Obtain the occupied state information of each effectively charging pile；According to the range information and the occupied state information, determines nearest with the robot distance and be not in the charging pile of occupied state；And the control robot goes to the charging pile to charge.The multirobot includes using the dispatching device of more charging piles：Range information obtains module, occupied state data obtaining module, target charging pile determining module and navigation control module.Present application addresses the efficiency occurred in prior art robot and the one-to-one scheme of charging pile lower, the wasting of resources, the problem poor for emergency situations adaptibility to response.
Description
Technical field
This application involves robot fields, and the dispatching method of more charging piles is used in particular to a kind of multirobot
The dispatching device of more charging piles is used with a kind of multirobot.
Background technique
With the development of robot technology, robot using more more and more universal, usage scenario is more and more, increasingly
Greatly.One robot foot of some scenes is to deal with, but some scenes are bigger, and individual machine people not enough uses, it is necessary to more
A robot.
Since charging pile position is held essentially constant, charging pile is applied not only to charge, and is also used to correct the position of robot.
Traditional situation has several robots just to match several charging piles, the corresponding charging pile of each robot, when robot detects
In charged state, the position correction of robot to the position of corresponding charging pile.
It is contemplated that existing this robot is unfavorable for the efficient of multirobot with the one-to-one scheme of charging pile
It utilizes：If there are two robot A and B, corresponding charging pile a and b, when the task object point of certain robot A is from charging pile b
Relatively close, robot needs to travel far distance and just returns to charging pile a after completion task, this resulted in robot low efficiency with
And the problems such as wasting of resources.In addition, if one of charging pile a breaks down, then corresponding robot A just can not be normal
Work, because robot A can not go charging pile b to charge automatically.In addition, there are also some human factors, robot A is intentional
Robot can be in position correction to the position of charging pile a while shifting on charging pile b, and charge, and which results in rear
Continuous task error.
Lower, the wasting of resources, needle for the efficiency that occurs in prior art robot and the one-to-one scheme of charging pile
The problem poor to emergency situations adaptibility to response, inventors herein proposes a solution.
Apply for content
The main purpose of the application is to provide the dispatching method that a kind of multirobot uses more charging piles, existing to solve
The efficiency occurred in technology machinery people and the one-to-one scheme of charging pile is lower, the wasting of resources, for emergency situations copes with energy
The poor problem of power.
To achieve the goals above, it according to the one aspect of the application, provides a kind of multirobot and uses more charging piles
Dispatching method method, this method includes：Obtain the range information of each effectively charging pile in robot and working region；It obtains
The occupied state information of each effectively charging pile；According to the range information and the occupied state information, determine with
The robot distance is nearest and is not in the charging pile of occupied state；Controlling the robot goes to the charging pile to carry out
Charging.
Further, in step：It controls after the robot goes to the charging pile to be charged, including：Work as machine
People obtains the position where the charging pile when charging pile charges；And using the position as the robot
Current location.
Further, if executing step：When controlling the robot charging pile being gone to be charged, detect
The charging pile is in occupied state, then return step：Obtain each effectively charging pile in robot and working region away from
From information.
Further, this method further includes：When robot is when charging pile is charged, by the charging status information of itself
It is uploaded with current information of charging pile.
According to the another aspect of the application, the dispatching method that another multirobot uses more charging piles, the party are provided
Method includes：Obtain the range information of each effectively charging pile in robot and working region；It is determined according to the range information
The first nearest charging pile with the robot distance；Judge whether first charging pile is in occupied state；If it is not, then
Controlling the robot goes to first charging pile to charge.
Further, when judging that first charging pile is in occupied state：It determines except first charging pile
Except with robot distance recently and be not in occupied second charging pile；It controls the robot and goes to described second
Charging pile charges.
Further, in step：It controls after the robot goes to first charging pile to be charged, including：When
Robot obtains the position where first charging pile when first charging pile is charged；Using the position as
The current location of the robot.
According to the another aspect of the application, the dispatching device that a kind of multirobot uses more charging piles, the device are provided
Including：Range information obtains module, for obtaining the range information of each effectively charging pile in robot and working region；It occupies
State information acquisition module, for obtaining the occupied state information of each effectively charging pile；Target charging pile determining module,
For according to the range information and the occupied state information, determining nearest with the robot distance and being not in occupied
With the charging pile of state；Navigation control module goes to the charging pile to charge for controlling the robot.
Further, which further includes：Position information acquisition module, for charging when robot in charging pile
When, obtain the position where the charging pile；Position correction module, for using the position as the present bit of the robot
It sets.
Further, which further includes：State reporting module will for when robot is when charging pile is charged
The charging status information of itself and current information of charging pile are uploaded.
In the embodiment of the present application, in such a way that robot goes to the available charging pile nearest apart from oneself to go charging,
Through detection robot currently at a distance from each charging pile, and the current occupied state information of each charging pile is obtained, really
It makes with robot apart from nearest and unappropriated charging pile, and then robot self-navigation goes to the charging pile to be filled
Electricity has reached raising machine task efficiency, and helps to save the purpose of the energy, and then solve prior art machine
The efficiency occurred in people and the one-to-one scheme of charging pile is lower, the wasting of resources, poor for emergency situations adaptibility to response
Problem.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings：
Fig. 1 is the dispatching method flow diagram that first embodiment multirobot uses more charging piles；
Fig. 2 is the dispatching method flow diagram that second embodiment multirobot uses more charging piles；
Fig. 3 is the dispatching method flow diagram that 3rd embodiment multirobot uses more charging piles；
Fig. 4 is the dispatching device structural schematic diagram that embodiment multirobot uses more charging piles.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
" connection " may be a fixed connection, and be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be straight
It connects connected, or indirectly connected through an intermediary, or is two companies internal between device, element or component
It is logical.For those of ordinary skills, can understand as the case may be above-mentioned term in this application specifically contain
Justice.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, the multirobot includes step S101 to step S104 using the dispatching method of more charging piles.
Step S101 obtains the range information of each effectively charging pile in robot and working region.In this step, when
Robot completes task when needing to return charging pile or robot electric quantity is too low when needing that charging pile is gone to be charged, detection
The robot is in working region at a distance from each effectively charging pile out, and effective charging pile refers in normal work in the application
The charging pile of state, and since the charging pile for breaking down or not being powered then is not belonging to effective charging pile.In this application,
The distance can be distance in practice, or the distance on robot map, in addition, the distance can for straight line away from
From, or the operating range of navigation programming route, the distance is robot and each charging in practice in the present embodiment
The operating range of the navigation programming route of stake.The acquisition methods of range information include in this application：Ultrasonic distance measurement, Laser Measuring
A variety of methods such as distance, UWB ranging away from calculating position coordinate on, map.
Step S102 obtains the occupied state information of each effectively charging pile.In this application, when robot is filling
When electric stake is charged, it can be uploaded itself charging status information and in which charging pile information that charge etc.,
And then each robot can obtain the charged state of other robot and the occupied state of each charging pile.The one of the application
In alternative embodiment, robot passes through network itself charging status information and in which charging pile information that charge etc.
Background server is uploaded to, and then other robots can obtain the occupied state information of charging pile from background server.
Step S103 is determined with the robot distance most according to the range information and the occupied state information
Charging pile that is close and being not in occupied state.In this step, according to the distance between charging pile and robot, and charging
The occupied state of stake is determined from robot recently and without occupied charging pile, as target charging pile.The application's
In one alternative embodiment, the determination of target charging pile can pass through, far and near according to the distance between charging pile and robot first,
Distance sequence is established, wherein the first of distance sequence is that the distance between robot is nearest, last position of distance sequence
To be farthest with the distance between robot, further according to the occupied state information of the charging pile of acquisition, to the distance sequence into
Charging pile in occupied state is placed in the end of distance sequence by row rearrangement, so obtain after rearrangement away from
From sequence, the primary charging pile of distance sequence being eventually positioned at after resequencing, as target charging pile.
Step S104 controls the robot and the charging pile is gone to charge.In this step, passing through above-mentioned step
After rapid S103 determines target charging pile, the target charging pile is gone in robot self-navigation, is charged.
It can be seen from the above description that the application is not nearest occupied from oneself by going to robot always
Charging pile charges, and helps to improve machine task efficiency, and helps to save the energy.
Charging pile is applied not only to charge in the prior art, is also used to correct the position of robot, in existing robot
In the one-to-one scheme of charging pile, charge since robot is always to revert to fixed charging pile, appearance position
The situation for correcting mistake is less, and the application unappropriated charging pile nearest since robot is always gone to charges, because
This is corrected the current location of robot in charging.
As shown in Figure 1, being step S105 and step to the corrected method in the current location of robot in charging
S106。
Step S105 obtains the position where the charging pile when robot is when charging pile is charged.In this step
In, controlled after the robot goes to the charging pile to be charged in above-mentioned steps S104, when robot charging pile into
When row charging, location information of the current charging pile on map is obtained.In the alternative embodiment of the application, each charging pile
Location information be all previously stored in background server, robot can obtain the position of current charging pile from background server
Confidence breath.In another alternative embodiment of the application, the location information of each charging pile also be can be stored in advance in robot
Storage space in, and then robot can direct called data when needed.In embodiments herein, the location information
It may include coordinate information of the charging pile on map.
Step S106, using the position as the current location of the robot.In this step, according to currently charging
The location information of charging pile is corrected the current location of robot, when robot current location and charging pile position not
When consistent, using the position of charging pile as the current location of robot.In the alternative embodiment of the application, location information is
Coordinate information of the charging pile on map, this step are, according to coordinate information of the charging pile on map to the current of robot
Coordinate is corrected.
It can be seen from the above description that the application is according to the location information of the charging pile currently to charge to robot
Current location be corrected, realizing in charging can accurately be current charging pile position the position correction of robot
Technical effect, help solution in the prior art in robot then the position of position correction to charging pile when, appearance position
The problem being corrected on the position of mistake.
Fig. 2 is the flow diagram that the multirobot of another embodiment of the application uses the dispatching method of more charging piles.Such as
Shown in Fig. 2, in the application it is considered that when by step S201 to step S203 determine from robot recently it is unoccupied
Target charging pile after, when controlling the robot hence into step S204 the charging pile being gone to be charged, in machine
During people goes to target charging pile, catch sight of the target charging pile and occupied by another robot, at this time if
Robot continues to target charging pile not and can be carried out charging.The dispatching method of the application in response to this, in step
After the S204 control robot goes to the charging pile to be charged, step S205 is further comprised.
Whether step S205, detection target charging pile are occupied.In this step, when robot is going to target charging pile
During being charged, detect suddenly the target charging pile occupied by other robot, then return step S201, i.e.,
Range information of the robot currently with effectively charging pile each in working region is reacquired, and obtains described each have again
The occupied state information of charging pile is imitated, and then according to the range information and the occupied state information, is redefined out and institute
It states robot distance recently and is not in the charging pile of occupied state, that is, redefine out target charging pile, and then control institute
Stating robot goes to the target charging pile redefined out to charge.
It can be seen from the above description that the application may go out for robot when going to charging pile to charge
Existing conflict situations propose a kind of effective solution scheme, facilitate the generation for reducing unusual condition, and then help to improve
The dispatching efficiency of robot.
Fig. 3 is the flow diagram that the multirobot of another embodiment of the application uses the dispatching method of more charging piles.Such as
Shown in Fig. 3, the dispatching method of the present embodiment includes step S301 to step S306.
Step S301 obtains the range information of each effectively charging pile in robot and working region.In this step, when
Robot completes task when needing to return charging pile or robot electric quantity is too low when needing that charging pile is gone to be charged, detection
The robot is in working region at a distance from each effectively charging pile out, in the present embodiment the distance be in practice robot and
The operating range of the navigation programming route of each charging pile.
Step S302 determines first charging pile nearest with the robot distance according to the range information.At this
In step, according to the charging pile obtained in above-mentioned steps S301 between robot at a distance from information, determine apart from the machine
The nearest charging pile in device people current location.In the alternative embodiment of the application, the determination of nearest charging pile can pass through,
Robot successively detect with the range data of each charging pile, and then determined according to the size of range data nearest with robot
Charging pile.
Step S303, judges whether first charging pile is in occupied state.In this step, from background server
The middle occupied state information for obtaining this with robot apart from nearest charging pile, and then judge that this is filled with robot apart from nearest
Whether electric stake is occupied by other robot.
Step S304, when first charging pile is not in occupied state, then control the robot go to it is described
First charging pile charges.In this step, when judging this in above-mentioned steps S303 with robot distance be nearest to fill
Electric stake is not occupied by other robot, i.e., when the charging pile is temporarily in idle condition, robot self-navigation goes to this
Charging pile charges.
Step S305, when first charging pile is in occupied state, it is determined that out except first charging pile it
Recently and occupied second charging pile is not in robot distance outside.In this step, when in above-mentioned steps S303
In judge this with robot apart from nearest charging pile occupied by other robot, i.e., the charging pile is temporarily in quilt
When occupied state, whether the charging pile that robot successively judges that second close apart from oneself, third is close etc. is currently in occupied shape
State, it is close and determine to remove except the charging pile nearest from robot with it is nearest the robot with a distance from and be not in occupied
Charging pile, be target charging pile.
Step S306 controls the robot and second charging pile is gone to charge.In this step, when determining
Remove except the charging pile nearest from robot with a distance from the robot recently and after being not in occupied charging pile, machine
The charging pile is gone in device people's self-navigation, is charged.
It can be seen from the above description that the application is not nearest occupied from oneself by going to robot always
Charging pile charges, and helps to improve machine task efficiency, and helps to save the energy.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to the embodiment of the present application, a kind of dispatching party that more charging piles are used for implementing above-mentioned multirobot is additionally provided
The multirobot of method uses the dispatching device of more charging piles, as shown in figure 4, the device includes：Range information obtains module 1, accounts for
With state information acquisition module 2, target charging pile determining module 3 and navigation control module 4, wherein：
Range information obtains module 1, for obtaining robot currently in working region at a distance from each effectively charging pile
Information；
Occupied state data obtaining module 2, for obtaining the occupied state information of each effectively charging pile；
Target charging pile determining module 3 is determined and institute for according to the range information and the occupied state information
It states robot distance recently and is not in the charging pile of occupied state；
Navigation control module 4 goes to the charging pile to charge for controlling the robot.
As shown in figure 4, the multirobot further includes using the dispatching device of more charging piles：5 He of position information acquisition module
Position correction module 6, wherein：
Position information acquisition module 5, for where when robot is when charging pile is charged, obtaining the charging pile
Position, in the alternative embodiment of the application, the location information of each charging pile is previously stored in background server, machine
Device people can obtain the location information of current charging pile by position information acquisition module 5 from background server；
Position correction module 6, for using the position as the current location of the robot, one in the application to be optional
In embodiment, the position correction module 6 is used for the coordinate information according to charging pile on map to the changing coordinates of robot
It is corrected.
As shown in figure 4, the multirobot further includes using the dispatching device of more charging piles：State reporting module 7, for working as
Robot uploads the charging status information of itself and current information of charging pile when charging pile is charged.In this Shen
Please in, when robot is when charging pile is charged, can by state reporting module 7 the charging status information of itself and
Which charging pile information that charge etc. is uploaded, so each robot can obtain other robot charged state and
The occupied state of each charging pile.In the alternative embodiment of the application, robot by state reporting module 7 itself
Charging status information and background server uploaded to by network in which charging pile information that charge etc., and then other
Robot can obtain the occupied state information of charging pile from background server.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the application be not limited to it is any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. the dispatching method that a kind of multirobot uses more charging piles, which is characterized in that including：
Obtain the range information of each effectively charging pile in robot and working region；
Obtain the occupied state information of each effectively charging pile；
According to the range information and the occupied state information, determines nearest with the robot distance and be not in occupied
With the charging pile of state；
Controlling the robot goes to the charging pile to charge.
2. the dispatching method that multirobot according to claim 1 uses more charging piles, which is characterized in that in step：Control
It makes after the robot goes to the charging pile to be charged, including：
When robot is when charging pile is charged, the position where the charging pile is obtained；
Using the position as the current location of the robot.
3. the dispatching method that multirobot according to claim 1 uses more charging piles, which is characterized in that if executing
Step：When controlling the robot charging pile being gone to be charged, detect that the charging pile is in occupied state, then
Return step：Obtain the range information of each effectively charging pile in robot and working region.
4. the dispatching method that multirobot according to claim 1 uses more charging piles, which is characterized in that further include：
When robot is when charging pile is charged, the charging status information of itself and current information of charging pile are uploaded.
5. the dispatching method that a kind of multirobot uses more charging piles, which is characterized in that including：
Obtain the range information of each effectively charging pile in robot and working region；
First charging pile nearest with the robot distance is determined according to the range information；
Judge whether first charging pile is in occupied state；
First charging pile is gone to charge if it is not, then controlling the robot.
6. the dispatching method that multirobot according to claim 5 uses more charging piles, which is characterized in that described in judgement
When first charging pile is in occupied state：
It determines nearest with the robot distance in addition to first charging pile and is not in occupied second charging pile；
Controlling the robot goes to second charging pile to charge.
7. the dispatching method that multirobot according to claim 5 uses more charging piles, which is characterized in that in step：Control
It makes after the robot goes to first charging pile to be charged, including：
When robot is when first charging pile is charged, the position where first charging pile is obtained；
Using the position as the current location of the robot.
8. the dispatching device that a kind of multirobot uses more charging piles, which is characterized in that including：
Range information obtains module, for obtaining the range information of each effectively charging pile in robot and working region；
Occupied state data obtaining module, for obtaining the occupied state information of each effectively charging pile；
Target charging pile determining module, for determining and the machine according to the range information and the occupied state information
Device people's distance is nearest and is not in the charging pile of occupied state；
Navigation control module goes to the charging pile to charge for controlling the robot.
9. the dispatching device that multirobot according to claim 8 uses more charging piles, which is characterized in that further include：
Position information acquisition module, for obtaining the position where the charging pile when robot is when charging pile is charged；
Position correction module, for using the position as the current location of the robot.
10. the dispatching device that multirobot according to claim 8 uses more charging piles, which is characterized in that further include：
State reporting module by the charging status information of itself and is currently filled for when robot is when charging pile is charged
Electric stake information is uploaded.
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| CN110347149A (en) * | 2019-05-24 | 2019-10-18 | 深圳乐行天下科技有限公司 | The method, apparatus and multi-robot system that control multi-robot system is recharged |
| CN110427029A (en) * | 2019-07-31 | 2019-11-08 | 广州高新兴机器人有限公司 | A kind of method of multirobot collaboration patrol and scheduling |
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| CN110556893A (en) * | 2019-09-16 | 2019-12-10 | 广东博智林机器人有限公司 | A robot automatic charging method, system and control background |
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Application publication date: 20181116 |