CN107844117B - Road locking system and method based on cloud - Google Patents

Abstract

The invention relates to a cloud-based road locking system, comprising: a server end and a robot end, wherein the server end includes a road information configuration module for configuring road information, and synchronizes the configured road information to the robot end, according to the robot end The request sent from the terminal sends a road locking or unlocking instruction to the robot; the robot terminal includes a robot road processing module, and the robot road processing module performs corresponding tasks according to the instructions issued by the server terminal. The invention also discloses a cloud-based road locking method, which can effectively schedule and avoid the problem of road blockage through the road section locking mechanism based on the robot scheduling system of the present invention.

Description

A cloud-based road locking system and method

technical field

The present invention relates to a robot dispatching system, and more particularly, to a cloud-based road locking system and method.

Background technique

With the development of society, robots can liberate people from heavy manual labor and dangerous environments, and can help people do more things. Robots can help us complete dangerous tasks that we can and cannot do.

However, in the process of performing tasks, the robot usually encounters special road scenarios such as narrow passages, elevators, automatic doors, etc. that can only pass through one robot at the same time, or can only pass through robots in the same direction at the same time. The cloud-based road segment locking mechanism of the invention can effectively schedule, avoid road segment blockage, and improve the passing rate of multiple robots.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a cloud-based road locking system and method.

The technical solution adopted by the present invention to solve the technical problem is: a cloud-based road locking system, comprising:

The server side includes a road information configuration module for configuring road information, synchronizes the configured road information to the robot side, and issues road locking or unlocking instructions to the robot according to the request sent by the robot side;

The robot side includes a robot road processing module, and the robot road processing module performs corresponding tasks according to the instructions issued by the server side.

In the present invention, the road information configuration module is used to configure the area to be locked by the road, set the lock detection point and the unlock area point for the area, and whether the road allows robots in the same direction to pass through.

In the present invention, the server side further includes a road information maintenance module, a cloud information sending and receiving interface and a first database, and the road information maintenance module is used for processing the information received by the cloud sending and receiving information interface and then processing the road information. The information configuration module is updated and saved to the first database.

In the present invention, the robot end further includes a robot end sending and receiving information interface and a second database, and the robot end sending and receiving information interface is used to receive instructions issued by the server end, send requests to the server end, and save data. To the second database, the robot road processing module executes the driver program of the corresponding hardware device according to the instructions forwarded by the information sending and receiving interface of the robot end, and drives the corresponding hardware device to perform tasks.

In the present invention, the robot end pre-stores a map for performing tasks in a preset scene and is provided with a positioning device, and the robot updates its position on the map according to the positioning device when performing a task.

In the present invention, the server end is connected with the robot end through the websocket/http/socket communication protocol, and the robot end is connected with the hardware device through the websocket/http/socket communication protocol.

The invention also discloses a cloud-based road locking method. When the robot detects that it reaches the road locking detection point, the following steps are performed:

S1. Determine whether the road is locked on the server side, if the road is locked, execute step S2, otherwise execute step S3;

S2. Determine whether the robot in the same direction is allowed to pass and the locked robot is running in the same direction and whether the number of passing robots in the same direction does not reach the preset maximum allowed by the road. The robot can be combed; if the robot in the same direction is allowed to pass and the robot is locked to run If the number of passing robots in the same direction and the same direction does not reach the maximum number of passable robots allowed by the road, step S3 is executed, otherwise the server informs the robot to wait for a preset time and triggers the detection of road locking task and executes the described step S1;

S3. The server side locks the road section, records the robot identification code and the robot running direction, and informs the robot that the road can be passed.

In the present invention, after step S3, it further includes:

S4. After the robot passes the road, it sends a request for unlocking the road to the server, and the server unlocks the corresponding road according to the identification code.

In the present invention, after the step S3, it also includes:

S31. determine whether the robot needs to control hardware equipment, if so, execute step S32; otherwise, execute step S4;

S32. The robot controls the hardware device according to preset control logic.

In the present invention, after step S32, it also includes:

S321. Determine whether the feedback from the hardware device is successful, and if so, execute step S4; otherwise, return to step S32.

In the present invention, before the robot detects that it reaches the road lock detection point, it includes:

S01. Pre-configure the area that needs to be added with road locks on the server side, set a lock detection point and an unlocking area point to the area that needs to be added with road locks, and pre-store the execution task in a preset scene on the robot side a map with a positioning device;

S02. The robot updates its position on the map according to the positioning device when performing the task. If the robot detects that its position has reached the road lock detection point, step S1 is performed.

The beneficial effect of the present invention is that, through the cloud-based road segment locking system and method described in the present invention, effective scheduling can be achieved to avoid the problem of road segment blockage.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which:

1 is an architecture diagram of a cloud-based road locking system of the present invention;

Fig. 2 is one of the one-way one-way schematic diagrams of the cloud-based road locking system according to the present invention;

3 is the second schematic diagram of the one-way one-way street of the cloud-based road locking system according to the present invention;

Fig. 4 is one of two-way one-way schematic diagrams of the cloud-based road locking system according to the present invention;

5 is the second schematic diagram of the two-way one-way street of the cloud-based road locking system according to the present invention;

6 is one of the schematic diagrams of the two-way two-way road of the cloud-based road locking system according to the present invention;

7 is the second schematic diagram of the two-way two-way road of the cloud-based road locking system according to the present invention;

8 is a schematic diagram of a multi-fork road of the cloud-based road locking system according to the present invention;

9 is one of the door schematic diagrams of the cloud-based road locking system according to the present invention;

10 is the second schematic diagram of the door of the cloud-based road locking system according to the present invention;

11 is a schematic diagram of an elevator of the cloud-based road locking system according to the present invention;

FIG. 12 is a flowchart of the cloud-based road locking method according to the present invention.

Detailed ways

FIG. 1 is the cloud-based road locking system of the present invention, as shown in the figure. The presentation layer 11 may use JSP/Servlet technology in one or more embodiments of the present invention to construct a user interface for displaying data; while the business logic layer 12 may use Bean/EJB in one or more embodiments of the present invention technology, used to process business logic, generally if judgment, loop, etc.; and the data persistence layer 13 may adopt JDBC technology in one or more embodiments of the present invention, for providing a data interface to save data and access data; driver layer 14 It is used to connect hardware and operating systems, such as drivers for navigation, elevators, automatic doors, and voice; the physical device layer 15 is for various devices connected to the system, such as navigation motion hardware, voice-related hardware, and so on.

The server side 1 includes a road information configuration module 4 located in the presentation layer 11 , a road information maintenance module 5 located in the business logic layer 12 , a cloud sending and receiving information interface 6 , and a first database 9 located in the data persistence layer 13 . The robot end 1 includes a robot end receiving and sending information interface 7 and a robot road processing module 8 located in the business logic layer 12 , and a second database 10 located in the data persistence layer 13 . Navigation, elevator, automatic door, voice and other drivers are located in the driver layer 14; navigation motion hardware and voice-related hardware are located in the physical device layer 15; hardware equipment 3 includes elevators, automatic doors, and the like.

Wherein, the road information configuration module 4 on the server side 1 can configure the area where the road lock needs to be added, and set the lock detection point and the unlock area in the area where the road lock needs to be added (for example, some points on the edge of the area). Points and whether the road allows robots in the same direction to pass through.

In one or more embodiments of the present invention, the field allowSamePass is used to indicate whether the robot in the same direction is allowed to pass (true is allowed, false is not allowed), and the field allowSamePassNumber is used to indicate the maximum number of robots allowed to pass in the same direction (when the road reaches the same direction as the road). After the direction passes the maximum number of machines, the road status will also be set to locked, and no new robots will be allowed to enter), each area is marked with the field lock to mark the locked status of the area (true is locked, false is unlocked), The field lockRobotCode is used to indicate which robot is locked, and the field lockDirection is used to indicate the running direction parameter of the locked robot in the road area. After the setting is completed, the configuration information of these fields will be stored in the first database 9 of the server side 1, and at the same time, the configuration information will be delivered to all the robots of the robot side 2 for synchronous storage.

Before the robot performs a task in a preset scene, the map of the scene has been pre-stored. When the robot receives the task sequence sent by the server 1 and performs the task while walking on the map, the robot will continuously update its position on the map according to its own positioning device. The robot has a local intelligent path planning algorithm to plan the walking path from its own position to the destination position. The robot has a local intelligent obstacle avoidance algorithm. When the robot's local obstacle avoidance sensor finds that there is an obstacle on the robot's walking path, the robot will try to avoid the obstacle independently. When the path is blocked and the robot fails to avoid the obstacle, the robot will stop. In place, stop walking.

In one or more embodiments of the present invention, when the robot is walking, it usually encounters narrow passages, elevators, automatic doors, etc. on the map at the same time. Only one robot can pass through at the same time. It can only pass the road scene of the robot in the same direction. Therefore, it is necessary to set the locking detection point 22 and the unlocking area point 21 in the area where the road lock needs to be added (for example, some points on the edge of the area), as shown in Figure 2-Figure 11 As shown, in these road scenarios, it is easy to cause multiple robots to trigger local obstacle avoidance because there is no unified planning and scheduling. For example, multiple robots walking towards each other are crowded and gathered somewhere in a narrow road, and all robots stay on the road. It leads to road blockage, so it is necessary to set up a road locking mechanism to facilitate effective scheduling and avoid the problem of road blockage.

Regarding the one-way road and the two-way road in FIGS. 2-6 , in one or more embodiments of the present invention, the two-way road is stored and locked in the cloud (ie, the server side) in the form of two one-way roads. Therefore, no matter whether the two-way road is a two-way two-way road or a same-direction two-way road, the cloud will define two one-way roads for storage. The rest of the multi-lane roads are in turn.

In one or more embodiments of the present invention, the locking detection point 22 and the unlocking area point 21 in the schematic diagrams of FIGS. 2-11 do not necessarily coincide. FIGS. 2-11 are only schematic diagrams, and the present invention is not limited thereto. The door shown in Fig. 9-Fig. 10 may have other modes, and it is not limited to the two cases in Fig. 9-Fig. 10. As shown in Figure 11, because the elevator has areas with multiple floors, when the elevator is locked, all areas that the elevator can reach will be locked. The schematic diagram of FIG. 11 does not show multiple floors, but one or more embodiments of the present invention lock the elevator object on all floors simultaneously.

The locked area in the above figure refers to the robot path between the locking point and the unlocking point. In one or more embodiments of the present invention, the width of the path is the same as that of the road. For example, in a multi-fork road scenario, each intersection is provided with a locking point and an unlocking point. As long as one robot requests to lock, the cloud will Locks all relevant robot paths for this multi-fork scenario with the same width as the road. In the same way, in the elevator scenario, each floor has lock and unlock points. Once a robot requests to lock, the cloud will lock the paths of robots on all floors of the elevator entering and leaving the elevator (compared to the operation of robots on the same floor). Path, the entry and exit path of the elevator scene is divided into two sections, the departure floor is the path from the lock point to the inside of the elevator, and the arrival floor is the path from the inside of the elevator to the unlock point).

The robot itself is equipped with a positioning device. After running to the vicinity of the locking point, it will perform the task of requesting locking. If the cloud is not allowed, the robot cannot enter the locked area. The multi-fork roads described in Figure 8 actually have locking and unlocking points at each intersection. For example, when the robot is running, it enters from one locking point and can go out from multiple unlocking points. Figure 8 is just one of the implementations. example, but the present invention is not limited to this.

FIG. 12 is a flowchart of the cloud-based road locking method according to the present invention, and the flowchart is one of the embodiments of the present invention, as shown in the figure.

In step A1, when the robot reaches the road lock detection point, the robot has stored a map of the scene in advance before the robot performs the task. When the robot receives the task sequence sent by the scheduling system and performs tasks while walking on the map, the robot will constantly update its position on the map according to its own positioning device.

When the robot detects that its position is near the road lock detection point, the task of detecting road lock is triggered, and the robot communicates with the cloud through the long connection websocket channel established in advance through the communication interface between the robot and the cloud (one or more implementations of the present invention) This communication protocol is used in the example, but in fact it is not limited to this method, other protocols such as http, socket and other communication are possible). The robot side sends a data packet to the server side, the data includes the road lock detection point information (represented by the areaParam field), the current robot running direction (represented by the runDirection field), the current request robot number (represented by the runRobotCode field), and the request to query the cloud Whether the road area to which the road lock detection point belongs is locked.

Step A2, the cloud judges whether the road is locked or not, according to the road locking detection point information (areaParam) reported by the robot, go to the database to query the locking status of the road in the area (represented by the lock field), if the cloud feedback road is not locked (that is, the lock value is false ) information, then execute step A5; if the road is locked (that is, the lock value is true), the robot executes step A3.

Step A3, the cloud determines whether the allowSamePass configuration of the area road queried in the above-mentioned step A2 allows the robot in the same direction to pass, and whether the current running robot and the robot locking the road run in the same direction, that is, whether the lockDirection field is consistent with the runDirection field; if The allowSamePass field is true, and the lockDirection field is the same as the runDirection field, and the current number of robots M (M is an integer) running on the road in the same direction is less than the preset maximum number of robots in the same direction allowed by the current road allowSamePassNumber, then Go to step A5; otherwise go to step A4.

Step A4, the cloud returns the verification result of the robot through websocket, and the robot waits for a preset time (the preset time x seconds is pre-configured by the software on the robot side. Once the task is triggered, the software will start timing from 0 until x seconds later. Retry step A1 after executing step A1).

Steps A5 and A6, the cloud will set the database field lock value of the area to true to lock the road section, and store the runRobotCode field of the reported robot to the database lockRobotCode field of the area, record the identification code of the robot, and store the runDirection field of the reported robot Go to the database lockDirection field of this area, record the passing direction of the robot, and the number of robots running in the same direction on the current road M=M+1. Then, the cloud will issue an instruction that can pass the road to the robot through the websocket, informing the robot that the road can be passed, and proceed to step A7.

In step A7, the robot end determines whether other hardware devices need to be controlled. If necessary, go to step A8; if not, go to step A10.

Step A8, the robot controls other hardware devices (eg, elevators, automatic doors) according to the preset control logic of other hardware devices, and executes Step A9.

Step A9, the robot continues to judge whether the feedback from other hardware devices is successful. If the feedback is successful, execute step A10, otherwise continue to return to step A8 to retry to control the other hardware devices.

Steps A10 and A11, after the robot receives the instruction of passing the road described in step A6 in the cloud, it walks through the road autonomously, and after detecting that its position reaches the unlocked area near the edge of the area (indicating that it passes the road), The robot sends a data packet of unlocking the road request instruction to the cloud through the websoket communication protocol, and the data includes the identification code of the robot.

Step A12, the cloud unlocks the corresponding road according to the identification code of the robot, and the number of robots running in the same direction on the current road is M=M-1.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (11)

1. a cloud-based road locking system is characterized in that, comprising: The server side includes a road information configuration module for configuring road information, synchronizes the configured road information to the robot side, and issues road locking or unlocking instructions to the robot according to the request sent by the robot side; The robot side includes a robot road processing module, and the robot road processing module performs corresponding tasks according to the instructions issued by the server side; Wherein, the server side issues a road locking instruction to the robot according to the request sent by the robot side, including: The server side, when receiving the request sent by the robot side to ask whether the road area to which the road locking detection point belongs is locked, judges whether the road is locked; if the road is locked, judges whether the same-direction robot is allowed to pass and Whether the locked robot is running in the same direction and whether the number of passing robots in the same direction has not reached the preset maximum number of passing robots allowed on the road; if the same direction robot is allowed to pass and the locked robot is running in the same direction and the same direction is passing If the number of robots does not reach the maximum number of robots that can pass through the road, lock the road, record the robot identification code and the robot running direction, and notify the robot that the road can pass; otherwise, notify the robot to wait for a preset time. Trigger detect road lock task. 2. cloud-based road locking system according to claim 1, is characterized in that, described road information configuration module is used to configure the area that needs to add road lock, this area is provided with locking detection point and unlocking area point and road Whether to allow robots in the same direction to pass. 3. The cloud-based road locking system according to claim 2, wherein the server end further comprises a road information maintenance module, an interface for sending and receiving information on the cloud, and a first database, and the road information maintenance module is used for After processing the information received by the cloud sending and receiving information interface, the road information configuration module is updated and stored in the first database. 4. The cloud-based road locking system according to claim 1 or 3, wherein the robot end further comprises a robot end sending and receiving information interface and a second database, and the robot end sending and receiving information interface is used to receive the The instruction issued by the server side and the request sent to the server side and the data are stored in the second database, the robot road processing module executes the driver program of the corresponding hardware device according to the instruction forwarded by the robot side information sending and receiving interface, And drive the corresponding hardware device to perform the task. 5 . The cloud-based road locking system according to claim 4 , wherein the robot end pre-stores a map for performing tasks in a preset scene and is provided with a positioning device, and the robot performs the tasks according to the positioning according to the positioning device. 6 . The device updates its position on the map. 6. The cloud-based road locking system according to claim 1, wherein the server end is connected with the robot end through websocket/http/socket communication protocol, and the robot end communicates through websocket/http/socket Protocols connect with hardware devices. 7. A cloud-based road locking method, characterized in that, when the robot reaches the road locking detection point, the following steps are performed: S1. Determine whether the road is locked on the server side, if the road is locked, execute step S2, otherwise execute step S3; S2. Determine whether the robot in the same direction is allowed to pass and the locked robot is running in the same direction and whether the number of passing robots in the same direction does not reach the preset maximum number of robots allowed by the road; if the robot in the same direction is allowed to pass and the robot is locked to run If the number of passing robots in the same direction and the same direction does not reach the maximum number of passable robots allowed by the road, step S3 is executed, otherwise the server informs the robot to wait for a preset time and triggers the detection of road locking task and executes the described step S1; S3. The server locks the road, records the robot identification code and the robot running direction, and informs the robot that the road can be passed. 8. The cloud-based road locking method according to claim 7, characterized in that, after step S3, further comprising: S4. After the robot passes the road, it sends a request for unlocking the road to the server, and the server unlocks the corresponding road according to the identification code. 9. The cloud-based road locking method according to claim 8, wherein after the step S3, the method further comprises: S31. determine whether the robot needs to control hardware equipment, if so, execute step S32; otherwise, execute step S4; S32. The robot controls the hardware device according to preset control logic. 10. The cloud-based road locking method according to claim 9, characterized in that, after step S32, further comprising: S321. Determine whether the feedback from the hardware device is successful, and if so, execute step S4; otherwise, return to step S32. 11. The cloud-based road locking method according to claim 7, wherein the detection of the robot before reaching the road locking detection point comprises: S01. Pre-configure the area that needs to be added with road locks on the server side, set a lock detection point and an unlocking area point to the area that needs to be added with road locks, and pre-store the execution task in a preset scene on the robot side map with a positioning device; S02. The robot updates its position on the map according to the positioning device when performing the task. If the robot detects that its position has reached the road lock detection point, step S1 is performed.

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