US 11,868,142 B2
Navigation route reservation for warehouse robot
Xin Ai, Shenzhen (CN); and Hao Yang, Shenzhen (CN)
Assigned to HAI ROBOTICS CO., LTD., Shenzhen (CN)
Filed by HAI ROBOTICS CO., LTD., Shenzhen (CN)
Filed on Jul. 23, 2021, as Appl. No. 17/384,640.
Claims priority of application No. 202010840682.2 (CN), filed on Aug. 20, 2020.
Prior Publication US 2022/0057812 A1, Feb. 24, 2022
Int. Cl. G05D 1/02 (2020.01); G01C 21/34 (2006.01); G05B 19/418 (2006.01)
CPC G05D 1/0297 (2013.01) [G01C 21/343 (2013.01); G05B 19/41835 (2013.01); G05D 1/0214 (2013.01); G05D 1/0274 (2013.01); G05D 1/0289 (2013.01); G05D 2201/0216 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for moving one or more automated guided robots, comprising:
receiving a first path through a path reservation by an automated guided robot, wherein the first path comprises one or more waypoints listed in a sequence;
storing the first path;
moving along the first path by reaching each of the one or more waypoints sequentially; and
reserving, by the automated guided robot, waypoints to be passed based on a principle of redundant reservation, wherein the redundant reservation is to reserve, in addition to the waypoints to be passed by the automated guided robot, several adjacent points after a farthest waypoint of the reserved waypoints to be passed, to avoid a straight line conflict between automated guided robots;
wherein the path reservation is performed as follows: a server starts a waypoint reservation from a position where the automated guided robot starts to move, and the waypoint reservation proceeds sequentially according to waypoints in a path, until the waypoint reservation fails, then the server feeds back information of all waypoints that have been successfully reserved to the automated guided robot, and the automated guided robot moves forward along the waypoints that have been successfully reserved, and continues to reserve a waypoint to be passed while moving forward;
the method further comprises: combining waypoints in some areas of a route into a group, and determining, by a server or the automatic guidance robot, whether a waypoint to be reserved is in the group, and if it is in the group, reserving the group first, and then reserving the waypoint in the group.