CN109048952A - A kind of robot control system and method calculate equipment and storage medium - Google Patents
A kind of robot control system and method calculate equipment and storage medium Download PDFInfo
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- CN109048952A CN109048952A CN201811062251.7A CN201811062251A CN109048952A CN 109048952 A CN109048952 A CN 109048952A CN 201811062251 A CN201811062251 A CN 201811062251A CN 109048952 A CN109048952 A CN 109048952A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000004891 communication Methods 0.000 claims abstract description 7
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- 230000007246 mechanism Effects 0.000 description 11
- 238000010276 construction Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000006399 behavior Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000005055 memory storage Effects 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
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- 238000012360 testing method Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
This specification provides a kind of robot control system and method, calculates equipment and storage medium, wherein, the system comprises storage regions, have at least two layers of loft, to storage container, and the channel run for self-powered robot is provided on every layer of loft ground；Elevator, to by self-powered robot or container handling to purpose attic floor corresponding with the task of carrying；Control system is self-powered robot distribution carrying task and is running route of the self-powered robot planning on purpose attic floor according to carrying task, and dispatches self-powered robot and run according to running route and execute carrying task；At least one self-powered robot obtains target container according to the target container location that running route corresponding with the task of carrying reaches the corresponding purpose attic floor of carrying task, and is transported to target container with carrying task objective according to running route；Control system is connect with the elevator and the self-powered robot communication.
Description
Technical field
This application involves storage field, in particular to a kind of robot control system and method calculate equipment and storage Jie
Matter.
Background technique
It is torn open in zero sorting automation solutions in storage goods to people, the existing multilayer sorting that can solve solid space and utilize
Scheme is mainly three-dimensional shuttle.Three-dimensional shuttle scheme is high to shelf required precision, refers to surface subsidence index and flatness
Mark also has higher requirements, and otherwise shuttle can block in orbit, therefore construction cost is very high.And dimension is repaired after the system failure
Shield is complicated, and personnel enter in three-dimensional shelf rail also danger close.Manual work can not be carried out after the system failure.
Summary of the invention
In view of this, this specification embodiment provides a kind of robot control system and method, calculates equipment and storage
Medium, to solve technological deficiency existing in the prior art.
On the one hand this specification provides a kind of robot control system, comprising:
Storage region has at least two layers of loft, is provided with to storage container, and on every layer of loft ground for self-powered
The channel of robot operation；
Elevator, to by self-powered robot or container handling to purpose attic floor corresponding with the carrying task；
Control system is self-powered robot distribution carrying task and is that the self-powered robot advises according to the carrying task
The running route on the purpose attic floor is drawn, and dispatches the self-powered robot and runs and execute according to the running route
The carrying task；
At least one self-powered robot reaches the carrying task pair according to running route corresponding with the carrying task
The target container location for the purpose attic floor answered obtains the target container, and holds the target according to the running route
Device is with being transported to the carrying task objective；
The control system is connect with the elevator and the self-powered robot communication.
Optionally, the code identification of the target container is carried in the carrying task；
At least one self-powered robot reaches the carrying task pair according to running route corresponding with the carrying task
The target container location for the purpose attic floor answered obtains the target container
At least one described self-powered robot is travelled according to the running route to the target in the purpose attic floor
Container location, and the code identification by checking the target container, obtain the target container.
Optionally, the elevator is provided with temporary position, for keeping in the self-powered robot or the target container.
Optionally, the carrying task includes the first carrying task, and the described first destination for carrying task includes being promoted
The temporary position of machine；Task corresponding the is carried according to first by the first self-powered robot at least one described self-powered robot
The target container location that one running route reaches the corresponding purpose attic floor of the first carrying task obtains the target and holds
The target container is transported to the temporary position of the elevator and ready status signal is sent to the control by device
System.
Optionally, the carrying task further includes the second carrying task, and the described second destination for carrying task includes institute
State the operation position of the purpose attic floor of the second carrying task or the storage unit of shelf；
The control system is also used to receive the status signal, controls the elevator for first self-powered robot
It is carried to the described second purpose attic floor for carrying task；And first self-powered robot is controlled in the second carrying task
Purpose attic floor run according to carrying corresponding second running route of task with described second, and the target container is carried
The operation position for the purpose attic floor for carrying task to described second or the storage unit of shelf.
Optionally, the carrying task includes the first carrying task, and the described first destination for carrying task includes being promoted
Task corresponding the is carried according to first by the temporary position of machine, the second self-powered robot at least one described self-powered robot
The target container location that one running route reaches the corresponding purpose attic floor of the first carrying task obtains the target and holds
The target container is carried to the temporary position of the elevator and ready status signal is sent to the control by device
System.
Optionally, the carrying task further includes the second carrying task, and the described second destination for carrying task includes institute
State the operation position of the purpose attic floor of the second carrying task or the storage unit of shelf；
The control system is also used to receive the status signal, controls the elevator and arrives target container promotion
The purpose attic floor；And it controls the third self-powered robot at least two self-powered robot and is carried described second and appointed
The second running route that the purpose attic floor of business carries task according to described second is run, and the target container is transported to institute
State the operation position of the purpose attic floor of the second carrying task or the storage unit of shelf；
Second self-powered robot is different from third self-powered robot.
Optionally, the carrying task further includes that third carries task, and the destination that the third carries task includes institute
State the operation position that third carries the purpose attic floor of task；The elevator connects with operation position roller line；
The control system is also used to receive the status signal, controls the elevator and is carried to the target container
The third carries the purpose attic floor of task, and controls the elevator and the target container is transferred to the roller line,
The target container is transmitted to the operation position by the roller line.
Optionally, the roller line is also used to finish receiving the container of Job Operations.
Optionally, the target container location is roller line, and the control system controls the elevator from the roller
Diatom obtains the target container and is placed in the temporary position of elevator, and the target container is carried to the carrying task
Purpose attic floor.
Optionally, the control system controls at least one described self-powered robot in the purpose loft of the carrying task
Layer obtains the target container from the temporary position of the elevator, and the target container is transported to the carrying task objective
Ground.
Optionally, the storage region is at least provided with operation position on one layer of loft, to the target container
Carry out Job Operations.
Optionally, the self-powered robot for carrying the target container is run to behind the operation position in the operation
Station waits in line Job Operations；
After the completion of the Job Operations, the self-powered robot carries the target container for completing the Job Operations,
And the target container is transported to next operation position or is returned on shelf.
Optionally, the control system be also used to control the self-powered robot runs to behind the operation position will be described
Target container is pushed to the caching shelf or caching roller line of the operation position, and obtains that one or more other are operable
Container.
Optionally, the control system is also used to receive the target container coding of the self-powered robot identification, according to institute
The temperature and quantity for stating target container memory warehousing object carry out temperature assessment to the target container；
Control the shelf that the target container that temperature is more than preset threshold is carried to predeterminable area by the self-powered robot
In storage unit, and record the binding relationship of the target container Yu the storage unit；Or the control self-powered robot
According to the temperature sequence from high to low of container, by container handling to the storage unit of the shelf apart from operation position from the near to the remote
In, and record the binding relationship of the container Yu the storage unit.
Optionally, the self-powered robot includes:
Case telescoping mechanism is taken, for obtaining one or more purpose containers；
Elevating mechanism, for realizing the upper and lower adjustable of case telescoping mechanism is taken, so that case telescoping mechanism be taken to realize to described
The acquirement of purpose container on the shelf of purpose attic floor different height；
Robot motion chassis leads to for realizing at least one described self-powered robot what the purpose attic floor was run
Traveling on road.
Optionally, the channel for the operation of self-powered robot is also used to manual work of meeting an urgent need.
On the other hand this specification also provides a kind of robot control method, comprising:
Carrying task is distributed at least one self-powered robot；
For at least one described self-powered robot planning the corresponding purpose attic floor of the carrying task running route,
And it controls at least one described self-powered robot and runs according to the route to where the corresponding target container of the carrying task
Ground obtains the target container；
At least one described self-powered robot that control carries the target container runs to elevator；
It controls the elevator and at least one described self-powered robot or the target container is carried to the carrying times
Purpose attic floor where business destination；
At least one described self-powered robot is controlled by the target container with being carried to the carrying task objective.
Optionally, the code identification of the target container is carried in the carrying task；
Controlling at least one self-powered robot acquirement target container includes:
It controls at least one described self-powered robot and obtains the target by checking the code identification of the target container
Container.
Optionally, the elevator is provided with temporary position, at least one temporary described self-powered robot or the mesh
Mark container.
Optionally, the carrying task includes the first carrying task, and the described first destination for carrying task includes being promoted
The temporary position of machine；
The the first self-powered robot controlled at least one described self-powered robot is corresponding according to task is carried with first
The target container location that first running route reaches the corresponding purpose attic floor of the first carrying task obtains the target
Container.
Optionally, the carrying task further includes the second carrying task, and the described second destination for carrying task includes institute
State the operation position of the purpose attic floor of the second carrying task or the storage unit of shelf；
Receive the ready status signal of first self-powered robot transmission；
It controls the elevator and first self-powered robot is carried to the described second purpose attic floor for carrying task；
The purpose attic floor that task is carried described second by first self-powered robot is controlled to carry according to described second
Second running route of task is run, and the target container is transported to the behaviour for the purpose attic floor that described second carries task
Make the storage unit of station or shelf.
Optionally, the carrying task includes the first carrying task, and the described first destination for carrying task includes described
The temporary position of elevator；
The the second self-powered robot controlled at least one described self-powered robot is corresponding according to task is carried with first
The target container location that first running route reaches the corresponding purpose attic floor of the first carrying task obtains the target
Container；
Control the temporary position that the target container is transported to the elevator by second self-powered robot.
Optionally, the carrying task further includes the second carrying task, and the described second destination for carrying task includes institute
State the operation position of the purpose attic floor of the second carrying task or the storage unit of shelf；
Receive the ready status signal of second self-powered robot transmission；
It controls the elevator and the target container is carried to the described second purpose attic floor for carrying task；
Control the purpose that task is carried described second by the third self-powered robot at least two self-powered robot
The second running route that attic floor carries task according to described second is run, and the target container is transported to described second and is removed
The operation position of the purpose attic floor of fortune task or the storage unit of shelf；
Second self-powered robot is different from third self-powered robot.
Optionally, the carrying task further includes that third carries task, and the destination that the third carries task includes institute
State the operation position that third carries the purpose attic floor of task；The elevator connects with operation position roller line；
Receive the ready status signal of second self-powered robot transmission；
It controls the elevator and the target container is carried to the purpose attic floor that the third carries task；
It controls the elevator and the target container is transferred to the roller line, by the roller line by the target
Container is transmitted to the operation position.
Optionally, the method also includes:
Control the container that the roller line finishes receiving Job Operations.
Optionally, the target container location is roller line；
It controls the elevator to obtain the target container from the roller line and be placed in the temporary position of elevator, and will
The target container is carried to the purpose attic floor of the carrying task.
Optionally, at least one described self-powered robot is controlled in the purpose attic floor of the carrying task from the promotion
The temporary position of machine obtains the target container, and with being transported to the carrying task objective by the target container.
Optionally, the method also includes:
At least one described self-powered robot that control carries the target container runs to the operation position, and in institute
It states operation position and waits in line Job Operations；
After the completion of the Job Operations, controls at least one described self-powered robot and carry the appearance for completing the Job Operations
Device, and the target container is transported to next operation position or is returned on shelf.
Optionally, the method also includes:
It controls after at least one described self-powered robot runs to the operation position and pushes away the target container of carrying
The caching shelf or caching roller line of the operation position are sent to, and take case telescoping mechanism to obtain one or more by what is be arranged
Other operable containers.
Optionally, with the carrying task objective storage unit including shelf；
At least one described self-powered robot is controlled by the target container includes: with being carried to the carrying task objective
Receive the coding for the target container for completing sorting that the self-powered robot is sent；
Temperature is carried out to the target container according to the temperature of the container memory storage cargo for completing sorting and quantity
Assessment；
Control the goods that the target container that temperature is more than preset threshold is carried to predeterminable area by the self-powered robot
The storage unit of frame, and record the binding relationship of the container Yu the storage unit；Or the control self-powered robot is pressed
According to the temperature sequence from high to low of container, by container handling to the storage unit of the shelf apart from operation position from the near to the remote
In, and record the binding relationship of the container Yu the storage unit.
On the other hand this specification also provides a kind of robot control method, comprising:
Receive the carrying task of control system distribution；
On the corresponding purpose attic floor of the carrying task according to the control system plan running route run to
The carrying task corresponding target container location acquirement target container；
According to the running route by the target container with being transported to the carrying task objective.
34, according to the method for claim 33, which is characterized in that carry the target container in the carrying task
Code identification；
Obtaining the target container includes:
By checking the code identification of the target container, the target container is obtained.
Optionally, the carrying task includes the first carrying task, and the described first destination for carrying task includes being promoted
The temporary position of machine；
Described first, which is reached, according to the first running route corresponding with the first carrying task carries the corresponding purpose pavilion of task
The target container location of floor obtains the target container；
The target container is transported to the temporary position, and ready status signal is sent to the control and is
System.
Optionally, the carrying task further includes the second carrying task, and the described second destination for carrying task includes institute
State the operation position of the purpose attic floor of the second carrying task or the storage unit of shelf；
The described second purpose attic floor for carrying task is reached by the elevator；
It is run in the second running route that the purpose attic floor that described second carries task carries task according to described second,
And the target container is transported to the operation position for the purpose attic floor that described second carries task or the storage unit of shelf.
Optionally, the carrying task includes the first carrying task, and the described first destination for carrying task includes being promoted
The temporary position of machine；
Described first, which is reached, according to the first running route corresponding with the first carrying task carries the corresponding purpose pavilion of task
The target container location of floor obtains the target container；
The target container is transported to the temporary position of elevator, and ready status signal is sent to the control
System processed.
Optionally, the carrying task further includes the second carrying task, and the described second destination for carrying task includes institute
The operation position of the purpose attic floor of the second carrying task or the storage unit of shelf are stated, the described second target for carrying task is held
Device location is the temporary position of elevator；
The described second target container for carrying task is obtained from the temporary position of the elevator；
It is run in the second running route that the purpose attic floor that described second carries task carries task according to described second,
And the target container is transported to the operation position for the purpose attic floor that described second carries task or the storage unit of shelf.
Optionally, the method also includes:
It carries the target container and runs to operation position, and wait in line Job Operations in the operation position；
After the completion of the operation, the target container for completing the Job Operations is carried, and the target container is removed
It transports to next operation position or is returned on shelf.
Optionally, the method also includes:
The target container is pushed to the caching shelf of operation position after running to operation position or caches roller line, and
Case telescoping mechanism is taken to obtain one or more operable containers by setting.
Optionally, with the carrying task objective storage unit including shelf；
Include: with being transported to the carrying task objective by the target container
Detection completes the coding of the container of Job Operations, and the coding is sent to the control system；
It is more than the container handling of preset threshold into the storage unit of the shelf of predeterminable area by temperature；Or according to container
Temperature sequence from high to low, will the container handling into the storage unit of the shelf apart from operation position from the near to the remote.
On the other hand this specification also provides a kind of calculating equipment, including memory, processor and storage are on a memory
And the computer instruction that can be run on a processor, which is characterized in that the processor realizes aforementioned machine when executing described instruction
The step of device people's control method.
On the other hand this specification also provides a kind of computer readable storage medium, be stored with the executable finger of computer
It enables, which is characterized in that when the computer executed instructions are performed the step of realizing aforementioned machines people control method.
Robot control system and method, calculating equipment and the storage medium that this specification embodiment provides, by every
The channel run for self-powered robot is arranged on layer loft ground allows self-powered robot at each pavilion in conjunction with elevator
Floor operation, improves the flexibility of self-powered robot, without installing shuttle rail, significantly reduces construction cost.
Detailed description of the invention
Fig. 1 is to show a kind of structure chart of the robot control system provided according to this specification embodiment；
Fig. 2 is to show a kind of communications framework signal of the robot control system provided according to this specification embodiment
Figure；
Fig. 3 is the self-powered robot shown in a kind of robot control system provided according to this specification embodiment
Schematic diagram；
Fig. 4 is to show the structure of the elevator in a kind of robot control system provided according to this specification embodiment
Schematic diagram；
Fig. 5 is to show the storage region loft of another robot control system provided according to this specification embodiment
The schematic diagram of the floor map of layer；
Fig. 6 is to show a kind of flow chart of the robot control method provided according to this specification embodiment；
Fig. 7 is to show a kind of flow chart of the robot control method provided according to this specification embodiment.
Specific embodiment
Many details are explained in the following description in order to fully understand this specification.But this specification energy
Enough to be implemented with being much different from other way described herein, those skilled in the art can be without prejudice to this specification intension
In the case where do similar popularization, therefore this specification is not limited by following public specific implementation.
Fig. 1 shows a kind of robot control system according to this specification embodiment, including storage region, elevator
104, control system 105, operation position 106 and at least one self-powered robot 103.
The storage region has at least two layers of loft, is arranged to storage container 101, and on every layer of loft ground
There is the channel 102 for the operation of self-powered robot.
The container 101 can be hopper or container on shelf, be also possible to pallet on shelf or other
Form can be used for the container of contain things.
By the channel 102 of the operation of self-powered robot altogether, self-powered robot can be in each layer of operation of loft.
The elevator 104, it is corresponding with the carrying task being carried to self-powered robot 103 or container 101
Purpose attic floor.
Control system 105 is that self-powered robot 103 distributes carrying task and is the self-powered machine according to the carrying task
Device people 103 plans the running route on the purpose attic floor, and dispatches the self-powered robot 103 according to the operation road
Line runs and executes the carrying task.
At least one self-powered robot 103 reaches described carry according to running route corresponding with the carrying task and appoints
The be engaged in target container location of corresponding purpose attic floor obtains the target container, and according to the running route by the mesh
Mark container handling to the carrying task objective；
The control system 105 is communicated to connect with the elevator 104 and the self-powered robot 103；
The storage region is at least provided with operation position 106 on one layer of loft, for carrying out sorting behaviour to container 101
Work, count point operation, picking operation or tally operation etc..
The robot control system that this specification embodiment provides, by being arranged on every layer of loft ground for self-powered machine
The channel of people's operation runs self-powered robot in each attic floor in conjunction with elevator, improves self-powered robot
Flexibility can complete various businesses according to actual needs, without installing shuttle rail, significantly reduce construction cost.
Fig. 2 shows the communications framework schematic diagrames according to the robot control system of this specification embodiment.
The component of the control system 105 includes but is not limited to memory 210 and processor 220.Processor 220 with deposit
Reservoir 210 is connected by bus 230, and database 250 is for saving carrying task.
Control system 105 further includes access device 240, access device 240 enable control system 105 via one or
Multiple networks 260 communicate.The example of these networks includes public switched telephone network (PSTN), local area network (LAN), wide area network
(WAN), the combination of the communication network of personal area network (PAN) or such as internet.Access device 240 may include wired or wireless
One or more of any kind of network interface (for example, network interface card (NIC)), such as IEEE802.11 wireless local area
Net (WLAN) wireless interface, worldwide interoperability for microwave accesses (Wi-MAX) interface, Ethernet interface, universal serial bus (USB) connect
Mouth, cellular network interface, blue tooth interface, near-field communication (NFC) interface, etc..
In one embodiment of this specification, unshowned other component in above-mentioned and Fig. 2 of control system 105
It can be connected to each other, such as pass through bus.
Control system 105 can be any kind of static or mobile computing device, including mobile computer or mobile meter
Calculate equipment (for example, tablet computer, personal digital assistant, laptop computer, notebook computer, net book etc.), movement
Phone (for example, smart phone), wearable calculating equipment (for example, smartwatch, intelligent glasses etc.) or other kinds of shifting
Dynamic equipment, or the static calculating equipment of such as desktop computer or PC.Control system 105 can also be mobile or state type
Server.
The control system 105 is communicatively coupled by network 260 and self-powered robot 103 and elevator, passes through hair
It send control instruction or receives control of the message realization of self-powered robot or elevator return to the robot control system.
In one embodiment of this specification, the code identification of the target container can be carried in the carrying task；
At least one described self-powered robot is travelled according to the running route to the target in the purpose attic floor
Container location can obtain the target container by the code identification of the verification target container.
It should be noted that the structure of the unlimited self-powered mobile robot of the embodiment of the present application, it can be using in the prior art
Any structure realize the function that container is taken out and be put into shelf from shelf.For example, can be on self-powered mobile robot
Mechanical arm is set, takes out and be put into container using mechanical device；It can also be arranged on self-powered mobile robot and hold structure, using folder
Container is taken out and be put into the mode of embracing；It can also be realized using other structures.For example, it is illustrative, referring to Fig. 3, this specification one
In embodiment, at least one described self-powered robot 103 includes:
Case telescoping mechanism 301 is taken, is configured as obtaining one or more target containers；
Elevating mechanism 302 is configured as realization and takes the upper and lower adjustable of case telescoping mechanism 301, to take case telescoping mechanism real
The acquirement of the target container on the shelf to the purpose attic floor different height is showed.
Robot motion chassis 303 is configured as realizing at least one described self-powered robot in the purpose attic floor
According to the traveling of the running route of control system planning on the channel of operation.
The target container is the container 101 for needing to carry in carrying task.
The self-powered robot that this specification embodiment provides is run on the channel of every layer of loft ground handling, is greatly mentioned
The high flexibility of conveying container, can complete various businesses according to actual needs, without installing shuttle rail, greatly drop
Low construction cost.
Referring to fig. 4, in one embodiment of this specification, the elevator 104 is provided with temporary position 104A, for temporary described
Self-powered robot 103 or the target container.
The target container is the container 101 for needing to carry in carrying task.
Fig. 5 is the floor map of the attic floor in one embodiment of this specification.Storage unit 501 including shelf, behaviour
Make the channel 102 of station 106 and operation.
The storage unit 501 of the shelf is used to storage container.
Multiple operation positions 106, can on it to transport come container in cargo carry out picking operation, make an inventory behaviour
Make, replenish operation or tally operation etc..
The channel 102 of operation is used to run for self-powered robot.
This illustrates in embodiment that the storage region has at least two layers of loft.When needing container in different lofts
When interlayer is mobile, it can be realized by elevator.
This specification embodiment provides hoisting machine people mode and hoisting container two ways.
Both modes are illustrated separately below.
In one embodiment of this specification, carrying task is made of the first carrying task and the second carrying task, and first carries
Task needs to send target container to the temporary position of elevator, and the second carrying task is the self-powered robot that will carry target container
It send to purpose attic floor.The program is hoisting machine people mode, and the control system controls the first self-powered robot according to the
Corresponding first running route of one carrying task reaches the target container institute of the corresponding purpose attic floor of the first carrying task
The target container is obtained on ground, the target container is transported to the temporary position of the elevator and by ready state
Signal is sent to the control system.
The destination of second carrying task includes operation position or the shelf of the described second purpose attic floor for carrying task
Storage unit；The control system receives the status signal, controls the elevator and removes first self-powered robot
It is transported to the described second purpose attic floor for carrying task；And it controls first self-powered robot and carries task described second
Purpose attic floor is run according to the second running route corresponding with the second carrying task, and the target container is transported to
Described second carries the storage unit of the operation position of the purpose attic floor of task or shelf.
Under hoisting machine people's mode, self-powered robot can reach different layers by elevator, thus each self-powered robot
The container of arbitrary attic floor can be got, and container can be sent to the operation position of any attic floor, container is complete in station
After operation, container can be returned to the storage unit of the shelf of any attic floor by self-powered robot.
It should be noted that whether the self-powered robot being elevated carries container, Ke Yigen under hoisting machine people's mode
It is determined according to actual conditions, the application is without limitation.
In another embodiment of this specification, carrying task is made of the first carrying task and the second carrying task, and first removes
Fortune task needs to send target container to the temporary position of elevator, and the second carrying task is to send target container to purpose loft
Layer.The program is hoisting container mode, and the second self-powered robot is arrived according to the first running route corresponding with the first carrying task
The target container location for carrying the corresponding purpose attic floor of task up to described first obtains the target container, by the target
Container handling to the elevator temporary position and ready status signal is sent to the control system.
The destination of second carrying task is operation position or the shelf of the described second purpose attic floor for carrying task
Storage unit；The control system receives the status signal, controls the elevator and promotes the target container to described
Purpose attic floor；And the third self-powered robot for being located at the purpose attic floor is controlled in the purpose attic floor according to described the
Two carry the second running route operation of task, and the target container is transported to the described second purpose loft for carrying task
The operation position of layer or the storage unit of shelf；Second self-powered robot is different from third self-powered robot.
Under hoisting container mode, the cooperation of self-powered robot and elevator by being located at different attic floors can will be held
Device is carried to the station of any attic floor or the storage unit of shelf.
In one embodiment of this specification, under hoisting container mode, elevator can also connect with operation position roller line；
The control system receives elevator and sends the status signal, controls the elevator for the target container
It is carried to the purpose attic floor, and controls the elevator and the target container is transferred to the roller line, by described
The target container is transmitted to the operation position by roller line.
In practical application, the roller line, which can be also used for receiving, completes the container of picking operation in operation position.
In one embodiment of this specification, control system can also control the elevator and obtain the mesh from the roller line
It marks container and is placed in the temporary position of the elevator, and the target container is carried to the purpose loft of the carrying task
Layer.The self-powered robot that the control system control is located at purpose attic floor obtains the target from the temporary position of the elevator
Container, and with being transported to the carrying task objective by the target container.
After the self-powered robot for carrying the target container runs to operation position, control system can control institute
It states self-powered robot and waits in line Job Operations in the operation position；After the completion of the Job Operations, the self-powered machine is controlled
Device people carries the target container for completing the Job Operations and send to storage unit.
In order to improve self-powered machine task efficiency, when the target container is pushed to operation by the self-powered robot
After station, control system can control the self-powered robot obtain other can process container, send to storage unit.
The operable container can be the container for the operation that fulfiled assignment.
In one embodiment of this specification, the control system receives and saves the coding of target container, according to the target
The temperature and quantity of container memory storage cargo carry out temperature assessment to the target container；
Control the goods that the target container that temperature is more than preset threshold is carried to predeterminable area by the self-powered robot
In the storage unit of frame, and record the binding relationship of the target container Yu the storage unit；Or the control self-powered machine
Device people according to container temperature sequence from high to low, by the container handling to the shelf apart from operation position from the near to the remote
In storage unit, and record the binding relationship of the container Yu the storage unit.
The predeterminable area can be the region where the storage unit closer from operation position, such as can be distance behaviour
Make the storage unit of 3 meters or 5 meters of station of distance.In this way, the container where taking frequent cargo is stored
In closer storage unit, reduces the time spent required for carrying, improve business processing efficiency.
The container shelf are the shelf placed on every layer of loft of the storage region, and each container shelf have multiple
Storage unit, each storage unit can store a container.
In one embodiment of this specification, the channel for the operation of self-powered robot can be used for manual work of meeting an urgent need.
Furthermore it is also possible to install Stairs or elevator for the storage region.
In system jam, when such as having a power failure or when system can not work normally, worker passes through the Stairs or electricity
Ladder executes carrying task on the channel of the operation of each attic floor, completes emergency manual work.
In order to accurately determine the position of the container, it is provided with code identification, on the container for identification, the volume
Code mark can be two dimensional code, RFID tag etc..
Based on the robot operating system of above-mentioned introduction, multiple business process can be completed.Below with FCL storage process,
It is illustrated for storage process and operation position work flow.
Wherein, the process that replenishes refers to that kinds of goods are not put in storage together with container, and kinds of goods are put into existing container.Operated station
Operation include outbound, make an inventory or tally operation.
In one embodiment of this specification, the FCL storage process includes:
1) control system receives container number, goods number, and item quantity simultaneously records binding relationship.It can be tied up in one container
Fixed more middle kinds of goods.
If 2) control system judgement container shelf on have an empty container, control system distribution self-powered robot takes empty appearance
Device, and empty container is transported to operation position, control self-powered robot is lined up in operation position.If holding in storage unit without sky
Device, then control system directly controls self-powered robot and is lined up to operation position.
If need to pass through attic floor up and down in transport path, robot is transported to by respective layer by elevator.Step
2) it synchronous can be carried out with step 1).
3) self-powered robot obtains the coding of container and detection container, and is submitted to control system, and control system record is certainly
Drive the container number that robot is carried.
4) commodity temperature and quantity of the control system according to container, distribution container to corresponding racks store unit；
5) when all containers of self-powered robot keep in after position is all put into container or operation position without remaining needs
When the container of storage, control system scheduling self-powered robot leaves operation position, and gives back for self-powered robot planning is optimal
Container path sequence, self-powered robot successively run to the position of the storage unit of system distribution, container are put into storage unit
It sets.When needing to pass through attic floor up and down in path, robot is transported to by respective layer by elevator.
In one embodiment of this specification, the process that replenishes includes:
1) commodity that control system is put in storage as needed choose several containers that can store commodity.
It can be empty container, be also possible to have kinds of goods but have the container of memory space.
These containers are removed by control system distribution self-powered robot, and by container handling to operation position, self-powered robot
It is lined up in operation position.When needing to pass through attic floor up and down in path, self-powered robot is transported to by respective layer by elevator.
2) commodity code is received, container coding records the binding relationship of container and commodity, and control self-powered robot passes through appearance
Device receives commodity.
3) container that current station completes to replenish operation or current self-powered robot carries passes through control system without memory space
Interactive interface of uniting is fed back, and control system distributes container depositing to corresponding container shelf according to the commodity temperature and quantity of container
Storage unit.
4) control system dispatch robot leaves operation position, and for self-powered robot planning it is optimal give back container path
Sequentially, self-powered robot successively arrives the storage unit position of control system distribution, and container is put into storage unit.It is needed in path
When passing through attic floor up and down, robot is transported to by respective layer by elevator.
In one embodiment of this specification, the operation position work flow includes:
1) operation position initiating task, control system hit several containers according to operation document, and control system distributes self-powered
These containers are removed by robot, and empty container is transported to operation position, and self-powered robot is lined up in station.It is needed in path
Under across attic floor when, self-powered robot is transported to by respective layer by elevator.
2) operation position operation feeds back to the current self-powered robot of control system by control system operating interactive interface and takes
The container operation of band is completed.
3) control system distributes container depositing to corresponding container shelf according to commodity temperature and quantity current in container
Storage unit.
4) control system scheduling self-powered robot leaves operation position, and for self-powered robot planning it is optimal give back container
Path order, self-powered robot successively arrive the position of the storage unit of system distribution, container are put into unit.It is needed in path
Under across attic floor when, robot is transported to by respective layer by elevator.
The robot control system that this specification embodiment provides, by being arranged on every layer of loft ground for self-powered machine
The channel of people's operation runs self-powered robot in each attic floor in conjunction with elevator, improves self-powered robot
Flexibility can complete various businesses according to actual needs, without installing shuttle rail, significantly reduce construction cost.
Fig. 6 is shown according to this specification with the schematic diagram of the robot control method in embodiment, is applied to control system
It unites side, including step 602 is to step 610.
Step 602: distributing carrying task at least one self-powered robot.
In a kind of embodiment of this specification, the carrying task carries the code identification of the target container.
In practical application, the code identification can be two dimensional code or RFID tag.
Step 604: being at least one described self-powered robot planning in the corresponding purpose attic floor of the carrying task
Running route, and control at least one described self-powered robot and run target corresponding to the carrying task according to the route
Container location obtains the target container.
In a kind of embodiment of this specification, storage region has at least two layers of loft, to storage container, and at every layer of pavilion
The channel for the operation of self-powered robot is provided on flooring.
Step 606, at least one described self-powered robot that control carries the target container runs to elevator.
In a kind of embodiment of this specification, the elevator is provided with temporary position, at least one temporary described self-powered
Robot or the target container.
During self-powered robot runs to the temporary position of the elevator, control system can be described at least one
The optimal running route of a self-powered robot planning, and at least one described self-powered robot is controlled according to the running route row
It sails to avoid collision.
Step 608, it controls the elevator and at least one described self-powered robot or the target container is carried to institute
State the purpose attic floor carried where task objective ground.
Step 610, it controls at least one described self-powered robot and the target container is carried to the carrying task mesh
Ground.
In one embodiment of this specification, the code identification of the target container is carried in the carrying task；
The control system controls code identification of at least one the described self-powered robot by the verification target container
Obtain the target container.
The elevator is provided with temporary position, at least one temporary described self-powered robot or the target container.
Optionally, the carrying task includes the first carrying task, and the described first destination for carrying task includes described
The temporary position of elevator；
The first self-powered robot that the control system controls at least one described self-powered robot is removed according to first
Corresponding first running route of fortune task reaches the target container location of the corresponding purpose attic floor of the first carrying task
Obtain the target container.
Optionally, the carrying task further includes the second carrying task, and the described second destination for carrying task includes institute
State the operation position of the purpose attic floor of the second carrying task or the storage unit of shelf；
The control system receives the ready status signal of first self-powered robot transmission；
It controls the elevator and first self-powered robot is carried to the described second purpose attic floor for carrying task；
The purpose attic floor that task is carried described second by first self-powered robot is controlled to carry according to described second
Second running route of task is run, and the target container is transported to the behaviour for the purpose attic floor that described second carries task
Make the storage unit of station or shelf.
In another embodiment of this specification, the carrying task includes the first carrying task, and described first carries task
Destination includes the temporary position of the elevator；
The second self-powered robot that the control system controls at least one described self-powered robot is removed according to first
Corresponding first running route of fortune task reaches the target container location of the corresponding purpose attic floor of the first carrying task
Obtain the target container；
Control the temporary position that the target container is transported to the elevator by second self-powered robot.
The carrying task further includes the second carrying task, and the destination of the second carrying task includes described second removing
The operation position of the purpose attic floor of fortune task or the storage unit of shelf；
The control system receives the ready status signal of second self-powered robot transmission；
It controls the elevator and the target container is carried to the described second purpose attic floor for carrying task；
Control the purpose that task is carried described second by the third self-powered robot at least two self-powered robot
The second running route that attic floor carries task according to described second is run, and the target container is transported to described second and is removed
The operation position of the purpose attic floor of fortune task or the storage unit of shelf；
Second self-powered robot is different from third self-powered robot.
In another embodiment of this specification, the carrying task further includes that third carries task, and the third carries task
Destination include operation position that the third carries the purpose attic floor of task；The elevator and operation position roller line
Connect；
The control system receives the ready status signal of second self-powered robot transmission；
It controls the elevator and the target container is carried to the purpose attic floor that the third carries task；
It controls the elevator and the target container is transferred to the roller line, by the roller line by the target
Container is transmitted to the operation position.
Optionally, the control system also controls the container that the roller line finishes receiving picking operation.
When the target container location is roller line, the control system controls the elevator from the roller line
It obtains the target container and is placed in the temporary position of the elevator, and the target container is carried to the carrying task
Purpose attic floor.
In one embodiment of this specification, the control system controls at least one described self-powered robot and appoints in described carry
The purpose attic floor of business obtains the target container from the temporary position of the elevator, and the target container is transported to described
With carrying task objective.
In one embodiment of this specification, the control system control carries at least one described self-powered of the target container
Robot runs to the operation position, and waits in line Job Operations in the operation position；
The operation includes outbound, is made an inventory or tally operation；
After the completion of the Job Operations, controls at least one described self-powered robot and carry the institute for completing the Job Operations
State target container.
The control system can also control at least one described self-powered robot the target container is pushed to it is described
The caching shelf or caching roller line of operation position, and obtain one or more operable containers.
It include the storage unit of shelf in the carrying task objective；Control system control it is described at least one from
Robot is driven by the target container includes: with being carried to the carrying task objective
Receive the coding for the target container for completing Job Operations that the self-powered robot is sent；
Temperature is carried out to the container according to the temperature of the container memory storage cargo for completing Job Operations and quantity
Assessment；
It is more than the container handling of preset threshold to the shelf of predeterminable area that the self-powered robot, which is controlled, by temperature
Storage unit, and record the binding relationship of the container Yu the storage unit；Or the control self-powered robot is according to appearance
The sequence of the temperature of device from high to low, the storage unit of the shelf by the container handling extremely apart from operation position from the near to the remote,
And record the binding relationship of the container Yu the storage unit.
The robot control method that this specification embodiment provides, can control self-powered robot at every layer in conjunction with elevator
Channel operation run for self-powered robot is set on loft ground, greatly improves the flexibility of self-powered robot, it can be with
Various businesses are completed according to actual needs, without installing shuttle rail, significantly reduce construction cost.
Fig. 7 is to show the schematic diagram that another robot control method in example is applied according to this specification real one, application
In self-powered robot side, including step 702 is to step 706.
Step 702: receiving the carrying task of control system distribution.
Step 704: the operation road planned on the corresponding purpose attic floor of the carrying task according to the control system
Line runs to the corresponding target container location of the carrying task and obtains the target container.
The purpose attic floor is a certain layer in the storage region at least two layers loft.Every layer of the storage region
The channel for the operation of self-powered robot is provided on loft ground.
Step 706: according to the running route by the target container with being transported to the carrying task objective.
Optionally, the code identification of the target container is carried in the carrying task；The self-powered robot passes through core
To the code identification of the target container, the target container is obtained.
In one embodiment of this specification, the carrying task includes the first carrying task, and described first carries the mesh of task
Ground include elevator temporary position；
Self-powered robot reaches described first according to the first running route corresponding with the first carrying task and carries task pair
The target container location for the purpose attic floor answered obtains the target container；The target container is transported to the elevator
Temporary position, and ready status signal is sent to the control system.
The carrying task further includes the second carrying task, and the destination of the second carrying task includes described second removing
The operation position of the purpose attic floor of fortune task or the storage unit of shelf；
The self-powered robot reaches the described second purpose attic floor for carrying task by the elevator；Described
The second running route that the two purpose attic floors for carrying tasks carry task according to described second is run, and by the target container
It is transported to the operation position for the purpose attic floor that described second carries task or the storage unit of shelf.
In one embodiment of this specification, the carrying task includes the first carrying task, and described first carries the mesh of task
Ground include elevator temporary position；Self-powered robot is according to described in the first running route arrival corresponding with the first carrying task
The first target container location for carrying the corresponding purpose attic floor of task obtains the target container；The target container is removed
The temporary position of the elevator is transported to, and ready status signal is sent to the control system.
In one embodiment of this specification, the carrying task includes the second carrying task, and described second carries the mesh of task
Ground include it is described second carry task purpose attic floor operation position or shelf storage unit, it is described second carry appoint
The target container location of business is the temporary position of elevator；Positioned at second carry task purpose attic floor self-powered robot from
The temporary position of the elevator obtains the described second target container for carrying task；In the purpose loft that described second carries task
The second running route that layer carries task according to described second is run, and the target container is transported to described second and is carried and is appointed
The operation position of the purpose attic floor of business or the storage unit of shelf.
The self-powered robot for carrying the target container runs to the operation position, and in operation position queuing etc.
To picking operation；After the completion of the picking operation, the target container for completing the picking operation is carried, and by the target
Container handling is to next operation position or is returned on shelf.
The target container is pushed to the caching shelf or caching roller line of the operation position by self-powered robot, and is led to
That crosses setting takes case telescoping mechanism to obtain one or more operable containers.
In one embodiment of this specification, described include the storage unit of shelf with carrying task objective；The target is held
Device includes: with being transported to the carrying task objective
The detection of self-powered robot completes the coding of the container of sorting, and the coding is sent to the control system；
By temperature more than the container handling where the cargo of preset threshold into the storage unit of the shelf of predeterminable area；Or it presses
According to the temperature sequence from high to low of container, by the container handling to the storage list of the shelf apart from operation position from the near to the remote
Member.
The robot control method that this specification embodiment provides, self-powered robot combination elevator is on every layer of loft ground
Upper setting is run for the channel that self-powered robot is run, and greatly improves the flexibility of self-powered robot, can be according to reality
Demand completes various businesses and significantly reduces construction cost without installing shuttle rail.
One embodiment of this specification also provides a kind of calculating equipment, including memory, processor and storage are on a memory
And the computer instruction that can be run on a processor, the processor realize the step of robot control method when executing described instruction
Suddenly.
One embodiment of this specification also provides a kind of computer readable storage medium, is stored with the executable finger of computer
It enables, when the computer executed instructions are performed the step of realizing robot control method.
A kind of exemplary scheme of above-mentioned computer readable storage medium for the present embodiment.It should be noted that this is deposited
The technical solution of storage media and the technical solution of above-mentioned automated testing method belong to same design, the technical side of storage medium
The detail content that case is not described in detail may refer to the description of the technical solution of above-mentioned automated testing method.
The computer instruction includes computer program code, the computer program code can for source code form,
Object identification code form, executable file or certain intermediate forms etc..The computer-readable medium may include: that can carry institute
State any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, the computer storage of computer program code
Device, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory),
Electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer-readable medium include it is interior
Increase and decrease appropriate can be carried out according to the requirement made laws in jurisdiction with patent practice by holding, such as in certain jurisdictions of courts
Area does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium.
It should be noted that for the various method embodiments described above, describing for simplicity, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, this specification is not limited by the described action sequence, because
For according to this specification, certain steps can use other sequences or carry out simultaneously.Secondly, those skilled in the art also should
Know, the embodiments described in the specification are all preferred embodiments, and related actions and modules might not all be this
Necessary to specification.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
This specification preferred embodiment disclosed above is only intended to help to illustrate this specification.Alternative embodiment is not
All details of detailed descriptionthe, do not limit the invention to the specific embodiments described.Obviously, according in this specification
Hold, can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably explain this theory
The principle and practical application of bright book, so that skilled artisan be enable to better understand and utilize this specification.This
Specification is limited only by the claims and their full scope and equivalents.
Claims (10)
1. a kind of robot control system, comprising:
Storage region has at least two layers of loft, is provided with to storage container, and on every layer of loft ground for self-powered machine
The channel of people's operation；
Elevator, to by self-powered robot or container handling to purpose attic floor corresponding with the task of carrying；
Control system is self-powered robot distribution carrying task and is that the self-powered robot planning exists according to the carrying task
Running route on the purpose attic floor, and dispatch the self-powered robot and run and execute described according to the running route
Carrying task；
It is corresponding to reach the carrying task according to running route corresponding with the carrying task at least one self-powered robot
The target container location of purpose attic floor obtains the target container, and removes the target container according to the running route
With transporting to the carrying task objective；
The control system is connect with the elevator and the self-powered robot communication.
2. system according to claim 1, which is characterized in that carry the coding of the target container in the carrying task
Mark；
It is corresponding to reach the carrying task according to running route corresponding with the carrying task at least one self-powered robot
The target container location of purpose attic floor obtains the target container
At least one described self-powered robot is travelled according to the running route to the target container in the purpose attic floor
Location, and the code identification by checking the target container, obtain the target container.
3. system according to claim 1, which is characterized in that the elevator is provided with temporary position, for temporary described
Self-powered robot or the target container.
4. system according to claim 3, which is characterized in that the carrying task includes first carrying task, and described the
The destination of one carrying task includes the temporary position of elevator；The first self-powered robot at least one described self-powered robot
The mesh of the corresponding purpose attic floor of the first carrying task is reached according to the first running route corresponding with the first carrying task
It marks container location and obtains the target container, the target container is transported to the temporary position of the elevator and will prepare just
The status signal of thread is sent to the control system.
5. system according to claim 4, which is characterized in that the carrying task further includes the second carrying task, described
The destination of second carrying task includes the operation position of the described second purpose attic floor for carrying task or the storage list of shelf
Member；
The control system is also used to receive the status signal, controls the elevator and carries first self-powered robot
The purpose attic floor for carrying task to described second；And control the mesh that task is carried described second by first self-powered robot
Attic floor run according to carrying corresponding second running route of task with described second, and the target container is transported to institute
State the operation position of the purpose attic floor of the second carrying task or the storage unit of shelf.
6. a kind of robot control method, comprising:
Carrying task is distributed at least one self-powered robot；
It is at least one described self-powered robot planning in the running route of the corresponding purpose attic floor of the carrying task, and controls
At least one self-powered robot described in making, which is run according to the route to the corresponding target container location of the carrying task, to be taken
Obtain the target container；
At least one described self-powered robot that control carries the target container runs to elevator；
It controls the elevator and at least one described self-powered robot or the target container is carried to the carrying task mesh
Ground where purpose attic floor；
At least one described self-powered robot is controlled by the target container with being carried to the carrying task objective.
7. according to the method described in claim 6, it is characterized in that, carrying the coding of the target container in the carrying task
Mark；
Controlling at least one self-powered robot acquirement target container includes:
It controls at least one described self-powered robot and obtains the target container by checking the code identification of the target container.
8. a kind of robot control method, comprising:
Receive the carrying task of control system distribution；
It is run according to the running route that the control system is planned to described on the corresponding purpose attic floor of the carrying task
The corresponding target container location of carrying task obtains the target container；
According to the running route by the target container with being transported to the carrying task objective.
9. a kind of calculating equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine instruction, which is characterized in that the processor realizes claim 6 to 8 any one the method when executing described instruction
Step.
10. a kind of computer readable storage medium, is stored with computer executable instructions, which is characterized in that when the calculating
Machine, which executes instruction, is performed the step of realizing method described in claim 6 to 8 any one.
Priority Applications (15)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410244313.5A CN117921713A (en) | 2018-09-12 | 2018-09-12 | Robot control system and method, computing equipment and storage medium |
| CN201811062251.7A CN109048952A (en) | 2018-09-12 | 2018-09-12 | A kind of robot control system and method calculate equipment and storage medium |
| US17/271,590 US11365050B2 (en) | 2018-09-12 | 2019-09-11 | Robot control system and method, computing device, and storage medium |
| PCT/CN2019/105382 WO2020052592A1 (en) | 2018-09-12 | 2019-09-11 | Robot control system and method, computing device, and storage medium |
| RU2021110019A RU2757646C1 (en) | 2018-09-12 | 2019-09-11 | Robot control system and method, computer device and data carrier |
| EP19859195.0A EP3851253A4 (en) | 2018-09-12 | 2019-09-11 | Robot control system and method, computing device, and storage medium |
| KR1020217005066A KR102327822B1 (en) | 2018-09-12 | 2019-09-11 | Robot control system and method, computing equipment and storage medium |
| SG11202102360QA SG11202102360QA (en) | 2018-09-12 | 2019-09-11 | Robot control system and method, computing device, and storage medium |
| CA3112489A CA3112489C (en) | 2018-09-12 | 2019-09-11 | Robot control system and method, computing device, and storage medium |
| JP2021510315A JP7069409B2 (en) | 2018-09-12 | 2019-09-11 | Robotic control systems, methods, arithmetic units, and storage media |
| AU2019339988A AU2019339988B2 (en) | 2018-09-12 | 2019-09-11 | Robot control system and method, computing device, and storage medium |
| KR1020217036926A KR20210141767A (en) | 2018-09-12 | 2019-09-11 | Robot control system and method, computing device, and storage medium |
| AU2022201885A AU2022201885B2 (en) | 2018-09-12 | 2022-03-18 | Robot control system and method, computing device, and storage medium |
| JP2022073708A JP7419432B2 (en) | 2018-09-12 | 2022-04-27 | Robot control system, method, computing device, and storage medium |
| US17/742,087 US11987444B2 (en) | 2018-09-12 | 2022-05-11 | Robot control system and method, computing device, and storage medium |
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| CN201811062251.7A CN109048952A (en) | 2018-09-12 | 2018-09-12 | A kind of robot control system and method calculate equipment and storage medium |
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| CN202410244313.5A Division CN117921713A (en) | 2018-09-12 | 2018-09-12 | Robot control system and method, computing equipment and storage medium |
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| CN109048952A true CN109048952A (en) | 2018-12-21 |
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| CN201811062251.7A Pending CN109048952A (en) | 2018-09-12 | 2018-09-12 | A kind of robot control system and method calculate equipment and storage medium |
| CN202410244313.5A Pending CN117921713A (en) | 2018-09-12 | 2018-09-12 | Robot control system and method, computing equipment and storage medium |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410244313.5A Pending CN117921713A (en) | 2018-09-12 | 2018-09-12 | Robot control system and method, computing equipment and storage medium |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109969674A (en) * | 2019-04-01 | 2019-07-05 | 北京极智嘉科技有限公司 | A kind of robot control system and method calculate equipment and storage medium |
| CN110253534A (en) * | 2019-06-05 | 2019-09-20 | 大连沃隆峰英鸿纳米科技有限公司 | A kind of nanofiber production device of going downstairs in inspection robot |
| CN110270998A (en) * | 2019-06-12 | 2019-09-24 | 上海宾通智能科技有限公司 | Robot dispatching method, electronic equipment and computer readable storage medium |
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