CN117086876A - Task flow control method and device of photovoltaic robot based on state machine - Google Patents

Abstract

The application belongs to the technical field of photovoltaics, and provides a task flow control method of a photovoltaic robot based on a state machine, which comprises the following steps: packaging each functional module of the photovoltaic robot into a corresponding state module, and setting a data output interface and a data input interface in the state module; calling each state module through a visual interface, and connecting different state modules to build a task flow of the photovoltaic robot; and when the task flow of the photovoltaic robot is called, the tasks of the photovoltaic robot are sequentially executed according to the sequence of the state modules. The application can carry out cooperative linkage control of cleaning robot operation according to the requirements of various cleaning tasks of the photovoltaic cleaning robot.

Description

Task flow control method and device of photovoltaic robot based on state machine

Technical Field

The application relates to the technical field of photovoltaics, in particular to a task flow control method and device of a photovoltaic robot based on a state machine.

Background

In the operation process of the photovoltaic robot, a plurality of operation steps and work are involved, all hardware and software of a cooperative system are required to perform joint work, the working environment of the photovoltaic robot is complex and changeable, and the task of the photovoltaic robot is required to be numerous and complex.

Therefore, how to combine the functions of the components makes it important to work steps and task flows completed in sequence according to requirements.

Disclosure of Invention

The application provides a task flow control method and device of a photovoltaic robot based on a state machine.

In one aspect, the application provides a task flow control method of a photovoltaic robot based on a state machine, which comprises the following steps:

packaging each functional module of the photovoltaic robot into a corresponding state module, and setting a data output interface and a data input interface in the state module;

calling each state module through a visual interface, and connecting different state modules to build a task flow of the photovoltaic robot;

and when the task flow of the photovoltaic robot is called, the tasks of the photovoltaic robot are sequentially executed according to the sequence of the state modules.

In some embodiments, the invoking each state module through a visual interface and connecting different state modules to build a task flow of the photovoltaic robot includes:

calling each state module through a visual interface, and setting a connection logic mode of each functional module on the visual interface, wherein the connection logic mode comprises sequential connection, conditional execution, cyclic execution and synchronous triggering;

and automatically building a task flow of the photovoltaic robot based on the connection logic mode of each functional module.

In some embodiments, further comprising:

and initializing each state module in the task flow when the task flow of the photovoltaic robot is called.

In some embodiments, further comprising:

the state module is also provided with at least one of the following data: parameters, input data, output data and operation results of the corresponding function modules in each state module.

In some embodiments, the input data and the output data are set to the same variable type.

In some embodiments, the input data and the output data are of different variable types, and the input data and the output data are presented as being visualized and editable at the visualization interface.

In some embodiments, when the input data and the output data are of different variable types, a connection between the state modules in the task flow is established through remapping.

In some embodiments, the parameters, the results of the operation are presented as visual and editable at the visual interface.

In some embodiments, when the task of the functional module is a cleaning task, the parameters of the status module corresponding to the functional module include cleaning time and cleaning type;

or;

when the task of the functional module is a photovoltaic module mounting or dismounting task, parameters of the state module corresponding to the functional module comprise module pose recognition confirmation time and mechanical arm movement speed.

In some embodiments, the present application further provides a task flow control device of a photovoltaic robot based on a state machine, including:

the packaging module is used for packaging each functional module of the photovoltaic robot into a corresponding state module, and setting a data output interface and a data input interface in the state module;

the building module is used for calling each state module through a visual interface and connecting different state modules in the visual interface so as to build a task flow of the photovoltaic robot;

and the execution module is used for sequentially executing the tasks of the photovoltaic robot according to the sequence of the state modules when the task flow of the photovoltaic robot is called.

The task flow control method and device for the photovoltaic robot based on the state machine provided by the application have the following beneficial effects:

(1) The different functional modules and the corresponding state modules of the application are mutually independent, which is beneficial to development, modification and maintenance.

(2) The visual interface is adopted for the task flow establishment, so that the use and editing of the field personnel are facilitated, the field task flow of the photovoltaic robot with complex functions can be established through simple setting such as dragging and connection, and the task flow of the photovoltaic robot can be flexibly adjusted by the field personnel according to complex and changeable field tasks.

(3) The application uses the simple multiplexing of the independent state modules and adopts the parameter configuration mode to realize the logic mechanism among different state modules and support a plurality of task logic mechanisms.

(4) The parameters of the independent state module are visualized and editable on the visual interface, so that on-site personnel can conveniently adjust the task execution parameters of the state module on line according to the on-site actual conditions, such as cleaning time, component pose recognition and confirmation time, mechanical arm moving speed and the like.

According to the application, the functions of all the components of the task flow of the photovoltaic robot are combined, so that the task flow is finished according to the required working steps and sequences, and the relation of the task modules is supported to be modified on line.

Drawings

The above features, technical features, advantages and implementation manners of a task flow control method and apparatus for a photovoltaic robot based on a state machine will be further described in a clear and understandable manner with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of one embodiment of a state machine based task flow control method for a photovoltaic robot of the present application;

FIG. 2 is a flow diagram of a method for task flow control of a photovoltaic robot based on a state machine according to the present application;

fig. 3 is a schematic diagram of a task flow control device of a photovoltaic robot based on a state machine according to the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity of the drawing, the parts relevant to the present application are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.

It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will explain the specific embodiments of the present application with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the application, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.

In one embodiment, as shown in fig. 1, the present application provides a task flow control method of a photovoltaic robot based on a state machine, including:

s101, packaging each functional module of the photovoltaic robot into a corresponding state module, and setting a data output interface and a data input interface in the state module.

For example, when the task of the photovoltaic robot is cleaning, the corresponding functional module includes a navigation module, a control manipulator grabs the cleaning component module, identifies the area module to be cleaned, identifies and places the cleaning component module, executes the cleaning task module, identifies the cleaning effect module, controls the manipulator to grabs the cleaning component module, and the like. Furthermore, for the closed loop nature of the task flows, there is the possibility of calling the same state module multiple times in one task flow. .

S102, calling each state module through a visual interface, and connecting different state modules to build a task flow of the photovoltaic robot;

specifically, each state module is called on the visual interface, and the state modules are connected according to the execution sequence of each state module to form the task flow of the photovoltaic robot.

For example, referring to fig. 3, when the task of the photovoltaic robot is installation, the execution sequence of each state module is a navigation module, a visual recognition component pose module, a control manipulator to photovoltaic component position module, a control suction cup suction module, a control manipulator to installation position module, a visual recognition component installation pose module, a control manipulator to component installation position module, a control suction cup placement module, and the like. S103, when the task flow of the photovoltaic robot is called, the tasks of the photovoltaic robot are sequentially executed according to the sequence of the state modules.

Exemplary, as shown in fig. 3, the next assembly place is navigated by the navigation module, then the pose of the photovoltaic module is identified by the visual identification module pose module, the manipulator is controlled to the module position by the module control manipulator to the photovoltaic module position based on the pose of the photovoltaic module, the sucker suction module is controlled to suck the photovoltaic module, the manipulator is controlled to the installation place by the module control manipulator, the installation pose of the photovoltaic module is identified by the visual identification module, the installation pose of the photovoltaic module is controlled to the installation place of the photovoltaic module by the module control manipulator to the module installation place based on the installation pose of the photovoltaic module, and the sucker placement module is controlled to place the photovoltaic module. In the embodiment, the task flow is built and executed by different functional modules in the form of a state machine, so that the functions of all the components of the photovoltaic robot task are combined, and the task flow is completed according to the required working steps and sequence.

In one embodiment, invoking each state module through a visual interface and connecting different state modules to build a task flow of the photovoltaic robot, including:

calling each state module through a visual interface, and setting a connection logic mode of each functional module on the visual interface, wherein the connection logic mode comprises sequential connection, condition execution, cyclic execution and synchronous triggering;

and automatically building a task flow of the photovoltaic robot based on the connection logic mode of each functional module.

In this embodiment, referring to fig. 3, for example, in the process of executing an installation task by a photovoltaic robot, the module for visually identifying the pose of the component and the module for controlling the manipulator to the component can be executed concurrently, and the distance and the position from the manipulator to the photovoltaic component can be adjusted synchronously by adjusting the pose of the identified photovoltaic component differently.

Meanwhile, after the control sucker is placed at the tail end of the manipulator, the control sucker can automatically trigger navigation to the next photovoltaic module, and the whole task flow does not need to be monitored manually.

Wherein, different functional modules are mutually independent, and are favorable for development, modification and maintenance. And various task logic mechanisms such as sequential execution, concurrent execution, trigger waiting and the like are supported, and a complex task flow can be built through simple module multiplexing and parameter configuration.

In one embodiment, further comprising:

when the task flow of the photovoltaic robot is invoked, initializing each state module in the task flow of the photovoltaic robot.

In this embodiment, when the task flow of the photovoltaic robot is invoked, all the state modules are initialized, so as to avoid that the state modules collide when the task flow of the photovoltaic robot is executed due to historical data, and the task flow cannot be executed smoothly.

In one embodiment, at least one of the following data is also provided in the status module: parameters, input data, output data and operation results of the corresponding functional modules in each state module.

For example, when the task of the photovoltaic robot is a cleaning task, the input data of the status module may be a cleaning type, a cleaning area, the output data may be a cleaning completion time, and the operation result may be a cleaning end instruction.

In one embodiment, the input data and the output data are set to the same variable type.

Specifically, as long as the variable types and variable values of the input data and the output data of different state modules are the same, automatic connection is established between the different state modules, so as to form a task flow.

In one embodiment, when the input data and the output data are of different variable types, connection between the state modules in the task flow needs to be established through remapping, and at this time, the input data and the output data are displayed as visual and editable on a visual interface.

In this embodiment, the data input to the state machine module, i.e., the type of input data required to perform the task in the state machine, needs to be defined and used in performing the current state machine task.

For example, for a state machine module of a cleaning task, an input interface needs to be set to be cleaning time, cleaning mode and the like, and parameters of a state module corresponding to a functional module include cleaning time and cleaning type; for the state machine module of the installation task, the type, the installation sequence, the installation time and the like of the installation component are required to be defined, and parameters of the state module corresponding to the functional module comprise component pose identification confirmation time and mechanical arm moving speed.

In the embodiment, the visual interface-based task building method is convenient to use and edit, and can build tasks with complex functions through simple setting such as dragging and connecting, so that technicians with different professional backgrounds can quickly get on hand and call the interfaces of the functional modules. Meanwhile, the relation of the task modules can be modified on line, so that the system is more intelligent, flexible and changeable and is convenient to monitor.

In one embodiment, a task flow control method of a photovoltaic robot based on a state machine is further provided, and the following manner is adopted to realize corresponding functions:

1. different functional modules are packaged into individual state modules, i.e. classes, using a programming language, in which the following interfaces can be customized:

a. settable parameters;

b. possible operation results such as success, failure, cancellation, etc.;

c. as input and output data.

2. Through the visual interface, each functional module can be called, and the modules in different states can be connected through operations such as connection, dragging and the like,

different connection logic modes can be set through visual interface operation, including: sequential connection, synchronous triggering, etc.

By setting the initial state entry and the resulting flow direction between different states, a complete task flow can be set up.

The created task flow can generate codes corresponding to each other in the background, and when the created task is run through the visual interface, the created code module is called.

3. The writing of the state modules follows a unified template, referring to fig. 2, when the task flow is called, the initialization functions of all the state modules are executed first and completed, then the state modules are executed sequentially according to the order of the task flow, each state module executes an entry function when being executed, in the entry function, the occupied operation can be realized, then a cycle of confirming results is entered, the cycle is accessed at a fixed frequency to end after the operation results are obtained, and the state module ends and enters the next state module after the execution of the exit code.

The primary function implementation of each function module may be encapsulated in an ingress function or a cyclic access, which accesses whether the primary function is complete.

Based on the three-point requirements, all functional modules of the photovoltaic robot based on the state machine can be coded into state modules for flexible calling, and input and output interfaces between different state modules can be connected to realize different task flows of the photovoltaic robot.

In one embodiment, the present application further provides a task flow control device of a photovoltaic robot based on a state machine, including:

the packaging module is used for packaging each functional module of the photovoltaic robot into a corresponding state module, and setting a data output interface and a data input interface in the state module;

the building module is used for calling each state module through the visual interface and connecting different state modules in the visual interface so as to build the task flow of the photovoltaic robot;

and the execution module is used for sequentially executing the tasks of the photovoltaic robot according to the sequence of each state module when the task flow of the photovoltaic robot is called.

It will be apparent to those skilled in the art that the above-described program modules are only illustrated in the division of the above-described program modules for convenience and brevity, and that in practical applications, the above-described functional allocation may be performed by different program modules, i.e., the internal structure of the apparatus is divided into different program units or modules, to perform all or part of the above-described functions. The program modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one processing unit, where the integrated units may be implemented in a form of hardware or in a form of a software program unit. In addition, the specific names of the program modules are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.

In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described embodiments of the apparatus are exemplary only, and exemplary, the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, exemplary, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.

Claims (10)

1. The task flow control method of the photovoltaic robot based on the state machine is characterized by comprising the following steps of:

packaging each functional module of the photovoltaic robot into a corresponding state module, and setting a data output interface and a data input interface in the state module;

calling each state module through a visual interface, and connecting different state modules to build a task flow of the photovoltaic robot;

and when the task flow of the photovoltaic robot is called, the tasks of the photovoltaic robot are sequentially executed according to the sequence of the state modules.

2. The method for controlling a task flow of a photovoltaic robot based on a state machine according to claim 1, wherein the step of calling each state module through a visual interface and connecting different state modules to build the task flow of the photovoltaic robot comprises the steps of:

calling each state module through a visual interface, and setting a connection logic mode of each functional module on the visual interface, wherein the connection logic mode comprises sequential connection, conditional execution, cyclic execution and synchronous triggering;

and automatically building a task flow of the photovoltaic robot based on the connection logic mode of each functional module.

3. The state machine based task flow control method of a photovoltaic robot of claim 1, further comprising:

and initializing each state module in the task flow when the task flow of the photovoltaic robot is called.

4. A task flow control method of a state machine based photovoltaic robot according to any one of claims 1 to 3, further comprising:

the state module is also provided with at least one of the following data: parameters, input data, output data and operation results of the corresponding function modules in each state module.

5. The state machine based task flow control method of a photovoltaic robot of claim 4, further comprising:

the input data and the output data are set to be of the same variable type.

6. The state machine based task flow control method of a photovoltaic robot of claim 4, further comprising:

the input data and the output data are of different variable types, and the input data and the output data are visualized and editable on the visual interface.

7. The state machine based task flow control method of a photovoltaic robot of claim 6, further comprising:

and establishing connection between the state modules in the task flow through remapping.

8. The method for controlling a task flow of a state machine based photovoltaic robot according to claim 4,

and the parameters and the running results are displayed as visualization and editable on the visual interface.

9. The state machine based photovoltaic robot task flow control method according to any of claims 1-8, further comprising:

when the task of the functional module is a cleaning task, parameters of the state module corresponding to the functional module comprise cleaning time and cleaning type;

or;

when the task of the functional module is a photovoltaic module mounting or dismounting task, parameters of the state module corresponding to the functional module comprise module pose recognition confirmation time and mechanical arm movement speed.

10. A state machine-based task flow control device for a photovoltaic robot, comprising:

the packaging module is used for packaging each functional module of the photovoltaic robot into a corresponding state module, and setting a data output interface and a data input interface in the state module;

the building module is used for calling each state module through a visual interface and connecting different state modules in the visual interface so as to build a task flow of the photovoltaic robot;

and the execution module is used for sequentially executing the tasks of the photovoltaic robot according to the sequence of the state modules when the task flow of the photovoltaic robot is called.