CN105538326A - Robot operation setting method and server - Google Patents
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- CN105538326A CN105538326A CN201610004661.0A CN201610004661A CN105538326A CN 105538326 A CN105538326 A CN 105538326A CN 201610004661 A CN201610004661 A CN 201610004661A CN 105538326 A CN105538326 A CN 105538326A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000001133 acceleration Effects 0.000 claims description 54
- 238000005303 weighing Methods 0.000 claims description 19
- 230000003068 static effect Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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- 230000008859 change Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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Abstract
The invention provides a robot operation setting method and a server. The method includes the steps of determining the weight of a robot and the weight generated after the robot carries cargoes, calculating the operation parameters of the robot according to the weight of the robot and the weight generated after the robot carries cargoes, and sending the operation parameters to the robot. The operation parameters can be set for robots according to the weight of each robot and the weight generated after each robot carries cargoes, and the work efficiency of robots is improved.
Description
Technical field
The present invention relates to robotics, in particular to a kind of method and the server that arrange robot operation.
Background technology
At present, along with socioeconomic development, be applied to the large-scale stream of people, the logistics places such as supermarket, airport, station, conference and exhibition center and logistics warehouse more and more widely.Robot is the Integrated Multi-Purpose System that the integration environment perception, route planning, dynamic decision, Behavior-Based control and an alarm module are integrated, and can realize timing, self-service work of flowing.
Realizing in process of the present invention, inventor finds to there is following problem in correlation technique:
In correlation technique, robot cluster carries out in the process of extensive dynamic moving in the venue, due to varying in weight after own wt and loading, its walking maximal rate of institute is inevitable different with acceleration, if the peak acceleration can born after not considering the maximal rate that can walk of each robot and loading, then may there is the excessive velocities of some robot, goods be jolted and even throws out, and then cause robot operating efficiency low.
Summary of the invention
In view of this, the object of the embodiment of the present invention is to provide a kind of and arranges the method and server that robot runs, and respectively according to the operational factor of each robot of Weight computation after the weight of each robot and loading, improves machine task efficiency.
First aspect, embodiments provide a kind of method arranging robot and run, wherein, described method comprises:
Determine the weight after the weight of described robot self and the loading of described robot;
According to the weight after the weight of described robot and the loading of described robot, calculate the operational factor of described robot;
Described operational factor is sent to described robot.
In conjunction with first aspect, embodiments provide the first possible implementation of above-mentioned first aspect, wherein, the weight after the described weight according to described robot and the loading of described robot, calculates the operational factor of described robot, comprising:
The maximal rate of robot and peak acceleration according to the Weight computation after the weight of described robot and the loading of described robot;
The operational factor of described robot is determined according to described maximal rate and peak acceleration.
In conjunction with the first possible implementation of first aspect, embodiments provide the implementation that the second of above-mentioned first aspect is possible, wherein, the maximal rate of robot described in the Weight computation after the described weight according to described robot and the loading of described robot and peak acceleration, comprising:
The weight of the goods that described robot carries is determined according to the weight after the weight of described robot and the loading of described robot;
The maximal rate of robot and peak acceleration according to the weight of described robot and the Weight computation of described goods.
In conjunction with the first possible implementation of first aspect and first aspect, embodiments provide the third possible implementation of above-mentioned first aspect, wherein, according to the weight after the weight of described robot and the loading of described robot, calculate the operational factor of described robot, comprising:
According to the weight after the weight of described robot and the loading of described robot, the maximal rate of reality when calculating described robot ambulation, acceleration and walking path.
In conjunction with first aspect, embodiments provide the 4th kind of possible implementation of above-mentioned first aspect, wherein, described determine described robot self weight and the loading of described robot after weight, also comprise:
Before the loading of described robot, send to described robot instruction of weighing, indicate described robot to take the weight of self at predeterminated position;
Receive the weight data of self that described robot takes;
After the loading of described robot, send to described robot instruction of weighing, indicate the weight of described robot after described predeterminated position takes loading;
Receive the weight data after the loading that described robot takes.
Second aspect, embodiments provide a kind of server arranging robot and run, wherein, described server comprises:
Determination module, for determining the weight after the weight of described robot self and the loading of described robot;
Computing module, for the operational factor of robot according to the Weight computation after the weight of described robot and the loading of described robot;
Sending module, for sending to described robot by described operational factor.
In conjunction with the first possible implementation of second aspect, embodiments provide the first possible implementation of above-mentioned second aspect, wherein, described computing module, comprising:
Computing unit, for maximal rate and the peak acceleration of robot according to the Weight computation after the weight of described robot and the loading of described robot;
Determining unit, for determining the operational factor of described robot according to described maximal rate and peak acceleration.
In conjunction with the first possible implementation of second aspect, embodiments provide the implementation that the second of above-mentioned second aspect is possible, wherein, described computing unit, comprising:
Determine subelement, for determining the weight of the goods that described robot carries according to the weight after the weight of described robot and the loading of described robot;
Computation subunit, for maximal rate and the peak acceleration of robot according to the weight of described robot and the Weight computation of described goods.
In conjunction with the first possible implementation of second aspect and second aspect, embodiments provide the third possible implementation of above-mentioned second aspect, wherein,
Described computing unit, also for: according to the weight after the weight of described robot and the loading of described robot, the maximal rate of reality when calculating described robot ambulation, acceleration and walking path.
In conjunction with second aspect, embodiments provide the 4th kind of possible implementation of above-mentioned second aspect, wherein, described determination module, also comprises:
Own wt determining unit, for before the loading of described robot, sends to described robot instruction of weighing, indicates described robot to take the weight of self at predeterminated position;
Receiving element, for receiving the weight data of self that described robot takes;
Pay load determining unit, for after the loading of described robot, sends to described robot instruction of weighing, indicates the weight of described robot after described predeterminated position takes loading;
Described receiving element, also for receiving the weight data after loading that described robot takes.
In the method provided in the embodiment of the present invention and device, determine the weight after the weight of described robot self and the loading of described robot; According to the weight after the weight of described robot and the loading of described robot, calculate the operational factor of described robot; Described operational factor is sent to described robot.Be that robot arranges operational factor according to the weight after the weight of each robot and loading, improve machine task efficiency.
For making above-mentioned purpose of the present invention, feature and advantage become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows a kind of method flow diagram arranging machine and run that the embodiment of the present invention provides;
Fig. 2 shows a kind of structure chart arranging the server that robot runs that the embodiment of the present invention provides;
Fig. 3 shows the structure chart of the computing module 22 that the embodiment of the present invention provides;
Fig. 4 shows the structure chart of the computing unit 221 that the embodiment of the present invention provides;
Fig. 5 shows the structure chart of the determination module 21 that the embodiment of the present invention provides.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
Consider in correlation technique, each robot is due to varying in weight after self weight and loading, its walking maximal rate of institute is inevitable different with acceleration, if the peak acceleration can born after not considering the maximal rate that can walk of each robot and loading, then may there is the excessive velocities of some robot, goods is jolted even throw out, and then cause robot operating efficiency low.Based on this, embodiments provide a kind of method and server that robot operation is set.Be described below by embodiment.
Embodiment 1
See Fig. 1, embodiments provide a kind of method robot being set and running.The method specifically comprises the following steps:
Weight after step 101, the weight determining described robot self and loading.
In the embodiment of the present invention, each robot in server and place establishes data cube computation, the state of described robot can be real-time monitored, and then before the loading of described robot, send to described robot instruction of weighing, indicate described robot to take the weight of self at predeterminated position, after described robot takes own wt, the weight of self is returned to described server, and described server receives the weight of self that described robot takes.
After monitoring the loading of described robot, instruction of weighing is sent to described robot, weight after indicating described robot to take self loading, after described robot takes the weight after self loading, weight after loading is returned to described server, and described server receives the weight after described loading.
It should be noted that the weight information of self when to described server registration, just can be sent to described server by robot.In addition, robot in the course of the work, because the part etc. of self has replacement, deletes and increase, therefore, the accuracy of the weight of the robot self that the present invention obtains in order to ensure server, before the loading of described robot, sends the instruction of weighing to described robot.Follow-up, if the weight monitoring described robot changes, then send to described robot instruction of weighing, again obtain the weight of described robot self.
Step 102, according to the weight after the weight of described robot and the loading of described robot, calculate the operational factor of described robot.
In the particular embodiment, the maximal rate of robot and peak acceleration according to the Weight computation after the weight of described robot and described loading; The operational factor of described robot is determined according to described maximal rate and peak acceleration.
Wherein, according to the Weight computation after the weight of described robot and described loading, the maximal rate of robot and peak acceleration comprise: the weight determining the goods that described robot carries according to the weight after the weight of described robot and described loading, further, the maximal rate of robot and peak acceleration according to the weight of described robot and the Weight computation of described goods.
Concrete, when after the weight after the weight determining described robot self and loading, utilize the weight after loading to deduct the weight of described robot self, just obtain the weight of the goods of described robot carrying.
In order to ensure that robot self and goods do not slide, therefore, goods and robot and the active force between robot and place should within maximum static friction forces, after the place of robot and robot determine, the coefficient of sliding friction of the goods of the frictional force in each robot and place and robot and carrying just can be determined, therefore the weight of goods and the maximum static friction force direct proportionality between described goods and robot, the weight after the loading of described robot and the maximum static friction force direct proportionality in described robot and place.
Therefore, calculate according to the maximum static friction force of goods and robot the peak acceleration a that described goods can bear
1, the peak acceleration a that can bear after calculating the loading of described robot according to the maximum static friction force in the weight after the loading of described robot and place
2.Wherein a
1and a
2the peak acceleration can born as the robot after loading that middle selection is minimum, such as, works as a
1<a
2, then determine that the peak acceleration that the robot after loading can bear is a
1if, a
1>a
2, then determine that the peak acceleration that the robot after loading can bear is a
2, this is to slide when walking after can ensureing robot loading.
It should be noted that the mode due to robot bearing goods is different, the peak acceleration a that can bear of goods when there is not slip
1difference, a in the present embodiment
1for the peak acceleration that the bearing goods mode of described robot when the most easily there is slip is corresponding, the peak acceleration that namely mode of other bearing goods is corresponding is all more than or equal to a
1, it is also to be noted that when calculating the peak acceleration of the robot after loading, also needing the robot after considering loading when carrying out bend walking, avoiding goods and the peak acceleration of sliding occurs self.
Further, after the peak acceleration that robot after calculating loading can bear, the speed of the robot after loading neither be gone down in unconfined acceleration, consider that the power that each robot can provide is certain, weight and the maximal rate of the robot then after loading are inversely proportional, therefore according to the weight of the robot after loading, the maximal rate of robot can be calculated, it should be noted that, when the maximal rate of the robot after calculating loading, also to ensure within the limitation that the robot after the limitation that maximal rate is arranged for each robot in advance at server and loading does not occur when carrying out bend walking to slide.
Further, after the maximal rate of the robot after loading and peak acceleration are determined, owing to having more than existence robot in place, in order to avoid robot collides and path blocks, server is that described robot arranges route scheme according to the maximal rate of robot after loading and peak acceleration, the maximal rate of reality when route scheme comprises the robot ambulation after described loading and acceleration, and walking path.
It should be noted that, the maximal rate of the actual walking of robot is less than or equal to the maximal rate of the robot calculated, the acceleration of the actual walking of robot is less than or equal to the peak acceleration of the robot calculated, even acceleration walking is not limited in during the actual walking of robot, as long as meet acceleration to be less than or equal to the peak acceleration calculated in the present invention.
Step 103, described operational factor is sent to described robot.
After calculating the operational factor after the loading of described robot, described operational factor is sent to the robot after described loading, after described robot receives route scheme, accelerate to maximal rate according to the walking path in operational factor with acceleration.
In the method provided in the embodiment of the present invention and device, determine the weight after the weight of described robot self and the loading of described robot; According to the weight after the weight of described robot and the loading of described robot, calculate the operational factor of described robot; Described operational factor is sent to described robot.Be that robot arranges operational factor according to the weight after the weight of each robot and loading, improve machine task efficiency.
Below in conjunction with concrete application scenarios, the method that the robot speed that the present embodiment proposes is arranged is described in detail.Wherein, robot 1 and robot controlling server is there is in system, server monitoring is positioned at reception task article region to robot 1, wherein, the equipment that can carry out weighing has been settled in this region, and then before robot 1 bearing goods, instruction of weighing is sent to robot 1, indicate described robot on the equipment of weighing, take the weight of self, the equipment carrying out weighing described in described server can pass through directly obtains the weight of described robot, also can be obtained the weight of self by described robot, and be returned to server.
Further, robot can on the described equipment carrying out weighing bearing goods, described server gets the weight after the loading of described robot.
Further, the operational factor of the robot after loading according to the Weight computation after the weight of described robot self and loading.Concrete, determine the weight of the goods carried according to the weight after the weight of described robot self and loading, the maximal rate v that can walk of robot according to the weight of described robot and the Weight computation of described goods
maxwith peak acceleration a
max.
Further, according to the robot operation conditions in place, maximal rate v and acceleration a is set for this robot and arrives the path of destination as early as possible, and this operational factor is sent to described robot.Wherein, V is less than or equal to v
max, a is less than or equal to a
max.
After described robot receives described operational factor, bearing goods, no longer accelerates when speed reaches v according to the path walking arranged with acceleration a.
In the method provided in the embodiment of the present invention and device, determine the weight after the weight of described robot self and the loading of described robot; According to the weight after the weight of described robot and the loading of described robot, calculate the operational factor of described robot; Described operational factor is sent to described robot.Be that robot arranges operational factor according to the weight after the weight of each robot and loading, improve machine task efficiency.
Embodiment 2
See Fig. 2, the present embodiment additionally provides a kind of server arranging robot and run, and wherein, described server comprises:
Determination module 21, for determining the weight after the weight of described robot self and the loading of described robot;
Computing module 22, for the operational factor of robot according to the Weight computation after the weight of described robot and the loading of described robot;
Sending module 23, for sending to described robot by described operational factor.
Wherein, see Fig. 3, be the structure chart of described computing module 22, comprise:
Computing unit 221, for maximal rate and the peak acceleration of robot according to the Weight computation after the weight of described robot and the loading of described robot;
Determining unit 222, for determining the operational factor of described robot according to described maximal rate and peak acceleration.
See Fig. 4, be the structure chart of described computing unit 221, comprise:
Determine subelement 2211, for determining the weight of the goods that described robot carries according to the weight after the weight of described robot and the loading of described robot;
Computation subunit 2212, for maximal rate and the peak acceleration of robot according to the weight of described robot and the Weight computation of described goods.
Wherein, described computing unit 22, also for: according to the weight after the weight of described robot and the loading of described robot, the maximal rate of reality when calculating described robot ambulation, acceleration and walking path
See Fig. 5, be the structure chart of described determination module 21, comprise:
Own wt determining unit 211, for before the loading of described robot, sends to described robot instruction of weighing, indicates described robot to take the weight of self at predeterminated position;
Receiving element 212, for receiving the weight data of self that described robot takes;
Pay load determining unit 213, for after the loading of described robot, sends to described robot instruction of weighing, indicates the weight of described robot after described predeterminated position takes loading;
Described receiving element 212, also for receiving the weight data after loading that described robot takes.
In the method provided in the embodiment of the present invention and device, determine the weight after the weight of described robot self and the loading of described robot; According to the weight after the weight of described robot and the loading of described robot, calculate the operational factor of described robot; Described operational factor is sent to described robot.Be that robot arranges operational factor according to the weight after the weight of each robot and loading, improve machine task efficiency.
In several embodiments that the application provides, should be understood that disclosed apparatus and method can realize by another way.Device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, again such as, multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some communication interfaces, and the INDIRECT COUPLING of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed on multiple NE.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.
If described function using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part of the part that technical scheme of the present invention contributes to prior art in essence in other words or this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, read-only storage (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. arrange the method that robot runs, it is characterized in that, described method comprises:
Determine the weight after the weight of described robot self and the loading of described robot;
According to the weight after the weight of described robot and the loading of described robot, calculate the operational factor of described robot;
Described operational factor is sent to described robot.
2. the method for claim 1, is characterized in that, the weight after the described weight according to described robot and the loading of described robot, calculates the operational factor of described robot, comprising:
The maximal rate of robot and peak acceleration according to the Weight computation after the weight of described robot and the loading of described robot;
The operational factor of described robot is determined according to described maximal rate and peak acceleration.
3. method as claimed in claim 2, is characterized in that, the maximal rate of robot described in the Weight computation after the described weight according to described robot and the loading of described robot and peak acceleration, comprising:
The weight of the goods that described robot carries is determined according to the weight after the weight of described robot and the loading of described robot;
The maximal rate of robot and peak acceleration according to the weight of described robot and the Weight computation of described goods.
4. method as claimed in claim 1 or 2, is characterized in that, according to the weight after the weight of described robot and the loading of described robot, calculates the operational factor of described robot, comprising:
According to the weight after the weight of described robot and the loading of described robot, the maximal rate of reality when calculating described robot ambulation, acceleration and walking path.
5. the method for claim 1, is characterized in that, described determine described robot self weight and the loading of described robot after weight, also comprise:
Before the loading of described robot, send to described robot instruction of weighing, indicate described robot to take the weight of self at predeterminated position;
Receive the weight data of self that described robot takes;
After the loading of described robot, send to described robot instruction of weighing, indicate the weight of described robot after described predeterminated position takes loading;
Receive the weight data after the loading that described robot takes.
6. arrange the server that robot runs, it is characterized in that, described server comprises:
Determination module, for determining the weight after the weight of described robot self and the loading of described robot;
Computing module, for the operational factor of robot according to the Weight computation after the weight of described robot and the loading of described robot;
Sending module, for sending to described robot by described operational factor.
7. server as claimed in claim 6, it is characterized in that, described computing module, comprising:
Computing unit, for maximal rate and the peak acceleration of robot according to the Weight computation after the weight of described robot and the loading of described robot;
Determining unit, for determining the operational factor of described robot according to described maximal rate and peak acceleration.
8. server as claimed in claim 7, it is characterized in that, described computing unit, comprising:
Determine subelement, for determining the weight of the goods that described robot carries according to the weight after the weight of described robot and the loading of described robot;
Computation subunit, for maximal rate and the peak acceleration of robot according to the weight of described robot and the Weight computation of described goods.
9. server as claimed in claims 6 or 7, is characterized in that,
Described computing unit, also for: according to the weight after the weight of described robot and the loading of described robot, the maximal rate of reality when calculating described robot ambulation, acceleration and walking path.
10. server as claimed in claim 6, it is characterized in that, described determination module, also comprises:
Own wt determining unit, for before the loading of described robot, sends to described robot instruction of weighing, indicates described robot to take the weight of self at predeterminated position;
Receiving element, for receiving the weight data of self that described robot takes;
Pay load determining unit, for after the loading of described robot, sends to described robot instruction of weighing, indicates the weight of described robot after described predeterminated position takes loading;
Described receiving element, also for receiving the weight data after loading that described robot takes.
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| CN106200637A (en) * | 2016-07-06 | 2016-12-07 | 尚艳燕 | A kind of method utilizing balance car loading and balance car |
| CN108897329A (en) * | 2018-09-29 | 2018-11-27 | 苏州博众机器人有限公司 | A kind of robot speed's control method, device, equipment and storage medium |
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
| CN112207828A (en) * | 2020-09-30 | 2021-01-12 | 广东唯仁医疗科技有限公司 | Retail robot control method and system based on 5G network |
| WO2021032508A1 (en) * | 2019-08-16 | 2021-02-25 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Method for transferring cargo from a cargo receiving portion of a vehicle, and vehicle for carrying out said method |
| WO2021032383A1 (en) * | 2019-08-16 | 2021-02-25 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Vehicle for transporting cargo |
| CN117565061A (en) * | 2024-01-16 | 2024-02-20 | 山西大学 | Speed and weight balance control system based on mechanical arm carrying |
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