CN106647764A - Motion track planning method and system for carrying robot - Google Patents
Motion track planning method and system for carrying robot Download PDFInfo
- Publication number
- CN106647764A CN106647764A CN201710025165.8A CN201710025165A CN106647764A CN 106647764 A CN106647764 A CN 106647764A CN 201710025165 A CN201710025165 A CN 201710025165A CN 106647764 A CN106647764 A CN 106647764A
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- transfer robot
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000013439 planning Methods 0.000 title claims abstract description 23
- 238000012546 transfer Methods 0.000 claims description 96
- 238000012913 prioritisation Methods 0.000 claims description 39
- 239000002994 raw material Substances 0.000 claims description 37
- 238000012163 sequencing technique Methods 0.000 claims description 2
- 239000000047 product Substances 0.000 description 23
- 238000004519 manufacturing process Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000004080 punching Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000003801 milling Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
Classifications
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- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The invention provides a motion track planning method and system for a carrying robot. The motion track planning method comprises the following steps: identifying stations of the same type in a factory, obtaining effective stations, obtaining geographical location information of each effective station in the factory as well as information of driving regions in the factory and component stacking state information of each effective station, carrying out priority ranking on each effective station, and generating a motion track of the carrying robot according to the geographical location information of each effective station, the information of the driving regions in the factory and a priority ranking result. In the whole process, the priority ranking is carried out on each effective station based on the component stacking state information of each effective station, and the motion track is generated based on the location information of the effective stations (stations of the same type), the information of the driving regions in the factory and the priority ranking, so that reasonable planning on the motion track of the carrying robot can be realized.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to transfer robot motion trail planning method be
System.
Background technology
It is at present in the more and more employing streamline automated productions of industrial circle, such as existing with the development of science and technology
Some automobile flow production lines, aircraft manufacturing flow production line etc..
In industrial production line, the work of polytype intelligent automation equipment coordination is finally completed whole intellectuality
Production process.In line flow procedure, it is often necessary to which all kinds of raw materials, semi-finished product and part are carried by intelligentized robot
Deng.
The extensive application of transfer robot, saves substantial amounts of manpower and time, improves industrial production efficiency.However as
Transfer robot it is widely used, how rationally effectively to have planned that the driving trace of transfer robot has become a difficult problem.
The content of the invention
Based on this, it is necessary to the problem for there is no transfer robot motion trail planning method at present, there is provided one kind is removed
Fortune robot motion's method for planning track and system, realization is made rational planning for transfer robot movement locus.
A kind of transfer robot motion trail planning method, including step：
The station of same type, obtains effective station in identification factory；
Obtain the information in wheeled region in each effective station geographical location information and factory in factory；
Obtain each effective station part in the factory and stack status information, the part stacks status information includes stockpile
Put information and the currently active station finished product stacks information；
Stack status information according to described each effective station part carries out prioritization to each effective station；
According to the information in wheeled region in existing effective station geographical location information in predeterminable area and factory and excellent
First level ranking results, generate transfer robot movement locus.
A kind of transfer robot Motion trajectory system, including：
Identification module, for recognizing the station of same type in factory, obtains effective station；
Back ground Information acquisition module, for obtaining in factory wheeled region in each effective station geographical location information and factory
Information；
Part stacks data obtaining module, and for obtaining each effective station part in the factory status information is stacked, described
Part stacks status information includes that raw material stacks information and the currently active station finished product stacks information；
Prioritization module, is carried out for stacking status information according to described each effective station part to each effective station
Prioritization；
Track Pick-up module, for according to wheeled in existing effective station geographical location information in predeterminable area and factory
The information and prioritization result in region, generates transfer robot movement locus.
Transfer robot motion trail planning method of the present invention and system, recognize the station of same type in factory, obtain
Effective station, obtains the information in wheeled region in each effective station geographical location information in factory and factory, each is effective
Station part stacks status information, prioritization is carried out to each effective station, according to effective station geographical location information, work
The information in wheeled region and prioritization result in factory, generate transfer robot movement locus.In whole process, it is based on
Each effective station part stacks status information carries out prioritization to each effective station, and based on effective station（It is identical
Type station）Positional information, the information in factory's wheeled region and prioritization generate movement locus, it is right to realize
Transfer robot movement locus is made rational planning for.
Description of the drawings
Fig. 1 is the schematic flow sheet of transfer robot motion trail planning method one embodiment of the present invention；
Fig. 2 is the schematic flow sheet of second embodiment of transfer robot motion trail planning method of the present invention；
Fig. 3 is the structural representation of transfer robot Motion trajectory system one embodiment of the present invention；
Fig. 4 is the structural representation of second embodiment of transfer robot Motion trajectory system of the present invention.
Specific embodiment
As shown in figure 1, a kind of transfer robot motion trail planning method, including step：
S100：The station of same type, obtains effective station in identification factory.
The division of station type in factory can be sorted out based on industry guideline, or needing actively based on practical application
Multiple stations are classified as into a class, and mark is recognized to the work position distribution identical classification for being classified as a class.For example be in factory can be with
It is divided into stamping station, milling station and assembling station etc..Different station can arrange different transfer robots to be come to carry
Corresponding raw material and finished product, such as, for stamping station, corresponding transfer robot needs to carry punching press raw material（Steel plate）, and
The good finished product of stamping station punching press is transported into next making station.Here, for single transfer robot only to station
The station of type matching provides the service of carrying, therefore, it is necessary first to the station of same type, these different types of works in identification
Make the effective station respectively as different transfer robots in position.
S200：Obtain the information in wheeled region in each effective station geographical location information and factory in factory.
Effectively station is likely distributed in diverse location, and it is to allow transfer robot to move to only have the regions such as passageway in factory
, it is to be understood that these data are just easy to subsequently set transfer robot movement locus.
S300：Obtain each effective station part in the factory and stack status information, the part stacks status information
Information is stacked including raw material and the currently active station finished product stacks information.
As described above effective station part stacks the main finished product including after raw material and station processing, it should be pointed out that
, raw material and finished product of the raw material with finished product only for current station, such as stamping station, its raw material is steel plate,
Its finished product is the good steel plate model of punching press, and for milling station, its raw material may be the good steel plate model of punching press, its into
Product are then the part after the finishing after milling.
S400：Stack status information according to described each effective station part carries out priority row to each effective station
Sequence.
In general, in line flow procedure, each station can be allowed to stack a number of raw material and added
The finished product of work, when station material inventory is nervous and/or finished product overstocks excessive, it is necessary to which transfer robot is rapidly its service,
Raw material is supplemented to this and/or finished product is cleared.Therefore, need to consider these factors in generation transfer robot movement locus, according to
Each effective station part stacks status information carries out prioritization to each effective station.Specifically, priority is higher
Corresponding station transfer robot preferentially will carry out to this carrying operation.
For further, step S400 includes：
Step one：Status information is stacked according to each effective station part, each effective station raw material is calculated and is stacked former with maximum
The ratio and each effective station finished product that stockpile is put stacks the ratio stacked with maximum finished product.
Step 2：Order with the ratio of maximum raw material stacking from low to high is stacked with the corresponding raw material of each effective station right
Each effective station carries out prioritization, when the ratio that raw material is stacked with maximum raw material is stacked is equal, stacked with finished product and
The ratio that maximum finished product is stacked order from high to low carries out prioritization to each effective station.
S500：According to the letter in wheeled region in existing effective station geographical location information in predeterminable area and factory
Breath and prioritization result, generate transfer robot movement locus.
With effective station geographical position as destination, according to the information in wheeled region in factory, it is determined that can travel
Path, and according to the prioritization result of step S400, it is determined that needing the station for preferentially reaching（Destination）, ultimately generate and remove
Fortune robot motion track.In general, the higher transfer robot of the corresponding priority of station needs more preferential traveling to the work
Position position, to it carrying service is carried out.
Transfer robot motion trail planning method of the present invention, recognizes the station of same type in factory, obtains effective work
Position, obtains information, each effective station portion in wheeled region in each effective station geographical location information and factory in factory
Part stacks status information, and to each effective station prioritization is carried out, according to can in effective station geographical location information, factory
The information and prioritization result of running region, generates transfer robot movement locus.In whole process, had based on each
Effect station part stacks status information carries out prioritization to each effective station, and based on effective station（Same type work
Position）Positional information, the information in factory's wheeled region and prioritization generate movement locus, can realize to carrying implement
Device people's movement locus is made rational planning for.
As shown in Fig. 2 also including after step S500 in one embodiment wherein：
S600：Transfer robot movement locus is pushed to the transfer robot for serving effective station type.
As described above, different types of station is that the transfer robot that it is serviced is identical, therefore is being obtained for current
Need to push transfer robot movement locus after the transfer robot movement locus of station type to serving effective work
The transfer robot of position type.It is non-essential, motion trace data can be pushed to transfer robot using communication.
As shown in Fig. 2 also including after step S500 in one embodiment wherein：
S700：It is relative to carrying out between transfer robot and the currently active station when transfer robot reaches effective station
Positioning.
Transfer robot proceeds by work after one's own movement locus is received, and drives to and specifies effective
Station carries out carrying service, in carrying service process is carried out, due to needing preparation to transport goods（Part or finished product）, then need
Relative positioning is carried out with the currently active station, so that transfer robot accurately reaches carrying position, starts to provide the service of carrying.
Specifically, when transfer robot reaches effective station, between transfer robot and the currently active station
Relative positioning is carried out including step：
Step one：The scanning area of the currently active station is preset by defaulting in the scanning of transfer robot scanned copy.
Step 2：Obtain the scanned copy and scan the scan data that the scanning area is obtained.
Step 3：When the scan data is completely the same with default scan data, judges transfer robot and currently have
Effect station relative positioning success.
The scanned copy scan setting on transfer robot is arranged in the scanning area of the currently active station, scanning number is obtained
According to, when scan data is completely the same with default scan data, illustrate transfer robot and the currently active station relative positioning into
Work(.Specifically, can reach the standard grade in transfer robot and pre-set scanning means, such as infrared barcode scanning instrument is pre- on station
Scanning area, such as bar code or Quick Response Code etc. are first set, transfer robot and effective station in advance are carried out aligning determination
Position, obtains the data that scanning means scanning scanning area is obtained, and as default scan data, in practical application, only need to work as institute
State scan data it is completely the same with default scan data when, illustrate transfer robot with the currently active station relative positioning success.
To adopt below and demonstrate above-mentioned relatively accurate position fixing process.In instances, it is provided with transfer robot red
Outer barcode scanning instrument, is provided with bar shaped scanning area on effective station, it is 123456789 that the bar code that it is arranged characterizes numeral, manually
Manually during positioning that transfer robot is relatively accurate with effective station, the data that infrared barcode scanning instrument scanning is obtained are 2345678.
In normal course of operation, transfer robot mid-infrared barcode scanning instrument scans the currently active station scanning area, obtains scan data, when
When scan data is 12345678, judge that transfer robot is unsuccessful with the currently active station relative positioning；When scan data is
When 23456789, judge that transfer robot is unsuccessful with the currently active station relative positioning；When scan data is 2345678,
Judge transfer robot and the currently active station relative positioning success.
As shown in figure 3, a kind of transfer robot Motion trajectory system, including：
Identification module 100, for recognizing the station of same type in factory, obtains effective station.
Back ground Information acquisition module 200, can in each effective station geographical location information and factory in factory for obtaining
The information of running region.
Part stacks data obtaining module 300, and for obtaining each effective station part in the factory state letter is stacked
Breath, the part stacks status information includes that raw material stacks information and the currently active station finished product stacks information.
Prioritization module 400, it is effective to each for stacking status information according to described each effective station part
Station carries out prioritization.
Track Pick-up module 500, for according to existing effective station geographical location information and factory in predeterminable area
The information and prioritization result in interior wheeled region, generates transfer robot movement locus.
Transfer robot Motion trajectory system of the present invention, the station of same type in the identification of identification module 100 factory,
Effective station is obtained, Back ground Information acquisition module 200 is obtained can in each effective station geographical location information and factory in factory
The information of running region, part stacks data obtaining module 300 and obtains each effective station part stacking status information, priority
Order module 400 carries out prioritization to each effective station, according to wheeled in effective station geographical location information, factory
The information and prioritization result in region, Track Pick-up module 500 generates transfer robot movement locus.Whole process
In, stack status information based on each effective station part carries out prioritization to each effective station, and based on effective work
Position（Same type station）Positional information, the information in factory's wheeled region and prioritization generate movement locus, energy
It is enough to realize making rational planning for transfer robot movement locus.
Wherein in one embodiment, the prioritization module 400 includes：
Computing unit, for stacking status information according to each effective station part, calculate each effective station raw material stack with
The ratio and each effective station finished product that maximum raw material is stacked stacks the ratio stacked with maximum finished product.
Sequencing unit, for stacking the ratio stacked with maximum raw material from low to high with the corresponding raw material of each effective station
Order carries out prioritization to each effective station, when the ratio that raw material is stacked with maximum raw material is stacked is equal, with finished product
Stack the ratio stacked with maximum finished product order from high to low carries out prioritization to each effective station.
As shown in figure 4, wherein in one embodiment, transfer robot Motion trajectory system also includes：
Pushing module 600, for pushing transfer robot movement locus to the conveying robot for serving effective station type
People.
As shown in figure 4, wherein in one embodiment, transfer robot Motion trajectory system also includes：
Relative positioning module 700, for when transfer robot reaches effective station, to transfer robot and the currently active work
Relative positioning is carried out between position.
Wherein in one embodiment, the relative positioning module 700 includes：
Scanning element, for presetting the scanning area of the currently active station by defaulting in the scanning of transfer robot scanned copy.
Scan data acquiring unit, for obtaining the scanned copy scan data that the scanning area is obtained is scanned.
Position determination unit, for when the scan data is completely the same with default scan data, judging conveying robot
People and the currently active station relative positioning success.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but and
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that for one of ordinary skill in the art comes
Say, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (10)
1. a kind of transfer robot motion trail planning method, it is characterised in that including step：
The station of same type, obtains effective station in identification factory；
Obtain the information in wheeled region in each effective station geographical location information and factory in factory；
Obtain each effective station part in the factory and stack status information, the part stacks status information includes stockpile
Put information and the currently active station finished product stacks information；
Stack status information according to described each effective station part carries out prioritization to each effective station；
According to the information in wheeled region in existing effective station geographical location information in predeterminable area and factory and excellent
First level ranking results, generate transfer robot movement locus.
2. transfer robot motion trail planning method according to claim 1, it is characterised in that described according to described each
Individual effective station part is stacked the step of status information carries out prioritization to each effective station to be included：
Status information is stacked according to each effective station part, each effective station raw material is calculated and is stacked and maximum raw material stacking
Ratio and each effective station finished product stack the ratio stacked with maximum finished product；
With the ratio of each effective corresponding raw material stacking of station and maximum raw material stacking order from low to high to each effective work
Position carries out prioritization, when the ratio that raw material is stacked with maximum raw material is stacked is equal, is stacked and maximum finished product heap with finished product
The ratio put order from high to low carries out prioritization to each effective station.
3. transfer robot motion trail planning method according to claim 1, it is characterised in that described according to preset areas
In domain in existing effective station geographical location information and factory wheeled region information and prioritization result, it is raw
Also include into after the step of transfer robot movement locus：
Transfer robot movement locus is pushed to the transfer robot for serving effective station type.
4. transfer robot motion trail planning method according to claim 1, it is characterised in that described according to preset areas
In domain in existing effective station geographical location information and factory wheeled region information and prioritization result,
Also include after the step of generating transfer robot movement locus：
When transfer robot reaches effective station, to carrying out relative positioning between transfer robot and the currently active station.
5. transfer robot motion trail planning method according to claim 4, it is characterised in that described to work as conveying robot
When people reaches effective station, include the step of to carrying out relative positioning between transfer robot and the currently active station：
The scanning area of the currently active station is preset by defaulting in the scanning of transfer robot scanned copy；
Obtain the scanned copy and scan the scan data that the scanning area is obtained；
When the scan data is completely the same with default scan data, judge that transfer robot is relative with the currently active station fixed
Position success.
6. a kind of transfer robot Motion trajectory system, it is characterised in that include：
Identification module, for recognizing the station of same type in factory, obtains effective station；
Back ground Information acquisition module, for obtaining in factory wheeled region in each effective station geographical location information and factory
Information；
Part stacks data obtaining module, and for obtaining each effective station part in the factory status information is stacked, described
Part stacks status information includes that raw material stacks information and the currently active station finished product stacks information；
Prioritization module, is carried out for stacking status information according to described each effective station part to each effective station
Prioritization；
Track Pick-up module, for according to wheeled in existing effective station geographical location information in predeterminable area and factory
The information and prioritization result in region, generates transfer robot movement locus.
7. transfer robot Motion trajectory system according to claim 6, it is characterised in that the prioritization
Module includes：
Computing unit, for stacking status information according to each effective station part, calculate each effective station raw material stack with
The ratio and each effective station finished product that maximum raw material is stacked stacks the ratio stacked with maximum finished product；
Sequencing unit, for the order with the ratio of each effective corresponding raw material stacking of station and maximum raw material stacking from low to high
Prioritization is carried out to each effective station, when the ratio that raw material is stacked with maximum raw material is stacked is equal, with finished product stacking
The ratio stacked with maximum finished product order from high to low carries out prioritization to each effective station.
8. transfer robot Motion trajectory system according to claim 6, it is characterised in that also include：
Pushing module, for pushing transfer robot movement locus to the transfer robot for serving effective station type.
9. transfer robot Motion trajectory system according to claim 6, it is characterised in that also include：
Relative positioning module, for when transfer robot reaches effective station, to transfer robot and the currently active station
Between carry out relative positioning.
10. transfer robot Motion trajectory system according to claim 9, it is characterised in that the relative positioning
Module includes：
Scanning element, for presetting the scanning area of the currently active station by defaulting in the scanning of transfer robot scanned copy；
Scan data acquiring unit, for obtaining the scanned copy scan data that the scanning area is obtained is scanned；
Position determination unit, for when the scan data is completely the same with default scan data, judge transfer robot with
The currently active station relative positioning success.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710025165.8A CN106647764A (en) | 2017-01-13 | 2017-01-13 | Motion track planning method and system for carrying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710025165.8A CN106647764A (en) | 2017-01-13 | 2017-01-13 | Motion track planning method and system for carrying robot |
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| CN106647764A true CN106647764A (en) | 2017-05-10 |
Family
ID=58844006
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| CN201710025165.8A Pending CN106647764A (en) | 2017-01-13 | 2017-01-13 | Motion track planning method and system for carrying robot |
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| CN109324578A (en) * | 2018-09-21 | 2019-02-12 | 京东方科技集团股份有限公司 | A kind of logistics management-control method and computer-readable medium |
| CN111399522A (en) * | 2020-05-12 | 2020-07-10 | 苏州求臻智能科技有限公司 | Substation inspection robot formation inspection formation keeping method based on behavior coordination |
| CN111620021A (en) * | 2020-05-28 | 2020-09-04 | 上海燊星机器人科技有限公司 | Flexible handling system of intelligent warehouse of robot |
| CN113439247A (en) * | 2018-11-20 | 2021-09-24 | 伟摩有限责任公司 | Agent prioritization for autonomous vehicles |
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Application publication date: 20170510 |