CN107234616A - Multirobot control method and device - Google Patents

Multirobot control method and device Download PDF

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Publication number
CN107234616A
CN107234616A CN201710551566.7A CN201710551566A CN107234616A CN 107234616 A CN107234616 A CN 107234616A CN 201710551566 A CN201710551566 A CN 201710551566A CN 107234616 A CN107234616 A CN 107234616A
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China
Prior art keywords
robot
subtask
pending
execution
pending subtask
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CN201710551566.7A
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Chinese (zh)
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CN107234616B (en
Inventor
蒋化冰
倪程云
罗承雄
张海建
谭舟
王振超
梁兰
徐志强
严婷
郦莉
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Shanghai wood wood robot technology Co., Ltd.
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Shanghai Muye Robot Technology Co Ltd
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Priority to CN201710551566.7A priority Critical patent/CN107234616B/en
Publication of CN107234616A publication Critical patent/CN107234616A/en
Application granted granted Critical
Publication of CN107234616B publication Critical patent/CN107234616B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1682Dual arm manipulator; Coordination of several manipulators

Abstract

The present invention provides a kind of multirobot control method and device.Wherein, the part of method comprises the following steps:General assignment is divided at least one subtask;From at least one subtask, the pending subtask that task status is non-completion status is obtained;From multirobot, it is determined that can perform the execution robot of pending subtask;Pending subtask is sent to robot is performed, pending subtask is performed for performing robot.The multirobot control method that the present invention is provided can improve the tasks carrying efficiency of multirobot.

Description

Multirobot control method and device
Technical field
The application is related to robotic technology field, more particularly to a kind of multirobot control method and device.
Background technology
Robot is can to perform the installations of task automatically, can run the program of advance layout, so assist or Replace the task of the mankind.When task amount than it is larger when, it is necessary to multiple robots cooperate with completion task.
In the prior art, the task dispatching information to be performed every robot in multiple robots typically by developer Input is into every robot.And then, information that every robot can be inputted according to developer respectively performs task.This Planting multirobot control method needs to input corresponding task manually for every robot, and cumbersome, tasks carrying efficiency is low.
The content of the invention
The many aspects of the application provide a kind of multirobot control method and device, appoint to improve multirobot and perform The efficiency of business.
The embodiment of the present application provides a kind of multirobot control method, including:
General assignment is divided at least one subtask;
From at least one described subtask, the pending subtask that task status is non-completion status is obtained;
From multirobot, it is determined that can perform the execution robot of the pending subtask;
The pending subtask is sent to the execution robot, for waiting to hold described in execution robot execution Row subtask.
Alternatively, the pending subtask is multiple;
It is described to send the pending subtask to the execution robot, including:
According to the priority between the multiple pending subtask, successively by the multiple pending subtask send to Each self-corresponding execution robot.
Alternatively, it is described from multirobot, it is determined that the execution robot of the pending subtask is can perform, including:
If there is the corresponding designated robot in the pending subtask in specified machine list, obtain described pending The corresponding designated robot in subtask, is used as the execution robot of the pending subtask;
If the corresponding designated robot in the pending subtask is not present in the specified machine list, from described many In robot, acquisition meets robot of the pending subtask to the functional requirement of robot, is used as the pending son The execution robot of task.
Alternatively, described from the multirobot, acquisition meets the pending subtask will to the function of robot The robot asked, as the execution robot of the pending subtask, including:
From the subtask pre-established with corresponding relation of the subtask to the functional requirement of robot, waiting to hold described in acquisition Functional requirement of the row subtask to robot;
In corresponding relation between the robot and the ability information of robot pre-established, acquisition capability information is met The pending subtask is used as the execution robot to the robot of the functional requirement of robot.
Alternatively, it is described to send the pending subtask to the execution robot, for the execution robot The pending subtask is performed, including:
If the state for performing robot is idle condition, directly the pending subtask is sent to described and performed Robot, so that the execution robot performs the pending subtask;
If the state for performing robot is busy state, and the subtask that is carrying out of robot that performs Priority is less than the priority of the pending subtask, interrupt it is described perform the subtask that is carrying out of robot, and by institute State pending subtask to send to the execution robot, so that the execution robot performs the pending subtask;
If the state for performing robot is busy state, and the subtask that is carrying out of robot that performs Priority is higher than the priority of the pending subtask, will after the execution robot terminates the subtask that is carrying out The pending subtask is sent to the execution robot, so that the execution robot performs the pending subtask.
Alternatively, methods described also includes:
When obtaining the subtask that the interruption execution robot is carrying out, the task letter of execution robot executed Breath, the physical message and initial subtask information for performing robot;
By mission bit stream, the physical message of the execution robot and the initial son of execution robot executed Mission bit stream sends into the multirobot the executable robot for being interrupted subtask, for described executable described The robot for being interrupted subtask continues executing with and described is interrupted subtask.
Alternatively, the pending subtask is sent to the execution robot, so that the execution robot is performed After the pending subtask, methods described also includes:
Obtain the mission bit stream for performing robot executed;
According to the mission bit stream and the general assignment of execution robot executed, it is determined that remaining task;
The remaining task is divided at least one remaining subtask;
At least one described remaining subtask is sent to the execution machine of executable at least one remaining subtask People, so that the execution robot performs at least one described remaining subtask.
The embodiment of the present application provides a kind of multirobot control device, including:
Division module, for general assignment to be divided into at least one subtask;
Acquisition module, is the pending of non-completion status for from least one described subtask, obtaining task status Subtask;
Determining module, for from multirobot, it is determined that can perform the execution robot of the pending subtask;
Sending module, for the pending subtask to be sent to the execution robot, for the execution machine People performs the pending subtask.
Alternatively, the pending subtask is multiple;
The sending module specifically for:
According to the priority between the multiple pending subtask, successively by the multiple pending subtask send to Each self-corresponding execution robot.
Alternatively, the determining module includes:
First determining unit, if for there is the corresponding specified machine in the pending subtask in specified machine list People, obtains the corresponding designated robot in the pending subtask, is used as the execution robot of the pending subtask;
Second determining unit, if the pending subtask is corresponding to be referred to for being not present in the specified machine list Determine robot, from the multirobot, acquisition meets robot of the pending subtask to the functional requirement of robot, It is used as the execution robot of the pending subtask.
In the embodiment of the present application, by the way that general assignment is divided into at least one subtask, and obtains task status and be The pending subtask of non-completion status, and then determine to can perform the execution robot of pending subtask so that can be according to The state of subtask, determines pending subtask, and automatically send pending subtask to executable pending subtask Robot, robot is performed without artificial choose, without manually to robot incoming task, improving multi-robotic task and hold Capable efficiency.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding of the present application, constitutes the part of the application, this Shen Schematic description and description please is used to explain the application, does not constitute the improper restriction to the application.In the accompanying drawings:
A kind of schematic flow sheet for multirobot control method that Fig. 1 provides for the embodiment of the application one;
A kind of schematic flow sheet for multirobot control method that Fig. 2 provides for the another embodiment of the application;
A kind of function structure chart for multirobot control device that Fig. 3 provides for the another embodiment of the application;
A kind of function structure chart for multirobot control device that Fig. 4 provides for the another embodiment of the application.
Embodiment
To make the purpose, technical scheme and advantage of the application clearer, below in conjunction with the application specific embodiment and Technical scheme is clearly and completely described corresponding accompanying drawing.Obviously, described embodiment is only the application one Section Example, rather than whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing Go out the every other embodiment obtained under the premise of creative work, belong to the scope of the application protection.
Below in conjunction with accompanying drawing, the technical scheme that each embodiment of the application is provided is described in detail.
A kind of schematic flow sheet for multirobot control method that Fig. 1 provides for the embodiment of the application one.As shown in figure 1, This method comprises the following steps.
S101:General assignment is divided at least one subtask.
S102:From at least one subtask, the pending subtask that task status is non-completion status is obtained.
S103:From multirobot, it is determined that can perform the execution robot of pending subtask.
S104:Pending subtask is sent to robot is performed, pending subtask is performed for performing robot.
Multirobot can be multirobot coordinated groups, including at least one robot.Multirobot can cooperate with completion One complicated task.For every robot in multirobot, a part of task in complex task can be performed respectively.Base In this, first, general assignment is divided at least one subtask.
It is alternatively possible to which general assignment is uploaded into service end, service end can be implemented as Intranet cloud or public network cloud, General assignment is divided at least one subtask in Intranet cloud or public network cloud again;General assignment can also be divided at least one After subtask, at least one subtask is uploaded to Intranet cloud or public network cloud.
It is alternatively possible to general assignment is divided at least one subtask by user, can also be according to preset rules by always Task is divided at least one subtask.For example, preset rules are according to task amount, general assignment is divided into task amount substantially phase Deng subtask;Or, according to task character, general assignment is divided into the different subtask of task character.
Then, from least one subtask, the pending subtask that task status is non-completion status is obtained.
Alternatively, the corresponding relation of the task status of subtask and subtask is pre-established.
Task status can include but is not limited to do not issue state, issued state, be carrying out state, be interrupted shape State, execution completion status.Wherein, non-completion status includes not issuing state and is interrupted state.Based on this, under can obtaining not Hair-like state and the subtask of state is interrupted as pending subtask.Alternatively, pending subtask can be one or many It is individual.
Alternatively, the task status of subtask can update with robot to the execution of task.
Then, from multirobot, it is determined that can perform the execution robot of pending subtask.
Multirobot includes the robot that can perform pending subtask and the robot that not can perform pending subtask. For example, some robots are in malfunction, the robot of pending subtask cannot not be belonged to executablely.In another example, some machines People is able to carry out pending subtask according to self-condition, belongs to the execution robot of executable pending subtask.It can hold The robot of the pending subtask of row is used as execution robot.
Then, pending subtask is sent to robot is performed, pending subtask is performed for performing robot.
It is alternatively possible to which from Intranet cloud or public network cloud, pending subtask is sent to execution robot.
In the present embodiment, by the way that general assignment is divided into at least one subtask, and it is non-completion to obtain task status The pending subtask of state, and then determine to can perform the execution robot of pending subtask so that can be according to subtask State, determine pending subtask, and it is automatic pending subtask is sent to the robot that can perform pending subtask, Robot is performed without manually choosing, without the effect for manually to robot incoming task, improving multi-robotic task execution Rate.
In above-described embodiment or following embodiments, pending subtask is multiple.Based on this, multiple pending sons are appointed Business is sent to execution robot, including:According to the priority between multiple pending subtasks, multiple pending sons are appointed successively Business is sent to each self-corresponding execution robot.
Alternatively, after general assignment to be divided at least one subtask, general assignment list can be set up.General assignment list Corresponding relation including each subtask and the priority of subtask.Based on this, after multiple pending subtasks are obtained, Ke Yi The corresponding priority in each pending subtask is inquired about in general assignment list.It is corresponding preferential according to each pending subtask Level, from high to low successively sends multiple pending subtasks to each self-corresponding execution robot.
Wherein, multiple pending subtasks are sent to each self-corresponding execution machine artificially by multiple pending subtasks Send to the execution robot that can perform pending subtask.Alternatively, execution robot can include one or more.It is based on This, multiple pending subtasks can be sent to an execution robot, can also send each pending subtask respectively To different execution robots.Alternatively, a pending subtask is performed by a robot.
, can be by inquiring about specified machine list or according to pending son in above-described embodiment or following embodiments Functional requirement of the task to robot, it is determined that can perform the execution robot of pending subtask.Based on this, from multirobot In, it is determined that the execution robot of pending subtask is can perform, including following two embodiments:
The first embodiment:If there is the corresponding designated robot in pending subtask in specified machine list, obtain The corresponding designated robot in pending subtask is taken, the execution robot of pending subtask is used as.
It is alternatively possible to pre-establish specified machine list.Specified machine list includes each subtask and every The identification code of the corresponding designated robot in individual subtask.Wherein, identification code is used for unique mark robot.Each subtask correspondence Designated robot be subtasking defined robot.
Based on this, if there is the identification code of the corresponding designated robot in pending subtask in specified machine list, obtain Take the designated robot that identification code is identified, and using designated robot as pending subtask execution robot.
For example, specified machine list includes the first subtask correspondence robot A, the second subtask correspondence robot B, the Three subtasks do not correspond to any robot.If pending subtask is the first subtask, the execution robot of the first subtask The robot identified by robot A.The is not present if pending subtask is the 3rd subtask, in specified machine list The corresponding robot identification code in three subtasks, at this point it is possible to using second of embodiment in the present embodiment, it is determined that executable The execution robot of 3rd subtask.
Second of embodiment:If the corresponding designated robot in pending subtask is not present in specified machine list, From multirobot, acquisition meets robot of the pending subtask to the functional requirement of robot, is used as pending subtask Execution robot.
Alternatively, the corresponding relation of each subtask and subtask to the functional requirement of robot is pre-established, from advance The each subtask set up is with subtask in the corresponding relation of the functional requirement of robot, obtaining pending subtask to machine The functional requirement of people;Then, in the corresponding relation between the robot and the ability information of robot pre-established, energy is obtained Force information meets robot of the pending subtask to the functional requirement of robot, is used as execution robot.
Still optionally further, subtask and subtask can be set up in general assignment list to the functional requirement of robot Corresponding relation, and pre-establish machine list.Machine list includes robot identification code and identification code institute of robot The corresponding relation of the ability information of the robot of mark.Then, by inquiring about general assignment list, pending subtask is obtained to machine The functional requirement of device people;Then, in inquiry machine list, ability information meets pending subtask will to the function of robot The robot asked, is used as execution robot.
Alternatively, the ability information of robot includes the ability information of the different priorities of robot.And then, can enquiry machine In device list, the ability information of higher priority meets robot of the pending subtask to the functional requirement of robot, makees To perform robot.
In one example, robot A ability information includes the drawing of higher priority and the action of lower priority, machine Device people B ability information includes the action of higher priority and the drawing of lower priority.Pending subtask is to robot Functional requirement is drawing.Then it regard the robot A of the drawing function with higher priority as execution robot.
A kind of schematic flow sheet for multirobot control method that Fig. 2 provides for the another embodiment of the application.Such as Fig. 2 institutes Show, comprise the following steps.
S201:General assignment is divided at least one subtask.
S202:From at least one subtask, the pending subtask that task status is non-completion status is obtained.
S203:From multirobot, it is determined that can perform the execution robot of pending subtask.
S204:Whether the state for judging to perform robot is idle condition.If so, jumping to step S205;If it is not, redirecting To step S206.
S205:Directly pending subtask is sent to robot is performed, appointed for performing the pending son of robot execution Business, and terminate this operation.
S206:Judge whether the priority for performing the subtask that robot is carrying out is preferential less than pending subtask Level.If so, jumping to step S208;If it is not, jumping to step S207.
S207:Performing after robot terminates the subtask that is carrying out, pending subtask is being sent to performing machine People, performs pending subtask, and terminate this operation for performing robot.
S208:Interrupt and perform the subtask that robot is carrying out, and pending subtask is sent to execution robot, Pending subtask is performed for performing robot.Continue executing with step S209.
S209:When obtaining the subtask that interruption execution robot is carrying out, the mission bit stream of execution robot executed, Perform the physical message and initial subtask information of robot.Continue executing with step S210.
S210:By the mission bit stream for performing robot executed, the physical message for performing robot and initial subtask letter Breath, which sends to can perform into multirobot, is interrupted the robot of subtask, for the executable robot for being interrupted subtask after Continuous execution is interrupted subtask, and terminates this operation.
Step S201, S202, S203 are identical with step S101, S102, S103 respectively, and here is omitted.
It is alternatively possible to set up identification code and the identification code institute of every robot of every robot in machine list The corresponding relation of the status information of the robot of mark.Wherein, the status information of robot is the task status of robot, for example Idle condition, busy state.Wherein, the robot in busy state can be the robot for being carrying out subtask.Place Unallocated subtask or distributed subtask may be completed in the robot of idle condition, generally, can held The next subtask of row.
It is different according to the state for performing robot after it is determined that performing robot based on this, pending subtask is sent It is different to the mode of operation for performing robot.Based on this, whether the state for first determining whether to perform robot is that idle condition (is walked Rapid S204).
Alternatively, by inquiring about in machine list, the corresponding status information of identification code of robot is performed, it is determined that performing The state of robot.
Alternatively, every robot can be in real time to service end, and such as public network fortune or Intranet cloud upload data, upload Data include but is not limited to the current state information of robot.Service end is receiving the shape for the robot that every robot is uploaded After state information, the corresponding status information of identification code of robot in machine list can be updated, total appoint can also be updated accordingly The task status of subtask in business list.Alternatively, every robot to service end can upload data by heartbeat.
If the corresponding status information of identification code for performing robot is idle condition, that is, it is the free time to perform the state of robot State, it is meant that current time, perform robot be not carried out any one subtask, can directly by pending subtask send to Robot is performed, pending subtask is performed for performing robot, and terminate this operation (i.e. step S205).
If by inquiring about in machine list, the corresponding status information of identification code for performing robot is busy state, The state for performing robot is busy state;Now, judge that the priority for performing the subtask that robot is carrying out is The no priority (i.e. step S206) less than pending subtask.
It is alternatively possible to the identification code for the robot that subtask is issued to subtask is set up in general assignment list Corresponding relation., can be in general assignment list based on this, the subtask corresponding to the identification code of query execution robot, as The subtask being carrying out, so in general assignment list the subtask that query execution robot is carrying out priority.With And, the priority of pending subtask is inquired about in general assignment list.And then, the execution robot that comparison query goes out is carrying out Subtask priority and pending subtask priority height.
Alternatively, the higher subtask of preferential execution priority.Based on this, if so, performing what robot was carrying out The priority of subtask is less than the priority of pending subtask, then interrupts and perform the subtask that robot is carrying out, and will Pending subtask is sent to robot is performed, and pending subtask (i.e. step S208) is performed for performing robot.If it is not, The priority for performing the subtask that robot is carrying out is higher than the priority of pending subtask, then is performing robot knot Behind the subtask that beam is carrying out, pending subtask is sent to robot is performed, it is pending for performing robot execution Subtask, and terminate this operation (i.e. step S207).
Being interrupted for task can be possibly retransmission to robot to continue executing with.Performed it is alternatively possible to obtain interruption During the subtask that robot is carrying out, the mission bit stream that performs robot executed, the physical message for performing robot and just Beginning subtask information (i.e. step S209);By the mission bit stream for performing robot executed, the physical message for performing robot and Initial subtask information sends into multirobot the executable robot for being interrupted subtask, so that the executable son that is interrupted is appointed The robot of business, which is continued executing with, is interrupted subtask (i.e. step S210).
Alternatively, data, completed place that the mission bit stream of robot executed has including but not limited to been gathered are performed Manage information etc..The physical message for performing robot includes but is not limited to the letter such as coordinate, direction, movement velocity, posture of robot Breath.Initial subtask information is the information for being issued to the subtask for performing robot.For example, subtask is required, subtask is performed Region, subtask related data etc..
It is of course also possible to during robot subtasking is performed, be uploaded to service end perform robot in real time The mission bit stream of executed and the physical message and initial subtask information for performing robot.
Alternatively, the information of acquisition can be corresponded to and is stored in machine list.Service end can be according in every robot Mission bit stream, the thing of the executed for the robot that the identification code that the data of biography update every robot in machine list is identified Manage information and initial subtask information.Based on this, can with until perform be interrupted subtask when, by task from machine list Information, physical message and initial subtask information send into multirobot the executable robot for being interrupted subtask.It can hold The robot that row is interrupted subtask can adjust the state of itself according to the physical message for performing robot, and according to executed Mission bit stream and initial subtask information continue executing with and are interrupted subtask.
Alternatively, the determination process for being interrupted the robot of subtask is similar with the determination process for performing robot.Herein Repeat no more.
When it should be noted that the present embodiment is particularly suitable for use in, execution machine is artificial one, pending subtask is sent To the execution robot.If there is multiple when meeting pending subtask to the robot of the functional requirement of robot, Ke Yigen According to the status information and the priority for the subtask being carrying out of robot, holding for optimal executable pending subtask is determined Row robot.
Specifically, when machine list includes multiple machines for meeting pending subtask to the functional requirement of robot During people, it is preferable that using the robot of idle condition as execution robot, and then pending subtask is sent to execution machine People.
If being not present in machine list and meeting pending subtask to the functional requirement of robot and the machine of idle condition During device people, continue to inquire about machine list, functional requirement of the pending subtask to robot, and the son being carrying out will be met The priority of task is used as execution robot less than the robot of the priority of pending subtask.Then, interrupt and perform machine The subtask that people is carrying out, and pending subtask is sent to robot is performed, it is pending for performing robot execution Subtask.
If in machine list, there is the functional requirement for meeting pending subtask to robot, and the son being carrying out The priority of task can also regard the robot as execution robot higher than the robot of the priority of pending subtask. Performing after robot terminates the subtask that is carrying out, pending subtask is being sent to robot is performed, for performing machine Device people performs pending subtask.
In an optional embodiment, pending subtask is sent to robot is performed, performed for performing robot , can be according to the completed subtask of robot be performed after pending subtask, it is at least one to repartition general assignment list Individual remaining subtask.
First, the mission bit stream for performing robot executed is obtained.Alternatively, every execution robot can pass through heartbeat The mission bit stream of executed is uploaded to service end.Then service end can obtain the task for the executed that every execution robot is uploaded Information.
Then, according to the mission bit stream and general assignment for performing robot executed, it is determined that remaining task.Alternatively, it is remaining The mission bit stream that task can remove the executed of execution robot by general assignment is obtained.
It may be unsatisfactory for requiring in view of the mission bit stream of executed, it is preferable that combine the mission bit stream of executed total Task, redefines remaining task.Remaining task may include the mission bit stream of executed.
Then, remaining task is divided at least one remaining subtask;At least one remaining subtask is sent to can The execution robot of at least one remaining subtask is performed, at least one remaining subtask is performed for performing robot.
Wherein it is determined that can perform the method for performing robot of at least one remaining subtask and determine executable pending The method of the execution robot of subtask is similar, and here is omitted.
In the above-described embodiments, alternatively, service end can be carried out to the mission bit stream for performing robot executed of acquisition Collect, and after being handled according to application scenarios, obtain data to be shared, then by data distributing to be shared to needing to use the number According to robot.Alternatively, it is necessary to the use of the robot of the data can be at least one robot in multirobot.
The application scenarios of drawing three-dimensional space map are cooperateed with a multirobot below, describe what the present embodiment was provided in detail Multirobot control method.
General assignment in this application scene is the drawing three-dimensional space map in plot space.Service end is first according to the world Plot space is divided into some multiple regions by coordinate system, and then general assignment is divided into multiple subtasks, each subtask pair Answer a region.Then, general assignment list is set up in service end.General assignment list includes each subtask and the priority of subtask Corresponding relation.The priority of subtask can be by manually setting or being automatically generated by high in the clouds.For example, the first subtask is preferential Level is higher than the priority of the second task.
General assignment list can also include the corresponding relation of the task status of each subtask and subtask.This application scene In, after general assignment list is divided into multiple subtasks, multiple subtasks are not carried out.Therefore, the task of multiple subtasks State is non-completion status.
General assignment list can also include each subtask and corresponding relation of the subtask to the functional requirement of robot.This In application scenarios, functional requirement of the subtask to robot is the drawing function in the region of correspondence subtask.
Service end can also be pre-configured with a multirobot coordinated groups and machine list.Machine list includes every The corresponding relation of the ability information for the robot that the identification code of robot is identified with identification code.In this application scene, every machine The ability information of device people is the drawing function in respective region, and every robot possesses the drawing three-dimensional system of coordinate of oneself, opens Hair personnel can need plot space initial point place world coordinate system x, y, z-axis, origin scale, every robot is entering Row can read world coordinate system scale before drawing, and the drawing three-dimensional system of coordinate of oneself and world coordinate system scale are carried out into school It is accurate.
Machine list can also include the machine that the identification code of every robot is identified with the identification code of every robot The corresponding relation of the status information of device people.
Service end can issue different subtasks successively to meeting pending subtask to machine according to the priority of subtask The robot of the functional requirement of people.Every robot is received behind subtask, can carry out Plot Work in respective region, and pass through Heartbeat upload regional position in plot space of pictorial information (i.e. the mission bit stream of executed), every robot, The initial subtask information of the information such as direction, movement velocity, posture (i.e. physical message) and every robot.
Alternatively, mission bit stream, physical message and the initial subtask information for the executed that every robot is uploaded can To be stored in machine list.
The data that service end can be uploaded according to every robot update the identification code institute of every robot in machine list The status information of the robot of mark, the mission bit stream of executed, physical message and initial subtask information, and update total appoint The task status of subtask in business list.
Service end can carry out the pictorial information of regional collecting integration, and the overlapping region at edge, flash can be entered Row processing, synthesizes a world three dimensional space map.And according to the physical message and initial subtask information of every robot, mark Remember state of the every robot in the three dimensional spatial map, the position of such as robot, direction, movement velocity, be carrying out Task dispatching.
The three dimensional spatial map can with the progress of drawing tasks constantly improve, and can be handed down in time multirobot association With the robot that the three dimensional spatial map is needed to use in group.In this application scene, three dimensional spatial map can be sent to each Robot, so that every robot can obtain other robot in newest space map and collaboration multirobot coordinated groups State.
In drawing course, service end can analyze the pictorial information of regional, it is believed that some regions area is bigger or special Levy more more complicated, it is necessary to subdivide, or certain region can be split by artificial specify.Service end can region area is big or feature The drawing tasks in more regions and the drawing tasks in the region for not uploading pictorial information are as remaining task.Remaining task is thin It is divided into multiple remaining subtasks.The remaining subtask of these subdivisions can be taking human as higher priority be specified, so that artificial allows More robots participate in the drawing of the complex region.
With the execution of task, remaining task can be generated at any time, and it is complete to treat remaining subtasks all in remaining task Into state, or the execution of whole drawing tasks is artificially terminated, multirobot collaboration draws out a world coordinate system spatially Figure.
The embodiment of the present application also provides a kind of multirobot control device 300, as shown in figure 3, including division module 301, Acquisition module 302, determining module 303 and sending module 304.
Division module 301, for general assignment to be divided into at least one subtask.
Acquisition module 302, at least one subtask for being divided from division module 301, obtaining task status to be non- The pending subtask of completion status.
Determining module 303, for from multirobot, it is determined that the pending subtask that executable acquisition module 302 is obtained Execution robot.
Sending module 304, the pending subtask for acquisition module 302 to be obtained, which is sent to determining module 303, to be determined Execution robot, perform pending subtask for performing robot.
In the present embodiment, by the way that general assignment is divided into at least one subtask, and it is non-completion to obtain task status The pending subtask of state, and then determine to can perform the execution robot of pending subtask so that can be according to subtask State, determine pending subtask, and it is automatic pending subtask is sent to the robot that can perform pending subtask, Robot is performed without manually choosing, without the effect for manually to robot incoming task, improving multi-robotic task execution Rate.
Alternatively, pending subtask is multiple;Sending module 304 specifically for:According to multiple pending subtasks it Between priority, multiple pending subtasks are sent to each self-corresponding execution robot successively.
Alternatively, as shown in figure 4, determining module 303 includes the first determining unit 3031 and the second determining unit 3032.
First determining unit 3031, if for there is the corresponding specified machine in pending subtask in specified machine list People, obtains the corresponding designated robot in pending subtask, is used as the execution robot of pending subtask;
Second determining unit 3032, if for the corresponding specified machine in pending subtask to be not present in specified machine list Device people, from multirobot, acquisition meets robot of the pending subtask to the functional requirement of robot, is used as pending son The execution robot of task.
Alternatively, the second determining unit 3032 is from multirobot, and acquisition meets pending subtask to robot The robot of functional requirement, as pending subtask execution robot when, specifically for:From the subtask that pre-establishes with Subtask is in the corresponding relation of the functional requirement of robot, obtaining functional requirement of the pending subtask to robot;From pre- In corresponding relation between the robot and the ability information of robot that first set up, acquisition capability information meets pending subtask To the robot of the functional requirement of robot, execution robot is used as.
Alternatively, as shown in figure 4, sending module 304 includes the first transmitting element 3041, the second transmitting element 3042 and the Three transmitting elements 3043.
First transmitting element 3041, if being idle condition for the state for performing robot, directly by pending subtask Send to robot is performed, pending subtask is performed for performing robot.
Second transmitting element 3042, if the state for performing robot is busy state, and performs robot The priority of the subtask of execution is less than the priority of pending subtask, interrupts and performs the subtask that robot is carrying out, And send pending subtask to robot is performed, perform pending subtask for performing robot.
3rd transmitting element 3043, if the state for performing robot is busy state, and performs robot The priority of the subtask of execution is higher than the priority of pending subtask, is performing the subtask that robot terminates to be carrying out Afterwards, pending subtask is sent to robot is performed, pending subtask is performed for performing robot.
Alternatively, as shown in figure 4, multirobot control device 300 also includes data obtaining module 305 and information sends mould Block 306.
Data obtaining module 305, when performing the subtask that robot is carrying out for obtaining interruption, has performed robot The mission bit stream of execution, the physical message and initial subtask information for performing robot.
Information sending module 306, for performing the mission bit stream of robot executed, performing the physical message of robot The executable robot for being interrupted subtask is sent into multirobot with initial subtask information, son is interrupted for executable The robot of task, which is continued executing with, is interrupted subtask.
Alternatively, sent by pending subtask to robot is performed, pending son times is performed for performing robot After business, data obtaining module 305 is additionally operable to obtain the mission bit stream for performing robot executed.Division module 301 is additionally operable to According to the mission bit stream and general assignment for performing robot executed, it is determined that remaining task;And be divided into remaining task at least One remaining subtask.Sending module 304 is additionally operable at least one remaining subtask sending remaining to can perform at least one The execution robot of subtask, at least one remaining subtask is performed for performing robot.
Embodiments herein is the foregoing is only, the application is not limited to.For those skilled in the art For, the application can have various modifications and variations.It is all any modifications made within spirit herein and principle, equivalent Replace, improve etc., it should be included within the scope of claims hereof.

Claims (10)

1. a kind of multirobot control method, it is characterised in that including:
General assignment is divided at least one subtask;
From at least one described subtask, the pending subtask that task status is non-completion status is obtained;
From multirobot, it is determined that can perform the execution robot of the pending subtask;
The pending subtask is sent to the execution robot, so that the execution robot performs the pending son Task.
2. according to the method described in claim 1, it is characterised in that the pending subtask is multiple;
It is described to send the pending subtask to the execution robot, including:
According to the priority between the multiple pending subtask, the multiple pending subtask is sent to respective successively Corresponding execution robot.
3. according to the method described in claim 1, it is characterised in that described from multirobot, it is determined that waiting to hold described in executable The execution robot of row subtask, including:
If there is the corresponding designated robot in the pending subtask in specified machine list, obtain the pending son and appoint It is engaged in corresponding designated robot, is used as the execution robot of the pending subtask;
If the corresponding designated robot in the pending subtask is not present in the specified machine list, from many machines In people, acquisition meets robot of the pending subtask to the functional requirement of robot, is used as the pending subtask Execution robot.
4. method according to claim 3, it is characterised in that described from the multirobot, obtains and is treated described in meeting Subtasking is to the robot of the functional requirement of robot, as the execution robot of the pending subtask, including:
From the subtask pre-established with corresponding relation of the subtask to the functional requirement of robot, obtaining the pending son Functional requirement of the task to robot;
In corresponding relation between the robot and the ability information of robot pre-established, acquisition capability information meets described Pending subtask is used as the execution robot to the robot of the functional requirement of robot.
5. according to the method described in claim 1, it is characterised in that described send the pending subtask to described performs Robot, so that the execution robot performs the pending subtask, including:
If the state for performing robot is idle condition, directly the pending subtask is sent to the execution machine People, so that the execution robot performs the pending subtask;
If the state for performing robot is busy state, and described performs the preferential of the subtask that is carrying out of robot Level is less than the priority of the pending subtask, interrupts the subtask that the execution robot is carrying out, and treat described Subtasking is sent to the execution robot, so that the execution robot performs the pending subtask;
If the state for performing robot is busy state, and described performs the preferential of the subtask that is carrying out of robot Level is higher than the priority of the pending subtask, will be described after the execution robot terminates the subtask that is carrying out Pending subtask is sent to the execution robot, so that the execution robot performs the pending subtask.
6. method according to claim 5, it is characterised in that also include:
When obtaining the subtask that the interruption execution robot is carrying out, the mission bit stream of execution robot executed, The physical message and initial subtask information for performing robot;
By mission bit stream, the physical message of the execution robot and the initial subtask of execution robot executed Information sends into the multirobot the executable robot for being interrupted subtask, for described executable described by The robot of disconnected subtask is interrupted subtask described in continuing executing with.
7. the method according to claim any one of 1-6, it is characterised in that send the pending subtask to described Robot is performed, after the execution robot execution pending subtask, methods described also includes:
Obtain the mission bit stream for performing robot executed;
According to the mission bit stream and the general assignment of execution robot executed, it is determined that remaining task;
The remaining task is divided at least one remaining subtask;
At least one described remaining subtask is sent to the execution robot of executable at least one remaining subtask, with At least one described remaining subtask is performed for the execution robot.
8. a kind of multirobot control device, it is characterised in that including:
Division module, for general assignment to be divided into at least one subtask;
Acquisition module, appoints for from least one described subtask, obtaining task status for the pending son of non-completion status Business;
Determining module, for from multirobot, it is determined that can perform the execution robot of the pending subtask;
Sending module, for the pending subtask to be sent to the execution robot, so that the execution robot is held The row pending subtask.
9. device according to claim 8, it is characterised in that the pending subtask is multiple;
The sending module specifically for:
According to the priority between the multiple pending subtask, the multiple pending subtask is sent to respective successively Corresponding execution robot.
10. device according to claim 8, it is characterised in that the determining module includes:
First determining unit, if for there is the corresponding designated robot in the pending subtask in specified machine list, The corresponding designated robot in the pending subtask is obtained, the execution robot of the pending subtask is used as;
Second determining unit, if for the corresponding specified machine in the pending subtask to be not present in the specified machine list Device people, from the multirobot, acquisition meets robot of the pending subtask to the functional requirement of robot, as The execution robot of the pending subtask.
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