CN109657888A - A kind of AGV task creating method, device, electronic equipment and storage medium - Google Patents
A kind of AGV task creating method, device, electronic equipment and storage medium Download PDFInfo
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- CN109657888A CN109657888A CN201710934956.2A CN201710934956A CN109657888A CN 109657888 A CN109657888 A CN 109657888A CN 201710934956 A CN201710934956 A CN 201710934956A CN 109657888 A CN109657888 A CN 109657888A
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Abstract
The embodiment of the invention provides a kind of automated guided vehicle AGV task creating method, device, electronic equipment and storage mediums, this method comprises: selecting each subtask for generating AGV task from preset subtask library；Selected each subtask is ranked up and parameter configuration；In sequence, each subtask after configuration parameter is merged, generates AGV task.Using technical solution provided in an embodiment of the present invention, the efficiency for generating AGV task is improved.
Description
Technical field
The present invention relates to automatic material flow technical fields, more particularly to a kind of AGV task creating method, device, electronics
Equipment and storage medium.
Background technique
With the raising and production-scale expansion of industrial production automation degree, enterprise more and more adopts in production
With efficient automated material handling machinery, for example, AGV (Automated Guided Vehicle, automated guided vehicle),
To complete logistics in factory.AGV is a kind of intelligent mobile robot that shelf can be transported to designated position.Logistics refers in factory
By the raw material purchased and components storage, keeping, outbound.The product of production is transported into logistics center, in factory or other works
The warehouse of factory.AGV task is a series of set of AGV movements, is used to indicate AGV and completes logistics handling work in factory.
Since the scene that logistics is carried in factory is more complicated, for different carrying scenes, needs to design different AGV and appoint
Business.It shelf is transported to several points from a point unloads for example, some AGV tasks are used to indicate AGV, some AGV appoint
Business is used to indicate across the floor Transport cargo rack of AGV, and it is point-to-point perhaps to indicate that AGV is carried out from buffer area Transport cargo rack or instruction AGV
Carry etc..Wherein, buffer area refers to the temporary storage area of shelf, i.e. the resting period of the shelf of buffer area is not grown, at any time
The region may be easily removed from.
Currently, generating the main method of AGV task is: for place and business need, AGV is completed in a manner of hard coded
Task program is write, it may be assumed that for fixed place and business need, the movement of the transportation route, AGV of fixed design AGV is dynamic
The programs such as work, trigger condition, to generate AGV task.The major defect of this method is: due to being by the way of hard coded
Writing for AGV task program is completed, when scene changes, for example place changes, and carries route change, and AGV needs
The floor of leap changes, it is necessary to modify program to adapt to these variations, the modification amount of program is bigger.
As can be seen that existing AGV task creating method is not easy to user and need is adjusted flexibly according to place and business need
The AGV task to be generated causes to generate so that user needs to put into biggish energy and time to modify AGV task program
AGV task it is inefficient.
Summary of the invention
Be designed to provide a kind of AGV task creating method, device, electronic equipment and the storage of the embodiment of the present invention are situated between
Matter improves the efficiency for generating AGV task to realize.Specific technical solution is as follows:
In a first aspect, the embodiment of the invention provides a kind of AGV task creating methods, which comprises
Each subtask for generating AGV task is selected from preset subtask library；
Selected each subtask is ranked up and parameter configuration；
In sequence, each subtask after configuration parameter is merged, generates AGV task.
Optionally, parameter configuration is carried out to selected each subtask；Include:
The parameter configuration inputted in preset interface is obtained, according to the parameter configuration, to selected each
A subtask carries out parameter configuration；And/or
The parameter configuration instruction that third party sends is obtained, is believed according to the parameter configuration carried in parameter configuration instruction
Breath carries out parameter configuration to selected each subtask.
Optionally, configured parameter includes: trigger condition；
Each subtask after configuration parameter is merged in sequence described, after generating AGV task, the method
Further include:
When detecting that subtask meets trigger condition, the first instruction is sent to target AGV, so that the target AGV root
Meet the subtask of trigger condition according to first instruction execution.
Optionally, described when detecting that subtask meets trigger condition, the first instruction is sent to target AGV, so that institute
State the subtask that target AGV meets trigger condition according to first instruction execution, comprising:
When receiving the subtask odd numbers of third party's transmission, the first instruction is sent to target AGV, so that the target
AGV is according to first instruction execution subtask corresponding with the subtask odd numbers that the third party sends, wherein every height is appointed
The corresponding unique subtask odd numbers of business；And/or
When receiving the target current location AGV, the first instruction is sent to target AGV, so that target AGV is according to described the
One instruction execution is using the current location the target AGV as the subtask of location triggered point.
Optionally, configured parameter includes: third-party address information, it is described in sequence, after configuration parameter
Each subtask merge, generate AGV task after, the method at least further includes one of following steps:
After the completion of detecting that all subtasks of the AGV task are performed, based on the address information to described the
Tripartite sends the first notification information, and first notification information is for notifying the third party that all subtasks have been executed
At；
After first subtask for detecting the AGV task is sent to target AGV, based on the address information to
The third party sends the second notification information, and the second notification message is for notifying first subtask described in the third party
It will be performed；
After the corresponding subtask of default subtask odd numbers for detecting the AGV task is sent to target AGV, it is based on
The address information sends third notice information to the third party, wherein the third notice message is for notifying described the
Odd numbers corresponding subtask in subtask will be preset described in tripartite to be performed, and each subtask corresponds to unique subtask odd numbers.
Optionally, configured parameter includes: the residence time, it is described in sequence, by each height after configuration parameter
Task merging, after generating AGV task, the method also includes:
When detecting that subtask reaches the residence time, the second instruction is sent to target AGV, so that the target AGV root
Reach the subtask of residence time according to second instruction execution.
Optionally, each subtask after configuration parameter is merged in sequence described, after generating AGV task, institute
State method further include:
When receiving the enabled instruction for starting the AGV task, third instruction is sent to target AGV, so that target
Each subtask of the AGV in the AGV task according to the third instruction execution.
Second aspect, the embodiment of the invention provides a kind of AGV task generating device, described device includes:
Selecting module, for selecting each subtask for generating AGV task from preset subtask library；
Sorting module, for being ranked up to selected each subtask and parameter configuration；
Generation module generates AGV task in sequence, each subtask after configuration parameter to be merged.
Optionally, the sorting module, is specifically used for:
The parameter configuration inputted in preset interface is obtained, according to the parameter configuration, to selected each
A subtask carries out parameter configuration；And/or
The parameter configuration instruction that third party sends is obtained, is believed according to the parameter configuration carried in parameter configuration instruction
Breath carries out parameter configuration to selected each subtask.
Optionally, configured parameter includes: trigger condition；Described device further include:
First sending module generates AGV in sequence merging each subtask after configuration parameter described
After task, when detecting that subtask meets trigger condition, the first instruction is sent to target AGV, so that the target AGV root
Meet the subtask of trigger condition according to first instruction execution.
Optionally, first sending module, is specifically used for:
When receiving the subtask odd numbers of third party's transmission, the first instruction is sent to target AGV, so that the target
AGV is according to first instruction execution subtask corresponding with the subtask odd numbers that the third party sends, wherein every height is appointed
The corresponding unique subtask odd numbers of business；And/or
When receiving the target current location AGV, the first instruction is sent to target AGV, so that target AGV is according to described the
One instruction execution is using the current location the target AGV as the subtask of location triggered point.
Optionally, configured parameter includes: third-party address information, described device further include:
Second sending module generates AGV in sequence merging each subtask after configuration parameter described
After task, one of following steps are at least executed:
After the completion of detecting that all subtasks of the AGV task are performed, based on the address information to described the
Tripartite sends the first notification information, and first notification information is for notifying the third party that all subtasks have been executed
At；
After first subtask for detecting the AGV task is sent to target AGV, based on the address information to
The third party sends the second notification information, and the second notification message is for notifying first subtask described in the third party
It will be performed；
After the corresponding subtask of default subtask odd numbers for detecting the AGV task is sent to target AGV, it is based on
The address information sends third notice information to the third party, wherein the third notice message is for notifying described the
Odd numbers corresponding subtask in subtask will be preset described in tripartite to be performed, and each subtask corresponds to unique subtask odd numbers.
Optionally, configured parameter includes: residence time, described device further include:
Third sending module generates AGV in sequence merging each subtask after configuration parameter described
After task, when detecting that subtask reaches the residence time, the second instruction is sent to target AGV, so that the target AGV root
Reach the subtask of residence time according to second instruction execution.
Optionally, described device further include:
4th sending module generates AGV in sequence merging each subtask after configuration parameter described
After task, when receiving the enabled instruction for starting the AGV task, third instruction is sent to target AGV, so that target
Each subtask of the AGV in the AGV task according to the third instruction execution.
The third aspect, the embodiment of the invention also provides a kind of electronic equipment, which includes: processor, communication
Interface, memory and communication bus, wherein processor, communication interface, memory complete mutual lead to by communication bus
Letter；
Memory, for storing computer program；
Processor when for executing the program stored on memory, realizes AGV task provided by the embodiment of the present invention
The step of generation method.
Fourth aspect, it is described computer-readable to deposit the embodiment of the invention also provides a kind of computer readable storage medium
It is stored with computer program in storage media, is realized provided by the embodiment of the present invention when computer program is executed by processor
The step of AGV task creating method.
5th aspect, the embodiment of the invention provides a kind of computer program products comprising instruction, when it is in computer
When upper operation, so that computer executes above-mentioned AGV task creating method.
6th aspect, the embodiment of the invention provides a kind of computer programs, when run on a computer, make to succeed in one's scheme
Calculation machine executes above-mentioned AGV task creating method.
Using the embodiment of the present invention, each height for generating AGV task can be selected to appoint from preset subtask library
Business；Selected each subtask is ranked up and parameter configuration；To which each height to have sorted and after configuration parameter be appointed
Business merges, and generates AGV task.Thus, for different places and business need, need to only adjust each subtask to be selected,
The modification amount of the sequence and configuration parameter of selected each subtask, program is small, improves the efficiency for generating AGV task.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of AGV task creating method provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram that task template configuration is carried out using human-computer interaction interface provided in an embodiment of the present invention；
Fig. 3 is to carry out the another of task template configuration using human-computer interaction interface provided in an embodiment of the present invention to illustrate
Figure；
Fig. 4 is a kind of scene figure of Chang Nei Production Line Configured provided in an embodiment of the present invention；
Fig. 5 is another scene figure of Chang Nei Production Line Configured provided in an embodiment of the present invention；
Fig. 6 is another scene figure of Chang Nei Production Line Configured provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of AGV task generating device provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
To improve the efficiency for generating AGV task, the embodiment of the invention provides a kind of AGV task creating methods, device, electricity
Sub- equipment and storage medium.
A kind of AGV task creating method provided in an embodiment of the present invention is introduced first below.
It should be noted that a kind of AGV task creating method provided by the embodiment of the present invention is applied to electronic equipment,
In, in a particular application, which can be server, or terminal device, this is all reasonable.In addition, real
A kind of functional software of AGV task creating method provided by the existing embodiment of the present invention can generate soft for special AGV task
Part, or existing AGV task generates the plug-in unit in software or other softwares with AGV task systematic function.
Shown in Figure 1, a kind of AGV task creating method provided in an embodiment of the present invention includes the following steps:
S101 selects each subtask for generating AGV task from preset subtask library；
It include at least one subtask in the library of subtask, subtask refers to the individual part for needing AGV to execute, for example, sub
Task can be the movement such as to move, lift, putting down.In practical application, son can be preset according to place and business need and is appointed
Business library, it is thus possible to each subtask for generating AGV task be selected from preset subtask library, so that the AGV generated
Task copes with place and business need.
For example, including upper layer and lower layer production line for workshop, the scene for needing to cope with includes removing into across the floor shelf of elevator
Fortune, preset subtask library may include: move, lift, putting down, into elevator, subtasks such as elevator out.
The embodiment of the present invention to specifically from preset subtask library select subtask mode without limitation.For example,
In one implementation, which can be with are as follows: electronic equipment provides human-computer interaction interface, and human-computer interaction interface shows subtask
The identification information for each subtask for including in library, user can select the mark of subtask to believe by the human-computer interaction interface
Breath, thus, the identification information of each subtask of the available user's selection of human-computer interaction interface；And according to each mark of acquisition
Know information, each subtask corresponding with each identification information is selected from preset subtask library, appoints as generating AGV
Each subtask of business, wherein each identification information corresponds to unique subtask.
Specifically, identification information can be title, number, image etc. can be with the information of unique identification subtask.User can
To be any those of ordinary skill that can operate human-computer interaction interface.
For example, the identification information for each subtask that human-computer interaction interface is shown is the title of subtask, comprising: mobile
AGV, AGV lifting, AGV are put down, and corresponding subtask is respectively as follows: mobile subtask, lifting subtask, puts down subtask.User
Subtask identification information can be selected by the human-computer interaction interface, comprising: two mobile AGV, three AGV liftings, three AGV
It puts down, then according to each identification information of acquisition, is selected from preset subtask library corresponding with each identification information each
Subtask, it may be assumed that two mobile subtasks, three lifting subtasks, three put down subtask.
In another implementation, select the mode of subtask can be with from preset subtask library are as follows: electronics is set
The standby subtask selection instruction for receiving third party and sending, wherein the subtask selection instruction includes each subtask to be selected
Identification information；It is thus possible to which selection is believed with each mark from preset subtask library according to received each identification information
Corresponding each subtask is ceased, as each subtask for generating AGV task.
In practical application, third party is the other equipment in addition to this electronic equipment and AGV, and third party can be with this
Electronic equipment is communicated, for example, it may be having installed MES (Manufacturing Execution System, manufacturing enterprise
Production process executes management system) or ERP (Enterprise Resource Planning, Enterprise Resources Plan) or WMS
One of (Warehouse Management System, warehouse management system) or combined server are also possible to hold
The terminal devices such as terminal, calling device.
S102, is ranked up selected each subtask and parameter configuration；
In order to enable each subtask to be successively performed in sequence, selected each subtask can be arranged
Sequence.In practical application, the mode that is ranked up to selected each subtask can be with are as follows: electronic equipment provides human-computer interaction circle
Face, human-computer interaction interface show the identification information of selected each subtask, and user can be set by the human-computer interaction interface
The serial number for each identification information set, thus, the serial number of each identification information of the available user setting of human-computer interaction interface,
And the sequence according to serial number from small to large or from big to small, each subtask corresponding to each identification information are ranked up.
For example, selected each subtask includes: mobile subtask, lifting subtask, puts down subtask, human-computer interaction
The identification information of selected each subtask of showing interface is respectively as follows: mobile AGV, and AGV lifting, AGV is put down, by man-machine
The serial number of each identification information of the available user setting of interactive interface is successively are as follows: and 1,2,3, then from small to large according to serial number
Sequentially, each subtask corresponding to each identification information is ranked up, and obtains putting in order for selected each subtask
Successively are as follows: subtask, is put down at lifting subtask in mobile subtask.
It should be noted that the sequence for each subtask that the embodiment of the present invention is arranged with user by the human-computer interaction interface
It is illustrated for number, does not constitute the restriction to the application, in practical application, user can also pass through the human-computer interaction interface
The position for dragging the identification information of each subtask is arranged successively each identification information, so that human-computer interaction interface can obtain
Putting in order for each identification information of user setting is taken, and is put in order according to this, it is corresponding to each identification information each
Subtask is ranked up.
Certainly, the mode being ranked up to selected each subtask can be with are as follows: electronic equipment receives third party's hair
The subtask ordering instruction sent, wherein the subtask ordering instruction includes the serial number of selected each subtask；Thus can
With the sequence according to serial number from small to large, selected each subtask is ranked up.
For example, selected each subtask includes: subtask A, subtask B, subtask C, subtask ordering instruction packet
Serial number containing selected each subtask is respectively as follows: 1,2,3, then can be according to the sequence of serial number from small to large, to selected
Each subtask be ranked up, obtain putting in order successively for selected each subtask are as follows: subtask A, subtask B,
Subtask C.
In addition, carrying out parameter configuration to selected each subtask, step A1 and/or step A2 can be used:
Step A1 obtains the parameter configuration inputted in preset interface, according to parameter configuration, to selected
Each subtask carries out parameter configuration；
Step A2 obtains the parameter configuration instruction that third party sends, according to parameter configuration instruct in the parameter configuration that carries
Information carries out parameter configuration to selected each subtask.
In practical application, preset interface can be human-computer interaction interface, and user can use human-computer interaction interface input
Parameter configuration, thus, electronic equipment can obtain the parameter configuration inputted in preset interface.
Specifically, parameter configuration includes: the parameter value of the parameter to be configured of selected each subtask.Each height
Task is preset with parameter to be configured, and each preset parameter to be configured in subtask may be the same or different.Each subtask
Parameter to be configured may include with one of Types Below or combination: residence time, location parameter, trigger condition, task open
Dynamic notice, task completion notice etc..
Residence time refers to subtask residence time before being performed, i.e., after the arrival residence time, subtask could quilt
It executes.For example, residence time=10s of configuration subtask A, then be executed into later in a upper task of subtask A, stop
Subtasking A again after the time for staying 10s.
Location parameter may include fixed location parameter and dynamic position parameter, and fixed location parameter refers to fixed position
Point, i.e., the fixed point that will not change with the variation of AGV mobile route, for example, the beginning and end in AGV mobile route,
Dynamic position parameter refers to dynamic position point, i.e., the location point that can change with the variation of AGV mobile route, for example, AGV is moved
Intermediate point in dynamic route.The location parameter obtained from preset interface can be fixed location parameter, send from third party
The location parameter obtained in parameter configuration instruction can be dynamic position parameter.
It, can be only according to the parameter configuration obtained from preset interface, to selected each in practical application
Subtask carries out parameter configuration；Can also only according to parameter configuration instruct in the parameter configuration that carries, to selected each
A subtask carries out parameter configuration；It can also be simultaneously according to the parameter configuration and parameter configuration obtained from preset interface
The parameter configuration carried in instruction carries out parameter configuration to selected each subtask, wherein from preset interface
The parameter to be configured that the parameter configuration carried in the parameter configuration of acquisition and parameter configuration instruction is included is different.
Below to be carried simultaneously according to from parameter configuration and the parameter configuration instruction obtained in preset interface
Parameter configuration be illustrated for parameter configuration to selected each subtask.
For example, obtaining residence time=10s that the parameter configuration inputted in preset interface includes: subtask A, appoint
Business starting notify=be start position M, final position N；Obtain the parameter configuration carried in parameter configuration instruction
Are as follows: the mid-point position of subtask A is followed successively by E, D, F, then configures residence time=10s of subtask A, and task start notice=
It is start position M, final position N, mid-point position is followed successively by E, D, F.
S103 in sequence merges each subtask after configuration parameter, generates AGV task.
Selected each subtask is ranked up using S102, it is thus possible to which the arrangement for obtaining each subtask is suitable
Each subtask after configuration parameter further can be merged according to the sequence, generate AGV task by sequence.
For example, selected each subtask includes: subtask A, subtask B and subtask C, put in order successively are as follows:
Subtask A, subtask B, subtask C, then AGV task by after configuration parameter subtask A, subtask B and subtask C merge and
At, and in AGV task each subtask execution sequence successively are as follows: subtask A, subtask B, subtask C.
As it can be seen that using technical solution provided in an embodiment of the present invention, thus, for different places and business need, only
The sequence and configuration parameter of each subtask to be selected, selected each subtask need to be adjusted, the modification amount of program is small, mentions
The high efficiency for generating AGV task.
In a kind of specific embodiment, configured parameter includes: trigger condition；In sequence, configuration is joined
Each subtask after number merges, after generating AGV task, this method further include:
When detecting that subtask meets trigger condition, the first instruction is sent to target AGV, so that target AGV is according to the
One instruction execution meets the subtask of trigger condition.
The configured parameter in some subtasks includes trigger condition, and the configured parameter in some subtasks does not include triggering item
Part includes the subtask of trigger condition for configured parameter, and showing that the subtask needs to meet trigger condition could be by mesh
AGV is marked to execute, thus, when detecting that subtask meets trigger condition, the first instruction can be sent to target AGV, first refers to
Order is used to indicate target AGV subtasking, specifically, may include the subtask for meeting trigger condition in the first instruction, from
And target AGV can meet the subtask of trigger condition according to the first instruction execution.
It may include one or more AGV in the scene that logistics is carried in one factory.For including the case where an AGV,
It can be directly using the AGV as target AGV；For multiple AGV are included the case where, dispatching algorithm can use, select from multiple AGV
It selects one and is used as target AGV.Specifically, the embodiment of the present invention to the dispatching algorithm specifically used without limitation.For example, can adopt
Dispatching algorithm are as follows: dispatching algorithm neural network based, dispatching algorithm based on support vector machines etc..
Specifically, the first instruction is sent to target AGV, so that target AGV when detecting that subtask meets trigger condition
Meet the subtask of trigger condition according to the first instruction execution, comprising:
When receiving the subtask odd numbers of third party's transmission, the first instruction is sent to target AGV, so that target AGV root
According to the first instruction execution subtask corresponding with the subtask odd numbers that third party sends；And/or
When receiving the target current location AGV, the first instruction is sent to target AGV, so that target AGV refers to according to first
It enables and executing using the current location target AGV as the subtask of location triggered point.
Each subtask corresponds to unique subtask odd numbers, and subtask odd numbers can be by one in number, letter, underscore etc.
Kind or multiple combinations form, for example, can be with are as follows: 15486f_89,154F8989,12345678 etc..Antithetical phrase of the embodiment of the present invention is appointed
The specific manifestation form of business odd numbers is without limitation.
The corresponding relationship of subtask Yu subtask odd numbers can be stored in advance in third party and electronic equipment, thus third party
The corresponding subtask odd numbers in the subtask can be sent to electronic equipment, so that electronics is set when needing to be implemented some subtask
It is standby to send the first instruction to target AGV, it may include son corresponding with the subtask odd numbers that third party sends in the first instruction and appoint
Business, thus, target AGV is according to the first instruction execution subtask corresponding with the subtask odd numbers that third party sends.
In addition, the embodiment of the present invention is said using subtask odd numbers and/or the current location target AGV as trigger condition
It is bright, it does not constitute the restriction to the application, in practical application, trigger condition of the other content as subtask can also be set.
In addition, opposite direction electronic equipment of the embodiment of the present invention sends the sender of the current location target AGV without limitation.Example
Such as, sender can be third party, be also possible to target AGV.
It is capable of the executive condition of timely learning AGV task for the ease of third party, in a kind of specific embodiment,
The parameter of configuration includes: third-party address information, and in sequence, each subtask after configuration parameter is merged, is generated
After AGV task, method at least further includes one of following steps:
Step B1 is sent out based on address information to third party after the completion of detecting that all subtasks of AGV task are performed
Send the first notification information；
Step B2, after first subtask for detecting AGV task is sent to target AGV, based on address information to
Third party sends the second notification information；
Step B3, after the corresponding subtask of default subtask odd numbers for detecting AGV task is sent to target AGV,
Third notice information is sent to third party based on address information, wherein each subtask corresponds to unique subtask odd numbers.
Specifically, the first notification information is used to notify third party that all subtasks are executed into, second notification message
For notifying third party that first subtask will be performed, third notice message is for notifying third party to preset subtask odd numbers pair
The subtask answered will be performed.
In practical application, the first notification message may include: that the number of target AGV for executing AGV task, target AGV work as
Front position, the mission number of AGV task etc.；Second notification message may include: the number of target AGV, target AGV present bit
It sets, the subtask odd numbers of the first subtask etc.；Third notice message may include: the number of target AGV, target AGV current
Position, default subtask odd numbers etc..Default subtask odd numbers can be user or third party is preset according to self-demand
Some subtask odd numbers, the embodiment of the present invention to the specific value of default subtask odd numbers without limitation.
In addition, can also include in other are reasonable in the first notification message, second notification message, third notice message
Hold, it is not limited in the embodiment of the present invention.
Specifically, address information can (Uniform Resource Locator, unified resource be fixed for third-party URL
Position symbol), IP (Internet Protocol, the agreement interconnected between network) address, position coordinates etc. can be with unique identification the
The information of tripartite address.The address where third party can be oriented, based on address information so as to send the to third party
One notification message/second notification message/third notice message.
As can be seen that by sending the first notification message/second notification message/third notice message to third party, thus,
Third party is capable of the executive condition of timely learning AGV task, further, can be convenient for third party according to the execution feelings of AGV task
Condition does corresponding business processing.
For example, working as received first notification information of third party are as follows: all sons that target AGV has executed material unloading task are appointed
When business, third party can count surplus material in time, and update current material quantity；When the received third notice information of third party
Are as follows: when target AGV will be executed into elevator to 2 buildings subtasks, after third party can reach lift port detecting target AGV,
Open command is sent to elevator, so that door-opened elevator, so that target AGV can enter elevator, and is detecting target AGV entrance
After elevator, out code is sent to elevator, so that elevator is run, after elevator reaches 2 buildings, sends open command to elevator, with
Make door-opened elevator, so that target AGV can be driven out to elevator, so that target AGV be cooperated to execute into elevator to 2 buildings subtasks.
In practical application, configured parameter may include: the residence time, will be each after configuration parameter in sequence
A sub- task merging, after generating AGV task, this method can also include:
When detecting that subtask reaches the residence time, the second instruction is sent to target AGV, so that target AGV is according to the
Two instruction executions reach the subtask of residence time.
It may include the subtask for reaching the residence time in second instruction, thus, target AGV can be held according to the second instruction
Row reaches the subtask of residence time.
In order to enable the AGV task generated to be performed, in sequence, each subtask after configuration parameter is closed
And after generating AGV task, this method can also include:
When receiving the enabled instruction for starting AGV task, third instruction is sent to target AGV, so that target AGV root
According to each subtask in third instruction execution AGV task.
Enabled instruction can be issued by calling set, handheld terminal, the third parties such as server for having installed MES, enabled instruction
It can be and make material instruct using what the two dimensional code that handheld terminal scans some station generated by wire body worker, be also possible to by wire body
Worker makes material instruct using what calling set generated, is also possible to make material instruct by what the server for having installed MES issued, the present invention
Embodiment to the generation form of the sender of enabled instruction and enabled instruction without limitation.Wire body worker refers in production line
The worker of upper operation.
It may include the identification information of AGV task in enabled instruction, it is thus possible to after receiving enabled instruction, using opening
The identification information of the AGV task carried in dynamic instruction, determines corresponding AGV task, further, can be to target AGV
Third instruction is sent, so that target AGV is according to each subtask in third instruction execution AGV task.Specifically, third instructs
In may include each subtask in AGV task, thus, target AGV can be according to each in third instruction execution AGV task
A subtask.
As can be seen that applying the embodiment of the present invention, the AGV task of generation can be sent to target AGV, thus, by mesh
Mark AGV completes the execution work of the AGV task.
The embodiment of the present invention is simply introduced below by a specific example.
AGV task creating method provided in an embodiment of the present invention is applied to some electronic equipment, which provides
Human-computer interaction interface, user can carry out task mould to director's service type by clicking the addition button in human-computer interaction interface
The addition of plate may include one or more task templates in one director's service type, each task template corresponding A GV task,
To which the task template that electronic equipment can be added according to user generates corresponding AGV task.
Include the case where multiple tasks template for director's service type, each task template can also be arranged in user
Priority, thus, electronic equipment can appoint the corresponding AGV of the high task template of priority according to the priority of user setting
Business is preferentially sent to AGV, so that the high corresponding AGV task of task template of priority can be executed preferentially.
In order to improve the formation efficiency of AGV task, human-computer interaction interface can provide task processor, for example, at default
Device, mobile task processor, fixed route task processor etc. are managed, thus, user can be the selection pair of each task template
The task processor answered, provided that task processor can not match the task template of user's creation, user can also pass through
Customized mode creates new task processor, to match the task template of user's creation, usually only needs a small amount of time just
It can complete the customization of task processor.
As can be seen that the corresponding task processor of each task template, thus, each task processor is with parallel processing
Mode handles corresponding task template, in turn, accelerates the generation effect of the corresponding each AGV task of each task template
Rate.
Specifically, referring to such as Fig. 2 and Fig. 3, the process that user creates task template can be with are as follows: user is from human-computer interaction interface
Each subtask is selected in the subtask list of types of offer, and the sequence of each selected subtask is set, further,
User can configure the parameter value of each subtask parameter, including the residence time, send message body, point acquiring way, be
It is no to notify third party, whether need the parameters such as triggering, wherein the particular content for sending message body can be set by the user,
In the case where selection notifies third-party situation, the notification message can be sent to third party using message body as notification message.
Correspondingly, the task template that electronic equipment is added according to user, the process for generating corresponding AGV task can be with
Are as follows: obtain the subtask that user is selected by human-computer interaction interface；According to the subtask sequence of user setting, to selected each
A subtask is ranked up；According to the subtask parameter value of user configuration, parameter configuration is carried out to selected each subtask；
In sequence, each subtask after configuration parameter is merged, generates AGV task.
As it can be seen that using the embodiment of the present invention, for different places and business need, user need to only adjust to be selected each
The sequence and configuration parameter of a subtask, selected each subtask can be generated AGV task using electronic equipment, therefore used
Family improves the efficiency for generating AGV task without putting into biggish energy and time to modify AGV task program.
Further, electronic equipment, can when receiving the enabled instruction for starting AGV task after generating AGV task
To send third instruction to target AGV, so that target AGV is according to each subtask in third instruction execution AGV task.
In a kind of application scenarios, Chang Nei Production Line Configured as shown in figure 4, in factory include working area and production district, and temporarily
It deposits area and production district is located on the same floor.Working area, the i.e. temporary storage area of material, material may be easily removed from the region at any time；
Production district carries out operation by multiple wire body workers.
For generation AGV task support empty full exchange to carry scene in the case where, receiving the wire body on production line
Worker utilize that calling device sends for calling when material being made to instruct of AGV feeding, be considered as and receive enabled instruction, it is in turn, electric
Sub- equipment sends third instruction to target AGV, wherein carries the AGV task for supporting empty full exchange to carry scene in third instruction,
To which target AGV may comprise steps of according to each subtask in third instruction execution AGV task:
Target AGV obtains empty material frame, and carries out feeding to sky material frame in full material terminal, and feeding is completed to obtain full material frame,
Then, it according to the optimal path distributed in AGV task, executes and carries instruction, and execute multirobot traffic avoidance strategy, automatically
By line body feeding of on station locating for full material shelf for conveying to wire body worker, going forward side by side, after the completion of wire body feeding, sky material frame is removed
Make the return trip empty and expect terminal, finally, returning to full material terminal waits subsequent command, that is, next third is waited to instruct.
In another application scenarios, Chang Nei Production Line Configured is as shown in figure 5,1 building is working area, i.e., the temporary of material is deposited
Region is put, material may be easily removed from the region at any time；2 buildings are assembly lines, which carries out operation by multiple wire body workers.
In the case where the AGV task of generation supports carrying scene across floor into elevator, the line on production line is being received
Body worker utilize calling device send for call AGV feeding cry material instruction when, or, receiving the wire body on production line
Worker utilize handheld terminal scanning station on two dimensional code send for call AGV feeding cry material instruction when, or, receiving
It is used to call when material being made to instruct of AGV feeding to what the server for having installed MES was sent, is considered as and receives enabled instruction.
In turn, electronic equipment sends third instruction to target AGV, wherein carries and is supported into elevator across building in third instruction
Layer carries the AGV task of scene, thus, target AGV can wrap according to each subtask in third instruction execution AGV task
Include following steps:
Target AGV obtains the full material frame that wire body worker installs, according to the route set in AGV task, through full material terminal
It is moved to lift port, and call is presently in floor (for example, 1 building) to target AGV, then, drives into lift car, refers in arrival
Determine to be driven out to lift car automatically, and carry out multiple spot material conveying (for example, 2 buildings) after floor, after the completion of material conveying, move back to
Sky material frame is moved to lift port, and call is presently in floor (for example, 2 buildings) to target AGV, then, drives into lift car,
(for example, 1 building) after arrival designated floor, it is driven out to lift car, and sky material frame is moved back into empty material terminal, finally, being moved to
Completely material terminal waits next third instruction.
In another application scenarios, Chang Nei Production Line Configured is as shown in fig. 6, the AGV task in generation supports fixing line
In the case that scene is carried on road, the wire body worker on receiving production line on some station utilizes being used for for calling device transmission
When material being made to instruct of calling AGV feeding, is considered as and receives enabled instruction, and in turn, electronic equipment sends third to target AGV and refers to
It enables, wherein carries the AGV task for supporting fixed route to carry scene in third instruction, thus, target AGV is held according to third instruction
Each subtask in row AGV task.
For example, receiving that the wire body worker on station 3 utilizes that calling device sends for calling the calling of AGV feeding
When instruction, electronic equipment sends third instruction to target AGV, thus, target AGV is according in third instruction execution AGV task
Each subtask, can be with are as follows: target AGV a little 1 drives towards station 2 from awaiting orders, obtain full support in station 2 according to the instruction of AGV task
Disk, then, carrying full tray to station 3, and put down the waiting of full tray original place；It is utilized receiving the wire body worker on station 3
After material instruction is acknowledged receipt of in calling device transmission really, empty pallet is carried to station 2；A little 1 is awaited orders finally, returning, waiting next the
Three instructions.
In another example being used to call exhaling for AGV feeding using what calling device was sent receiving the wire body worker on station 5
When crying instruction, electronic equipment sends third instruction to target AGV, thus, target AGV is according in third instruction execution AGV task
Each subtask, specifically, may comprise steps of:
Step 1, target AGV receives the third instruction that electronic equipment is sent, and according to third instruct in the AGV task that carries
Execute step 2- step 8；
Step 2, a little 1 station 4 is driven towards from awaiting orders, and is waited in station 4；
Step 3, instruction is had been filled in the confirmation pallet that the wire body worker received on station 4 is sent using calling device
Afterwards, it carries full tray and leaves station 4；
Step 4, full tray row is carried to station 5, and puts down full tray, and original place waits；
Step 5, after receiving the wire body worker on station 5 using calling device transmission really production completion instruction shy with strangers,
It carries full tray and leaves station 5；
Step 6, full tray row is carried to station 7, puts down full tray and original place waits；
Step 7, after receiving the wire body worker on station 7 and completing instruction using the confirmation feeding that calling device is sent,
It carries empty pallet and returns to station 4 through station 8；
Step 8, empty pallet is put down in station 4, and return and await orders a little 1, wait next third instruction.
As can be seen that applying the embodiment of the present invention, the AGV task of generation can be sent to target AGV, thus, by mesh
It marks AGV and completes material handling work according to the instruction of AGV task, improve industrial production automation degree.
Corresponding to above-mentioned AGV task creating method embodiment, generates and fill the embodiment of the invention provides a kind of AGV task
It sets, shown in Figure 7, corresponding with process shown in Fig. 1, device includes:
Selecting module 701, for selecting each subtask for generating AGV task from preset subtask library；
Sorting module 702, for being ranked up to selected each subtask and parameter configuration；
Generation module 703 generates AGV task in sequence, each subtask after configuration parameter to be merged.
As it can be seen that, for different places and business need, only needing to adjust using technical solution provided in an embodiment of the present invention
The sequence and configuration parameter of each subtask, selected each subtask to be selected, the modification amount of program is small, improves life
At the efficiency of AGV task.
Optionally, the sorting module 702, is specifically used for:
The parameter configuration inputted in preset interface is obtained, according to the parameter configuration, to selected each
A subtask carries out parameter configuration；And/or
The parameter configuration instruction that third party sends is obtained, is believed according to the parameter configuration carried in parameter configuration instruction
Breath carries out parameter configuration to selected each subtask.
Optionally, configured parameter includes: trigger condition；Described device further include:
First sending module generates AGV in sequence merging each subtask after configuration parameter described
After task, when detecting that subtask meets trigger condition, the first instruction is sent to target AGV, so that the target AGV root
Meet the subtask of trigger condition according to first instruction execution.
Optionally, first sending module, is specifically used for:
When receiving the subtask odd numbers of third party's transmission, the first instruction is sent to target AGV, so that the target
AGV is according to first instruction execution subtask corresponding with the subtask odd numbers that the third party sends, wherein every height is appointed
The corresponding unique subtask odd numbers of business；And/or
When receiving the target current location AGV, the first instruction is sent to target AGV, so that target AGV is according to described the
One instruction execution is using the current location the target AGV as the subtask of location triggered point.
Optionally, configured parameter includes: third-party address information, described device further include:
Second sending module generates AGV in sequence merging each subtask after configuration parameter described
After task, one of following steps are at least executed:
After the completion of detecting that all subtasks of the AGV task are performed, based on the address information to described the
Tripartite sends the first notification information, and first notification information is for notifying the third party that all subtasks have been executed
At；
After first subtask for detecting the AGV task is sent to target AGV, based on the address information to
The third party sends the second notification information, and the second notification message is for notifying first subtask described in the third party
It will be performed；
After the corresponding subtask of default subtask odd numbers for detecting the AGV task is sent to target AGV, it is based on
The address information sends third notice information to the third party, wherein the third notice message is for notifying described the
Odd numbers corresponding subtask in subtask will be preset described in tripartite to be performed, and each subtask corresponds to unique subtask odd numbers.
Optionally, configured parameter includes: residence time, described device further include:
Third sending module generates AGV in sequence merging each subtask after configuration parameter described
After task, when detecting that subtask reaches the residence time, the second instruction is sent to target AGV, so that the target AGV root
Reach the subtask of residence time according to second instruction execution.
Optionally, described device further include:
4th sending module generates AGV in sequence merging each subtask after configuration parameter described
After task, when receiving the enabled instruction for starting the AGV task, third instruction is sent to target AGV, so that target
Each subtask of the AGV in the AGV task according to the third instruction execution.
The embodiment of the invention also provides a kind of electronic equipment, as shown in figure 8, include processor 801, communication interface 802,
Memory 803 and communication bus 804, wherein processor 801, communication interface 802, memory 803 are complete by communication bus 804
At mutual communication,
Memory 803, for storing computer program；
Processor 801 when for executing the program stored on memory 803, is realized provided by the embodiment of the present invention
AGV task creating method.
Wherein, which includes the following steps:
Each subtask for generating AGV task is selected from preset subtask library；
Selected each subtask is ranked up and parameter configuration；
In sequence, each subtask after configuration parameter is merged, generates AGV task.
As it can be seen that the application present invention implements the technical solution provided, for different places and business need, need to only adjust to
The sequence and configuration parameter of each subtask, selected each subtask that select, the modification amount of program is small, improves generation
The efficiency of AGV task.
It should be noted that processor 801 executes the program stored on memory 803 and the AGV task generation side that realizes
The other embodiments of method, identical as the embodiment of AGV task creating method that preceding method part refers to, details are not described herein.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component
Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control bus etc..For just
It is only indicated with a thick line in expression, figure, it is not intended that an only bus or a type of bus.
Communication interface is for the communication between above-mentioned electronic equipment and other equipment.
Memory may include random access memory (Random Access Memory, RAM), also may include non-easy
The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also
To be storage device that at least one is located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal
Processing, DSP), it is specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing
It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete
Door or transistor logic, discrete hardware components.
The embodiment of the invention also provides a kind of computer readable storage medium, stored in the computer readable storage medium
There is computer program, which realizes above-mentioned AGV task creating method step when being executed by processor.
Wherein, which includes the following steps:
Each subtask for generating AGV task is selected from preset subtask library；
Selected each subtask is ranked up and parameter configuration；
In sequence, each subtask after configuration parameter is merged, generates AGV task.
As it can be seen that the application present invention implements the technical solution provided, for different places and business need, need to only adjust to
The sequence and configuration parameter of each subtask, selected each subtask that select, the modification amount of program is small, improves generation
The efficiency of AGV task.
It should be noted that other for the AGV task creating method that above-mentioned computer program is realized when being executed by processor
Embodiment, identical as the embodiment of AGV task creating method that preceding method part refers to, details are not described herein.
The embodiment of the invention provides a kind of computer program products comprising instruction, when run on a computer,
So that computer executes the AGV task creating method that above-mentioned each embodiment provides.
The embodiment of the invention provides a kind of computer programs, when run on a computer, so that computer executes
The AGV task creating method that above-mentioned each embodiment provides.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device,
Electronic equipment, computer readable storage medium, the computer program product comprising instruction, for computer program embodiments, by
It is substantially similar to embodiment of the method in it, so being described relatively simple, referring to the part explanation of embodiment of the method in place of correlation
?.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (16)
1. a kind of automated guided vehicle AGV task creating method, which is characterized in that the described method includes:
Each subtask for generating AGV task is selected from preset subtask library；
Selected each subtask is ranked up and parameter configuration；
In sequence, each subtask after configuration parameter is merged, generates AGV task.
2. the method according to claim 1, wherein carrying out parameter configuration to selected each subtask；Packet
It includes:
The parameter configuration inputted in preset interface is obtained, according to the parameter configuration, to selected each height
Task carries out parameter configuration；And/or
The parameter configuration instruction that third party sends is obtained, it is right according to the parameter configuration carried in parameter configuration instruction
Selected each subtask carries out parameter configuration.
3. method according to claim 1 or 2, which is characterized in that configured parameter includes: trigger condition；
Each subtask after configuration parameter is merged in sequence described, after generating AGV task, the method is also wrapped
It includes:
When detecting that subtask meets trigger condition, the first instruction is sent to target AGV, so that the target AGV is according to institute
State the subtask that the first instruction execution meets trigger condition.
4. according to the method described in claim 3, it is characterized in that, described when detecting that subtask meets trigger condition, to
Target AGV sends the first instruction, so that the target AGV meets the subtask of trigger condition according to first instruction execution,
Include:
When receiving the subtask odd numbers of third party's transmission, the first instruction is sent to target AGV, so that the target AGV root
According to first instruction execution subtask corresponding with the subtask odd numbers that the third party sends, wherein each subtask pair
Answer unique subtask odd numbers；And/or
When receiving the target current location AGV, the first instruction is sent to target AGV, so that target AGV refers to according to described first
It enables and executing using the current location the target AGV as the subtask of location triggered point.
5. the method according to claim 1, wherein configured parameter includes: third-party address information,
Described in sequence to merge each subtask after configuration parameter, after generating AGV task, the method at least further includes
One of following steps:
After the completion of detecting that all subtasks of the AGV task are performed, the address information is based on to the third party
The first notification information is sent, first notification information is for notifying the third party that all subtasks are executed into；
After first subtask for detecting the AGV task is sent to target AGV, based on the address information to described
Third party sends the second notification information, and the second notification message is for notifying described in the third party that first subtask will be by
It executes；
After the corresponding subtask of default subtask odd numbers for detecting the AGV task is sent to target AGV, based on described
Address information sends third notice information to the third party, wherein the third notice message is for notifying the third party
The corresponding subtask of the default subtask odd numbers will be performed, and each subtask corresponds to unique subtask odd numbers.
6. the method according to claim 1, wherein configured parameter includes: the residence time, it is described according to
Sequentially, each subtask after configuration parameter is merged, after generating AGV task, the method also includes:
When detecting that subtask reaches the residence time, the second instruction is sent to target AGV, so that the target AGV is according to institute
State the subtask that the second instruction execution reaches the residence time.
7. according to method described in right 1, which is characterized in that it is described in sequence, by each subtask after configuration parameter
Merge, after generating AGV task, the method also includes:
When receiving the enabled instruction for starting the AGV task, third instruction is sent to target AGV, so that target AGV root
According to each subtask in AGV task described in the third instruction execution.
8. a kind of automated guided vehicle AGV task generating device, which is characterized in that described device includes:
Selecting module, for selecting each subtask for generating AGV task from preset subtask library；
Sorting module, for being ranked up to selected each subtask and parameter configuration；
Generation module generates AGV task in sequence, each subtask after configuration parameter to be merged.
9. device according to claim 8, which is characterized in that the sorting module is specifically used for:
The parameter configuration inputted in preset interface is obtained, according to the parameter configuration, to selected each height
Task carries out parameter configuration；And/or
The parameter configuration instruction that third party sends is obtained, it is right according to the parameter configuration carried in parameter configuration instruction
Selected each subtask carries out parameter configuration.
10. device according to claim 8 or claim 9, which is characterized in that configured parameter includes: trigger condition；The dress
It sets further include:
First sending module generates AGV task in sequence merging each subtask after configuration parameter described
Later, when detecting that subtask meets trigger condition, the first instruction is sent to target AGV, so that the target AGV is according to institute
State the subtask that the first instruction execution meets trigger condition.
11. device according to claim 10, which is characterized in that first sending module is specifically used for:
When receiving the subtask odd numbers of third party's transmission, the first instruction is sent to target AGV, so that the target AGV root
According to first instruction execution subtask corresponding with the subtask odd numbers that the third party sends, wherein each subtask pair
Answer unique subtask odd numbers；And/or
When receiving the target current location AGV, the first instruction is sent to target AGV, so that target AGV refers to according to described first
It enables and executing using the current location the target AGV as the subtask of location triggered point.
12. device according to claim 8, which is characterized in that configured parameter includes: third-party address information,
Described device further include:
Second sending module generates AGV task in sequence merging each subtask after configuration parameter described
Later, one of following steps are at least executed:
After the completion of detecting that all subtasks of the AGV task are performed, the address information is based on to the third party
The first notification information is sent, first notification information is for notifying the third party that all subtasks are executed into；
After first subtask for detecting the AGV task is sent to target AGV, based on the address information to described
Third party sends the second notification information, and the second notification message is for notifying described in the third party that first subtask will be by
It executes；
When the corresponding subtask of default subtask odd numbers for detecting the AGV task is sent to after target AGV, it is based on institute
It states address information and sends third notice information to the third party, wherein the third notice message is for notifying the third
Fang Suoshu presets the corresponding subtask of subtask odd numbers and will be performed, and each subtask corresponds to unique subtask odd numbers.
13. device according to claim 8, which is characterized in that configured parameter includes: residence time, described device
Further include:
Third sending module generates AGV task in sequence merging each subtask after configuration parameter described
Later, when detecting that subtask reaches the residence time, the second instruction is sent to target AGV, so that the target AGV is according to institute
State the subtask that the second instruction execution reaches the residence time.
14. device according to claim 8, which is characterized in that described device further include:
4th sending module generates AGV task in sequence merging each subtask after configuration parameter described
Later, when receiving the enabled instruction for starting the AGV task, third instruction is sent to target AGV, so that target AGV
According to each subtask in AGV task described in the third instruction execution.
15. a kind of electronic equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein processing
Device, communication interface, memory complete mutual communication by communication bus；
Memory, for storing computer program；
Processor when for executing the program stored on memory, realizes method and step as claimed in claim 1 to 7.
16. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program, the computer program realize method and step as claimed in claim 1 to 7 when being executed by processor.
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| CN114952865A (en) * | 2022-07-04 | 2022-08-30 | 江西省智能产业技术创新研究院 | Composite robot control method, system, computer and readable storage medium |
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