CN112054521A - Robot, scheduling device, robot charging system and method, and storage medium - Google Patents
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/007—Arrangements for selectively connecting the load or loads to one or several among a plurality of power lines or power sources
- H02J3/0075—Arrangements for selectively connecting the load or loads to one or several among a plurality of power lines or power sources for providing alternative feeding paths between load and source according to economic or energy efficiency considerations, e.g. economic dispatch
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Abstract
The invention provides a scheduling device (300) for a robot (100), which is provided with a scheduling communication unit and a scheduling control unit, wherein the scheduling communication unit is configured to be capable of receiving a charging request of the robot (100) and transmitting first response information to the robot (100) in response to the charging request of the robot (100), wherein the first response information is charging permission information for informing that the robot (100) moves to a charging area (940) for charging or charging waiting information for informing that the robot (100) waits for charging; and the scheduling control unit is configured to be able to determine the first response information as the charging-allowed information or the charging-waiting information. The invention also relates to a robot, a robot charging system, a robot charging method and a computer readable storage medium. By means of the invention, the charging operation of the robot can be improved, thereby reducing or avoiding congestion.
Description
Technical Field
The present invention relates to a scheduling apparatus for a robot, a robot charging system, a robot charging method, and a computer-readable storage medium.
Background
In recent years, robots are widely used in various industrial and home environments.
Logistics robots are known which can be used for handling goods in warehouses. With the rise and development of electronic commerce, the logistics industry is rapidly developing. The goods in transit often need to pass through different transfer stations. For example, items delivered by courier services are typically transported to a regional main warehouse, distributed from the main warehouse to sub-warehouses, sent from the sub-warehouses to a hub, and manually sent to the recipient. In a warehousing environment, the handling of goods is a work that is very heavy. The logistics robot can save labor cost and improve efficiency.
In a warehouse, a dedicated charging area may be provided for robot charging. Generally, when the power is low, the robot moves directly to a charging area and is charged by a charger. However, when a plurality of robots are to be charged or finish charging at the same time, a congestion problem may occur.
Disclosure of Invention
The object of the present invention is to improve the charging operation of a robot, thereby reducing or avoiding congestion.
According to a first aspect of the present invention, there is provided a scheduling apparatus for a robot having a scheduling communication unit and a scheduling control unit, wherein the scheduling communication unit is configured to be able to receive a charging request of the robot and to be able to transmit, to the robot, first response information that is charging permission information notifying that the robot moves to a charging area for charging or charging waiting information notifying that the robot waits for charging, in response to the charging request of the robot; and the scheduling control unit is configured to be able to determine the first response information as the charging-allowed information or the charging-waiting information.
According to an aspect of the invention, the scheduling control unit is configured to be able to: determining the first response information as the allowed charging information or the waiting charging information based on a saturation condition of the charging area, wherein the saturation condition of the charging area is determined according to at least one of the following items: the working state of a charger arranged in the charging area for charging the robot, and the space occupation condition of the charging area; and/or the dispatch control unit is configured to be able to determine the first response information as the charging permission information or the charging waiting information based on whether there is a robot already waiting for charging.
According to an aspect of the present invention, when the scheduling communication unit receives a charging request from a robot, the scheduling control unit first determines whether there is a robot waiting for charging, determines the first response information as charging waiting information if the robot exists, and continues to determine whether the charging area is saturated if the robot does not exist.
According to an aspect of the invention, the scheduling communication unit is configured to be able to: communicating with a charger and obtaining an operating state of the charger, the operating state including at least one of: the on-off state of the charger, whether the charger is charging the robot, and whether the charger is malfunctioning; and/or send out a reminder in the event of a charger failure.
According to an aspect of the present invention, the schedule control unit includes a memory capable of storing a sequence of robots waiting to be charged, which is a sequence of robots that transmit a charging request to the scheduling device and are transmitted charging waiting information, recorded in chronological order.
According to an aspect of the present invention, the scheduling control unit is configured to be able to transmit second response information to a robot ranked first in the sequence of robots waiting to be charged and remove the first robot from the stored sequence of robots waiting to be charged when the charging area is not saturated in a case where the sequence of robots waiting to be charged is not empty, wherein the second response information is the charging permission information.
According to an aspect of the invention, the scheduling control unit is configured to be able to: arranging a sequence for more than two robots to enter or leave a charging area, and informing the robots to enter or leave the charging area in sequence; and/or arranging the sequence of more than two robots to enter or leave the charging area, so that the robots to enter the charging area after the robots to leave the charging area.
According to a second aspect of the present invention, there is provided a robot comprising: the robot control system comprises a robot communication unit and a robot control unit, wherein the robot communication unit is configured to be capable of sending a charging request to a scheduling device for the robot and receiving first response information of the scheduling device when the robot needs to be charged; the control unit is configured to be able to issue a charging instruction or a waiting instruction in response to the first response information from the scheduling device.
According to an aspect of the invention, the robot is configured to be able to: responding to a charging instruction sent by the control unit, moving to a charging area and charging; and/or in response to a waiting instruction issued by the control unit, moving to a waiting area and waiting for receiving the second response information of the scheduling device.
According to one aspect of the invention, the robot is a logistics robot.
According to a third aspect of the present invention, there is provided a robot charging system comprising: at least one robot according to the invention, at least one charger arranged in the charging area for charging the robot, and a dispatching device according to the invention.
According to a fourth aspect of the present invention, there is provided a robot charging method for a robot charging system according to the present invention, the robot charging method comprising at least the steps of: when the robot needs to be charged, the robot communication unit sends a charging request to a scheduling device for the robot and receives first response information of the scheduling device; the dispatching communication unit receives a charging request of the robot; the scheduling control unit determines that the first response information is charging permission information or charging waiting information; the scheduling communication unit transmits first response information determined by the scheduling control unit to the robot in response to a charging request of the robot; and in response to the first response information from the scheduling device, the control unit issues a charging instruction or a waiting instruction.
According to a fifth aspect of the present invention, there is provided a computer-readable storage medium having stored therein a computer program, which when executed is capable of performing a robot charging method according to the present invention.
The invention has the positive effects that: the charging operation of the robot is improved, so that the charging operation of the robot is more orderly, congestion is reduced or avoided, and the efficiency is improved.
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The principles, features and advantages of the present invention may be better understood by describing the invention in more detail below with reference to the accompanying drawings. The drawings comprise:
fig. 1 shows a schematic view of a robot charging system according to an exemplary embodiment of the present invention;
FIG. 2 shows a schematic diagram of a robotic charging system according to an exemplary embodiment of the present invention; and
fig. 3 shows a robot and a scheduling device according to an exemplary embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
Fig. 1 and 2 show schematic views of a robot charging system according to an exemplary embodiment of the present invention. The robot 100 is, for example, a logistics robot, and particularly, a logistics robot capable of autonomously performing related operations without human intervention. The robot 100 may be in the form of a logistics cart that may be adapted for use in a variety of environments, including warehousing environments, such as warehouses for express delivery of items, transfer stations, and the like. The robot 100 may include, for example, a moving unit that enables the robot 100 to autonomously move. The robot 100 may have a following function and/or a navigation function. In addition, the robot 100 may also have other desired and/or necessary functions, such as obstacle avoidance.
According to an exemplary embodiment of the present invention, for example, in the warehouse 900, the robot 100 may be used to receive goods at the receiving area 910 and transport the goods to the corresponding location in the storage area 920, and the robot 100 may also be used to receive goods at the corresponding location in the storage area 920 and transport the goods to the packing area 930. The goods may be packaged at the packaging area 930 and then shipped out of the warehouse 900. In the warehouse 900, there may be a plurality of robots 100 working simultaneously. When the robot 100 needs to be charged, it enters a specially set charging area 940 to be charged by the charger 200. The charging area 940 may be arranged to be partially closed relative to the working area of the robot 100, e.g. the working area of the robot 100 which only allows the robot 100 to enter or exit the charging area 940 through the opening 941 may comprise at least one of the receiving area 910, the storage area 920 and the packaging area 930.
In order to prevent congestion, the present invention proposes a robot charging system including: at least one robot 100, at least one charger 200 arranged in a charging area 940 for charging the robot 100, and a dispatching device 300.
According to an exemplary embodiment of the present invention, the robot 100 may include: a robot communication unit and a robot control unit, wherein the robot communication unit is configured to be able to send a charging request to the scheduling device 300 and receive first response information of the scheduling device 300 when the robot 100 needs to be charged; the control unit is configured to be able to issue a charging instruction or a waiting instruction in response to the first response information from the scheduling device 300.
Warehouse 900 may be provided with a dedicated waiting area 950. The waiting area 950 may be set to a separate area with respect to the charging area 940 and/or the working area, for example. Thus, congestion that may occur may be alleviated.
For example, in response to a charging instruction issued by the control unit, the robot 100 may move to the charging area 940 and perform charging, as shown by the first robot 101 in fig. 1. This enables the robot 100 to be charged in a timely manner.
For example, in response to a waiting instruction issued by the control unit, the robot 100 may move to the waiting area 950 and wait to receive the second response information of the scheduling device 300, as shown by the second robot 102 in fig. 2. This prevents the robot 100 from staying in the charging area 940 too much.
According to an exemplary embodiment of the present invention, the scheduling device 300 for the robot 100 may have, for example, a scheduling communication unit configured to be able to receive a charging request of the robot 100 and to send, to the robot 100, first response information that is charging permission information notifying that the robot 100 moves to the charging area 940 for charging or charging waiting information notifying that the robot 100 waits for charging, in response to the charging request of the robot 100; and the scheduling control unit is configured to be able to determine the first response information as the charging-allowed information or the charging-waiting information. The scheduling device 300 may be constructed, for example, as a separate apparatus. The dispatching device 300 may also be integrated into the robot 100 or the charger 200. The scheduling means may be configured to be able to schedule all robots of the entire warehouse. The scheduling means may for example have the function of scheduling at least one, in particular all, robots of the warehouse to work in order, whereby a so-called "cluster scheduling system" may be formed. The functions of the scheduling means may include, for example: the robot to receive goods to the receiving area 910; automatically navigating the robot to a target location, such as storage area 920, packaging area 930; enabling the robot to pick goods in coordination with the staff, etc. According to the invention, the scheduling device can particularly have the function of scheduling the ordered charging of the robot.
The scheduling control unit may be configured to determine the first response information as the allowed charging information or the waiting charging information based on a saturation condition of the charging area 940, wherein the saturation condition of the charging area 940 is determined according to at least one of the following items: an operating state of charger 200 arranged in charging area 940 for charging robot 100; and the space usage of the charging area 940. The occupancy of the charging area 940 may be detected, for example, using a sensor. In one embodiment according to the present invention, when there is a charger 200 available in the charging area 940 and there is an unoccupied available space in the charging area 940, the schedule control unit may determine that the charging area 940 is not saturated. For example, if the scheduling control unit determines that the charging area 940 is not saturated, the scheduling control unit may determine the first response information as the charging permission information. Otherwise, the scheduling control unit may determine the first response information as the waiting for charging information.
The scheduling control unit may be configured to be able to determine the first response information as the charging permission information or the charging wait information based on whether there is the robot 100 already waiting for charging. The robot 100 that is already waiting for charging indicates the robot 100 that has been transmitted the waiting for charging information and has not yet been charged. When the scheduling communication unit receives the charging request of the robot 100, the scheduling control unit may, for example, first determine whether there is a robot 100 that is already waiting for charging, determine the first response information as the waiting charging information if it is, and continue to determine whether the charging area 940 is saturated if it is not.
The schedule communication unit may be configured to be able to communicate with the charger 200 and acquire an operating state of the charger 200, for example, at least one of: the on/off state of charger 200, whether charger 200 is charging robot 100, and whether charger 200 is malfunctioning.
The schedule control unit may be configured to be able to issue a warning message in the event of a failure of the charger 200, for example. The reminder information may include audio information, light information, information displayed via a display screen, and/or other information that may be brought to the attention of the operator.
The schedule control unit may include, for example, a memory capable of storing a sequence of robots waiting to be charged, which is a sequence of robots that transmit a charging request to the scheduling device 300 and are transmitted charging waiting information, recorded in chronological order. Alternatively or additionally, the dispatch control unit may adjust the order of robots 100 in a sequence of robots waiting to be charged. The scheduling control unit may adjust the order of the robots 100 in the robot sequence waiting for charging, for example, according to the amount of power of the robot 100, a level set in advance for the robot 100, a work task to be completed of the robot 100, or the like.
The scheduling control unit may be configured to, for example, be able to transmit second response information to the robot 100 that is the first in the sequence of robots waiting to be charged and remove the first robot 100 from the stored sequence of robots waiting to be charged when it is determined that the charging area 940 is not saturated in a case where the sequence of robots waiting to be charged is not empty.
The schedule control unit may be configured to, for example, be able to arrange an order for two or more robots 100 to enter or leave the charging area 940, and notify the robots 100 to enter or leave the charging area 940 in the order to enter or leave the charging area 940. Thereby, congestion at the charging area 940 can be further avoided.
For example, as shown in fig. 3, if there are both the third robot 103 to enter the charging area 940 and the fourth robot 104 to leave the charging area 940, the schedule control unit may be configured to be able to arrange them in order so that the third robot 103 to enter the charging area 940 enters the charging area 940 after the fourth robot 104 to leave the charging area 940 leaves the charging area 940. This can further avoid congestion in the charging region 940, particularly, at the opening 941 of the charging region 940. In fig. 3, a case where the charging region 940 has one opening 941 is shown, and the charging region 940 may also have a plurality of openings 941. For example, at least one of the plurality of openings 941 may be an inlet and at least one other of the plurality of openings 941 may be an outlet.
The invention also relates to a robot charging method for a robot charging system according to the invention, the robot charging method comprising at least the following steps: when the robot 100 needs to be charged, the robot communication unit transmits a charging request to the scheduling device 300 and receives first response information of the scheduling device 300; the scheduling communication unit receives a charging request of the robot 100; the scheduling control unit determines that the first response information is charging permission information or charging waiting information; the scheduling communication unit transmits first response information determined by the scheduling control unit to the robot 100 in response to the charging request of the robot 100; and the control unit issues a charging instruction or a waiting instruction in response to the first response information from the scheduling device 300.
Furthermore, the invention relates to a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, which computer program, when being executed by one or more processors, is capable of performing the robot charging method according to the invention. The computer-readable storage medium may include, for example, high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device. The processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It is to be understood that in this document the expressions "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. As used herein, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although specific embodiments of the invention have been described herein in detail, they have been presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications may be devised without departing from the spirit and scope of the present invention.
List of reference numerals
100 robot
101 first robot
102 second robot
103 third robot
104 fourth robot
200 charger
300 scheduling device
900 warehouse
910 receiving area
920 storage area
930 packing area
940 charging area
941 opening
950 wait for a region.
Claims (13)
1. A scheduling apparatus (300) for a robot (100) having a scheduling communication unit and a scheduling control unit, wherein,
the scheduling communication unit is configured to be capable of receiving a charging request of the robot (100) and transmitting first response information to the robot (100) in response to the charging request of the robot (100), the first response information being charging permission information notifying that the robot (100) moves to a charging area (940) for charging or charging waiting information notifying that the robot (100) waits for charging; and
the scheduling control unit is configured to be able to determine the first response information as the charging-allowed information or the charging-waiting information.
2. The scheduling apparatus (300) of claim 1, wherein the scheduling control unit is configured to be able to:
determining the first response information as the allowed charging information or the waiting charging information based on a saturation condition of the charging area (940), wherein the saturation condition of the charging area (940) is determined according to at least one of the following items: an operating state of a charger 200 arranged in a charging area 940 for charging the robot 100, a space occupation of the charging area 940; and/or
The first response information is determined to be either the charging permission information or the charging waiting information based on whether there is a robot (100) already waiting for charging.
3. The scheduling device (300) of claim 2, wherein when the scheduling communication unit receives a charging request of the robot (100), the scheduling control unit first determines whether there is a robot (100) already waiting for charging, determines the first response information as the waiting for charging information if yes, and continues to determine whether the charging area (940) is saturated if no.
4. The scheduling apparatus (300) according to claim 2 or 3, wherein the scheduling communication unit is configured to be able to:
communicate with the charger 200 and obtain an operating status of the charger 200, the operating status including at least one of: a switch state of charger 200, whether charger 200 is charging robot (100), and whether charger 200 is malfunctioning; and/or
A warning message is issued in the event of a failure of charger 200.
5. The scheduling device (300) of any of claims 2-4, wherein the scheduling control unit comprises a memory capable of storing a sequence of robots waiting to be charged, the sequence of robots waiting to be charged being a chronologically recorded sequence of robots transmitting charging requests to the scheduling device (300) and being transmitted charging waiting information.
6. The scheduling device (300) of claim 5, wherein the scheduling control unit is configured to be able to send second response information to a robot (100) that is the first in the sequence of robots waiting to be charged and remove the first robot (100) from the stored sequence of robots waiting to be charged when the charging area (940) is not saturated in case the sequence of robots waiting to be charged is not empty, wherein the second response information is the charging enable information.
7. The scheduling device (300) according to any of claims 1-6, wherein the scheduling control unit is configured to be able to:
arranging an order for more than two robots (100) to enter or leave a charging area (940), and informing the robots (100) to enter or leave the charging area (940) in the order; and/or
More than two robots (100) to enter or leave the charging area (940) are sequenced such that a robot (100) to enter the charging area (940) enters the charging area (940) after the robot (100) to leave the charging area (940) leaves the charging area (940).
8. A robot (100), the robot (100) comprising: a robot communication unit and a robot control unit, wherein,
the robot communication unit is configured to be able to send a charging request to a scheduling device (300) for the robot (100) and receive first response information of the scheduling device (300) when the robot (100) needs to be charged;
the control unit is configured to be able to issue a charging instruction or a waiting instruction in response to the first response information from the scheduling device (300).
9. The robot (100) of claim 8, wherein the robot (100) is configured to be capable of:
moving to a charging area (940) and charging in response to a charging instruction issued by the control unit; and/or
In response to a wait command from the control unit, the control unit moves to a wait area (950) and waits for receiving a second response message from the scheduling device (300).
10. The robot (100) of claim 9 or 10, wherein the robot (100) is a logistics robot (100).
11. A robotic charging system, comprising: at least one robot (100) according to any of claims 8-10, at least one charger 200 arranged in a charging area (940) for charging the robot (100), and a dispatching device (300) according to any of claims 1-7.
12. A robot charging method for a robot charging system according to claim 11, the robot charging method comprising at least the steps of:
when the robot (100) needs to be charged, the robot communication unit sends a charging request to the scheduling device (300) and receives first response information of the scheduling device (300);
a scheduling communication unit receives a charging request of the robot (100);
the scheduling control unit determines that the first response information is charging permission information or charging waiting information;
a scheduling communication unit that transmits first response information determined by the scheduling control unit to the robot (100) in response to a charging request of the robot (100); and
in response to the first response information from the scheduling device (300), the control unit issues a charging instruction or a waiting instruction.
13. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, which, when being executed by one or more processors, is capable of performing the robot charging method according to claim 12.
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| CN202010950966.7A CN112054521A (en) | 2020-09-11 | 2020-09-11 | Robot, scheduling device, robot charging system and method, and storage medium |
| PCT/CN2021/114514 WO2022052808A1 (en) | 2020-09-11 | 2021-08-25 | Robot, scheduling apparatus, robot charging system and method, and storage medium |
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| WO2024119899A1 (en) * | 2022-12-09 | 2024-06-13 | 深圳市普渡科技有限公司 | Robot charging method, robot, storage medium, and computer program product |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022052808A1 (en) * | 2020-09-11 | 2022-03-17 | 灵动科技（北京）有限公司 | Robot, scheduling apparatus, robot charging system and method, and storage medium |
| CN112720507A (en) * | 2021-02-08 | 2021-04-30 | 苏州优智达机器人有限公司 | Robot control method, robot and control system |
| WO2024119899A1 (en) * | 2022-12-09 | 2024-06-13 | 深圳市普渡科技有限公司 | Robot charging method, robot, storage medium, and computer program product |
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| WO2022052808A1 (en) | 2022-03-17 |
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