CN112123328A

CN112123328A - Man-machine cooperation control method and system

Info

Publication number: CN112123328A
Application number: CN201910550292.9A
Authority: CN
Inventors: 刘凯
Original assignee: Beijing Geekplus Technology Co Ltd
Current assignee: Beijing Geekplus Technology Co Ltd
Priority date: 2019-06-24
Filing date: 2019-06-24
Publication date: 2020-12-25
Anticipated expiration: 2039-06-24
Also published as: CN112123328B

Abstract

The embodiment of the invention discloses a man-machine cooperation control method and a man-machine cooperation control system. The method comprises the following steps: the method comprises the steps that a scheduling server sends a control command to a robot in a working area according to the position information of equipment to be positioned, the robot avoids working personnel carrying the equipment to be positioned to drive according to the control command, wherein the determination of the position information of the equipment to be positioned comprises the steps that the equipment to be positioned is in wireless communication with auxiliary equipment arranged in the working area, and at least one of the scheduling server and the equipment to be positioned determines the position information of the equipment to be positioned according to the wireless communication signal strength of the auxiliary equipment and the equipment to be positioned and the position information of the auxiliary equipment. According to the embodiment of the invention, the robot can carry out all-around avoidance on surrounding workers by positioning the workers carrying the equipment to be positioned in real time and controlling the running state of the robot in real time, so that the safety guarantee of the workers entering the working area of the robot is improved.

Description

Man-machine cooperation control method and system

Technical Field

The embodiment of the invention relates to the technical field of robots, in particular to a man-machine cooperation control method and system.

Background

Along with the rapid development of the storage logistics technology, more and more storage environments are operated by robots for tallying or logistics carrying, and correspondingly, a plurality of mobile robots can work in a combined cluster mode to improve the operation efficiency.

In the current scene of the combined cluster work of a plurality of mobile robots, the robots move according to a specified path to finish the transportation of inventory containers from a source storage position to a destination storage position. When some abnormal factors occur and workers need to enter the robot working area for processing, the robot can still carry out normal carrying operation according to the original specified path, and the robot can also avoid the workers in the specified position range.

However, the robot is large in autonomous avoidance limitation in the prior art, the robot cannot completely avoid all-around obstacles, and then when workers enter a robot working area, the safety threat of the robot to the workers in the robot working area is large, and the safety guarantee of the workers is reduced.

Disclosure of Invention

The embodiment of the invention provides a man-machine cooperation control method and system, which can improve the safety guarantee of workers entering a robot working area.

In a first aspect, an embodiment of the present invention provides a human-machine cooperation control method, including:

the method comprises the steps that a scheduling server sends a control command to a robot in a working area according to position information of equipment to be positioned, the robot avoids a worker carrying the equipment to be positioned to drive according to the control command, wherein the determination of the position information of the equipment to be positioned comprises the steps that the equipment to be positioned is in wireless communication with auxiliary equipment arranged in the working area, and at least one of the scheduling server and the equipment to be positioned determines the position information of the equipment to be positioned according to the wireless communication signal strength of the auxiliary equipment and the equipment to be positioned and the position information of the auxiliary equipment.

Further, the device to be positioned is a wireless signal receiving device, and the auxiliary device is a wireless signal transmitting device fixedly arranged in the working area.

Further, the determining the position information of the device to be positioned according to the strength of the wireless communication signal between the device to be positioned and the auxiliary device and the position information of the auxiliary device includes:

the equipment to be positioned determines the position information of the equipment to be positioned according to the received position information of the auxiliary equipment and the detected wireless communication signal strength of the auxiliary equipment;

and the wireless communication module configured in the equipment to be positioned sends the position information of the equipment to be positioned to a scheduling server.

Further, the device to be positioned is a wireless signal transmitting device, and the auxiliary device is a wireless signal receiving device fixedly arranged in the working area.

the auxiliary equipment sends the wireless communication signal strength between the equipment to be positioned and the auxiliary equipment and the position information of the auxiliary equipment to a scheduling server;

and the scheduling server determines the position information of the equipment to be positioned according to the wireless communication signal strength between the equipment to be positioned and the auxiliary equipment and the position information of the auxiliary equipment.

Further, according to the position information of the device to be positioned, a robot in a working area is controlled to avoid a worker carrying the device to be positioned to drive, and the method includes the following steps:

and the dispatching server controls the robot in the working area to avoid the working personnel carrying the equipment to be positioned to run according to the position information of the equipment to be positioned.

Further, according to the position information of the device to be positioned, the robot in the working area is controlled to avoid the staff carrying the device to be positioned to drive, and the method includes the following steps:

determining an avoidance path of the robot in the working area according to the collected position information of the robot in the working area and the position information of the equipment to be positioned;

determining the adjustment speed of the robot in the working area according to the acquired speed information of the robot in the working area and the relative position between the robot in the working area and the worker carrying the equipment to be positioned;

and controlling the running state of the robot in the working area according to the avoiding path and the adjusting speed so as to enable the robot in the working area to avoid the working personnel to run.

Further, before determining the location information of the device to be positioned according to the wireless communication signal strength between the device to be positioned and the auxiliary device and the location information of the auxiliary device, the method further includes:

and screening out target auxiliary equipment for positioning the equipment to be positioned according to the strength of the wireless communication signal between the equipment to be positioned and the auxiliary equipment.

Further, the device to be positioned and the auxiliary device are low-power bluetooth devices.

Further, the auxiliary equipment is fixedly arranged above the working area in a grid shape.

In a second aspect, an embodiment of the present invention provides a human-machine cooperation control system, where the system includes: the system comprises equipment to be positioned, at least one auxiliary device, a scheduling server and a robot; the robot works in a working area, and the robot is in communication connection with the scheduling server; a wireless network is arranged in the working area; the at least one auxiliary device is fixedly arranged in the working area and has fixed position information; the equipment to be positioned is configured on a worker and moves along with the movement of the worker; one of the equipment to be positioned and the auxiliary equipment is a signal transmitting end, the other one is a signal receiving end, and the equipment serving as the signal receiving end is in communication connection with the scheduling server; wherein,

the auxiliary equipment and the equipment to be positioned are in wireless signal communication, the equipment serving as a signal transmitting end is used for transmitting wireless signals to a working area, and the equipment serving as a signal receiving end is used for scanning the wireless signals in the working area and determining the position information and the wireless communication signal strength of the auxiliary equipment which is successfully communicated;

the dispatching server is used for sending a control instruction to the robot in the working area to adjust the running state of the robot according to the position information of the equipment to be positioned; at least one of the scheduling server and the device to be positioned calculates the position information of the device to be positioned according to the wireless communication signal strength between the device to be positioned and the auxiliary device and the position information of the auxiliary device;

the robot is configured to respond to a control instruction of the scheduling server to adjust the driving state, and avoid the staff carrying the equipment to be positioned to drive according to the control instruction.

Further, if the device to be positioned is a wireless signal receiving device and the auxiliary device is a wireless signal transmitting device fixedly arranged in the working area, the auxiliary device is configured to transmit a wireless signal carrying position information of the auxiliary device to the working area;

the device to be positioned is used for scanning wireless signals in the working area, determining the position information of the device to be positioned according to the received position information of the auxiliary device and the detected strength of the wireless communication signal of the auxiliary device, and sending the position information of the device to be positioned to the scheduling server through a wireless communication module configured in the device to be positioned.

Further, if the device to be positioned is a wireless signal transmitting device and the auxiliary device is a wireless signal receiving device fixedly arranged in the working area, the device to be positioned is used for transmitting a wireless signal to the working area;

the auxiliary equipment is used for scanning wireless signals in the working area, and the auxiliary equipment which scans the wireless signals is used for sending the wireless communication signal strength between the auxiliary equipment and the equipment to be positioned and the position information of the auxiliary equipment to the scheduling server.

Further, the scheduling server determines an avoidance path of the robot in the working area according to the collected position information of the robot in the working area and the position information of the equipment to be positioned; determining the adjustment speed of the robot in the working area according to the acquired speed information of the robot in the working area and the relative position between the robot in the working area and the worker carrying the equipment to be positioned; and controlling the running state of the robot in the working area according to the avoiding path and the adjusting speed so as to enable the robot in the working area to avoid the staff to run.

Further, the dispatching server screens out target auxiliary equipment for positioning the equipment to be positioned according to the strength of the wireless communication signal between the equipment to be positioned and the auxiliary equipment.

In the embodiment of the invention, auxiliary positioning equipment with known positions can be configured in the robot working area, a worker can configure equipment to be positioned, when the worker enters the robot working area, at least one of the scheduling server and the equipment to be positioned is positioned on the basis of the position information of the auxiliary equipment through wireless communication between the equipment to be positioned and the auxiliary equipment, so that the scheduling server controls the robot in the working area to avoid the worker from running according to the position information of the equipment to be positioned. The embodiment of the invention is based on the real-time interaction between the equipment to be positioned and the auxiliary equipment, realizes the omnibearing avoidance of the robot to surrounding workers by positioning the workers carrying the equipment to be positioned in real time and controlling the running state of the robot in real time, and improves the safety guarantee of the workers entering the working area of the robot.

Drawings

Fig. 1 is a schematic system structure diagram of a cargo picking system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention;

fig. 3 is a flowchart of a human-machine cooperation control method according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a human-machine cooperative control system according to an embodiment of the present invention;

fig. 5 is a flowchart of a human-machine cooperation control method according to a second embodiment of the present invention;

fig. 6 is an exemplary diagram of a human-machine cooperation control system according to a third embodiment of the present invention;

fig. 7 is a flowchart of a human-machine cooperation control method according to a third embodiment of the present invention;

FIG. 8 is a diagram of another exemplary human-machine cooperative control system according to a fourth embodiment of the present invention;

fig. 9 is a flowchart of a human-machine cooperation control method according to a fourth embodiment of the present invention;

fig. 10 is a schematic structural diagram of a human-machine cooperation control system according to a fifth embodiment of the present invention;

fig. 11 is a diagram illustrating a structure of a human-machine cooperation control system according to a sixth embodiment of the present invention;

fig. 12 is another exemplary diagram of a structure of a human-machine cooperative control system according to a seventh embodiment of the present invention.

Detailed Description

In the warehouse logistics environment, the robot can be applied to various scenes such as sorting, sorting and carrying, the area where the robot is located is the robot working area, and the robot working area can be any area in the warehouse logistics environment. In the robot working area, a plurality of robots can work in a united cluster mode. The working personnel can issue order processing tasks through the front-end operation desk, and after the scheduling server receives the order processing tasks, the operation mode of the robot can be planned through overall decision making, and specific operation instructions such as carrying can be issued to the robot. Accordingly, only the robot may operate in the robot working area without the participation of the worker. When some abnormal factors occur and need to be handled by workers in person, the workers can enter the working area of the robot to participate in the handling.

Taking a picking system in a warehouse logistics environment as an example, please refer to the system structure diagram of the cargo picking system shown in fig. 1, the cargo picking system 100 includes: the robot 10, the dispatching server 20, the shelf area 30 and the sorting station 40, the shelf area 30 is provided with a plurality of shelves 31, various goods are placed on the shelves 31, for example, as the shelves where various goods are placed are seen in supermarkets, and the shelves 31 are arranged in a shelf array form.

The whole robot working area can be covered by a Wireless Fidelity (WIFI) network, the dispatching server 20 and the robot 10 perform Wireless communication through the WIFI network, a worker enables the dispatching server 20 to work through the operation console 60, and the robot 10 executes a cargo carrying task under the control of the dispatching server 20. For example, the scheduling server 20 plans a movement path for the robot 10 in accordance with the transfer task, and the robot 10 travels along an empty space (a part of a passage through which the robot 10 passes) in the rack array in accordance with the movement path. In order to plan a moving path for the robot 10, a working area of the robot 10 (the working area includes at least the rack area 30 and the picking station 40) is divided into a plurality of sub-areas (i.e., cells), and the robot 10 moves from sub-area to form a moving track.

Referring to fig. 2, the robot 10 may include a driving mechanism 101 by which the robot 10 can move within the work space, and the robot 10 may further include a lifting mechanism 102 for carrying the racks, and the robot 10 may move below the target rack 31, lift the target rack 31 using the lifting mechanism 102, and carry to the assigned picking station 40. The entire target shelf 31 is lifted from the ground when the lifting mechanism 102 is lifted up, so that the robot 10 carries the target shelf 31, and the target shelf 31 is placed on the ground when the lifting mechanism 102 is lowered. The target recognition unit 103 on the robot 10 can effectively recognize the target shelf 31 when the robot 10 lifts the target shelf 31.

In addition, if based on visual navigation, robot 10 may include a navigation recognition component (not shown in FIG. 2) for recognizing navigation markers (e.g., two-dimensional codes) on the paved surface. Of course, the robot 10 also includes a control module (not shown in fig. 2) that controls the entire robot 10 to perform movement, navigation, and other functions. In one example, robot 10 includes at least two cameras, up and down, that can travel forward based on two-dimensional code information (and other ground markings as well) captured by the downward camera, and can travel under shelf 31 prompted by dispatch server 20 based on a route determined by dispatch server 20.

The dispatch server 20 is a software system with data storage and information processing capabilities running on the dispatch server, and can be connected with robots, hardware input systems, and other software systems by wireless or wired connection. Dispatch server 20 may include one or more servers, and dispatch server 20 may be a centralized control architecture or a distributed computing architecture. The server has a processor 201 and a memory 202, and there may be an order pool 203 in the memory 202.

In the current scene of the combined cluster work of a plurality of mobile robots, the robots move according to a specified path to finish the transportation of inventory containers from a source storage position to a destination storage position. When some abnormal factors occur and workers need to enter the robot working area for processing, the robot can still carry out normal carrying operation according to the original specified path, and the robot can also avoid the workers in the specified position range. However, the robot itself among the prior art dodges the limitation great voluntarily, for example only can keep away the barrier to the barrier that is located the robot dead ahead, and then the robot can't dodge the omnidirectional barrier completely, gets into the robot work area in the staff, leads to the robot to threaten great to the security of the staff that is located the robot work area, reduces staff's safety guarantee. Therefore, how to control the robot to avoid the working personnel in all directions in real time is necessary to improve the safety of the working personnel in the working area of the robot.

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for convenience of description, only some structures, not all structures, relating to the embodiments of the present invention are shown in the drawings.

Example one

Fig. 3 is a flowchart of a human-machine cooperation control method according to an embodiment of the present invention, which is applicable to a situation where a robot is controlled to avoid a worker to travel so as to ensure safety of the worker. The method specifically comprises the following steps:

step 310, at least one of the scheduling server and the device to be positioned determines the location information of the device to be positioned according to the wireless communication signal strength between the device to be positioned and the auxiliary device and the location information of the auxiliary device.

In the specific embodiment of the invention, the equipment to be positioned is equipment which is configured on a worker, can move along with the movement of the worker and is used for positioning the worker. For example, the device to be positioned may be mounted on a helmet of a worker, or may be carried around by the worker, etc. The auxiliary device refers to a device configured in a work area for providing positioning assistance information. The position information of the auxiliary device is thus predetermined, in which the position information of the auxiliary device can be stored beforehand.

In this embodiment, the device to be positioned and the auxiliary device are both wireless communication devices, and the device to be positioned and the auxiliary device may be the same device, for example, both the device to be positioned and the auxiliary device may be low power consumption bluetooth devices, or may be different devices. One of the device to be positioned and the auxiliary device may be a signal transmitting device, and correspondingly, the other may be a signal receiving device. Wherein, in order to improve the accuracy to staff's location, auxiliary assembly can be a plurality ofly, can also set up in the working area with certain rule, for example fix the setting above the working area with latticed, be convenient for to the accurate and omnidirectional location of positioning equipment.

In this embodiment, wireless communication can be performed between the device to be positioned and the auxiliary device, so that the device to be positioned is positioned based on the position information of the auxiliary device through real-time interaction between the device to be positioned and the auxiliary device. The position information of the auxiliary equipment, the determined position information of the equipment to be positioned and the position information of the robot are all based on position coordinates in the same map coordinate system. For example, a two-dimensional coordinate system is created from a map of the robot work area projected onto the ground for locating the robot and the staff located in the work area.

In this embodiment, one of the devices to be positioned and the auxiliary device may be a wireless signal transmitting device, and correspondingly, the other device may be a wireless signal receiving device. One side of the wireless signal transmitting device can perform wireless signal broadcasting in real time, and one side of the wireless signal receiving device can perform wireless signal scanning in real time. Therefore, according to the scanning result of the wireless signals, the position information of the auxiliary equipment which is successfully communicated is used as one of the positioning bases of the equipment to be positioned.

Under the condition that normal operation of the equipment is ensured, along with the change of the distance between the equipment, the strength of the signals received between the equipment is changed. The wireless communication Signal Strength may be an RSSI (Received Signal Strength Indication) value. Therefore, according to the scanning result of the signals, the signal strength of the wireless signal transmitting equipment which is successfully communicated is used as one of the positioning bases of the equipment to be positioned.

Specifically, because the position information of the auxiliary device is known, when a worker enters a robot working area and the working area is within a wireless communication range of the auxiliary device, the device to be positioned carried by the worker can perform real-time signal interaction with the auxiliary device in the working area to obtain the position information of the auxiliary device with successful signal interaction and the scanned wireless communication signal strength, at least one of the server and the device to be positioned is scheduled according to different configuration modes of the devices in the working area, and the position information of the device to be positioned is calculated according to the position information of the auxiliary device and the wireless communication signal strength. The position information of the equipment to be positioned can be calculated by the equipment to be positioned and transmitted to the scheduling server, or the receiving end of the signal can send the position information of the auxiliary equipment and the strength of the wireless communication signal to the scheduling server, and the scheduling server calculates and obtains the position information of the auxiliary equipment and the strength information of the wireless communication signal according to the received position signal of the auxiliary equipment.

In addition, before calculating the location information of the device to be positioned, if the location information of a plurality of auxiliary devices exists, the plurality of auxiliary devices may be screened according to the wireless communication signal strength, so as to obtain the location signal of the auxiliary device with the strongest signal strength for positioning.

For example, if the device to be positioned is a wireless signal receiving device and the auxiliary device is a wireless signal transmitting device fixedly arranged in a working area, the auxiliary device may broadcast its own position information and ID information in real time or periodically, and the device to be positioned may scan wireless signals in real time or periodically. The ID may represent a device number or a preset unique identifier of the auxiliary device, and the auxiliary device to which the location information belongs may be distinguished at a later stage. The device to be positioned can calculate the position information of the device to be positioned according to the scanned position information of the auxiliary device and the strength of the wireless communication signal, and upload the position information of the device to be positioned to the scheduling server; or the device to be positioned can upload the scanned position information of the auxiliary device and the wireless communication signal strength to the scheduling server, and the scheduling server calculates the position information of the device to be positioned. In order to reduce the uploading amount of data, the belt positioning device can be adopted to calculate the position information.

For another example, if the device to be positioned is a wireless signal transmitting device and the auxiliary device is a wireless signal receiving device fixedly disposed in the working area, the device to be positioned may transmit wireless signals in real time or periodically, and the auxiliary device may scan wireless signals in real time or periodically. The auxiliary equipment which scans the wireless signal of the equipment to be positioned can upload the position information, ID, wireless communication signal strength and other information of the auxiliary equipment to the scheduling server, and the scheduling server calculates the position information of the equipment to be positioned.

In this embodiment, when the device to be positioned calculates the position information, and when only one piece of position information is calculated, the position information may be directly used as the position information of the device to be positioned. Alternatively, the distance between the device to be positioned and the auxiliary device may be calculated based on the wireless communication signal strength, and the position range of the device to be positioned may be determined according to the one position information and the distance between the device to be positioned and the auxiliary device. When the position information to be calculated is multiple, the calculation of the arithmetic mean value can be performed according to the multiple position information and the signal intensity related to the multiple position information to obtain the position information of the device to be positioned. A number threshold may be set, and if the number of the location information according to the calculation exceeds the number threshold, the location information is screened according to the signal strength.

For example, assuming that the number threshold is 3, three signal strength values with signal strengths ranked in the top three and their associated location information are selected for calculation, and the 3 location information according to which the calculation is based are (X1, Y1), (X2, Y2) and (X3, Y3), and the 3 location information has associated signal strengths RSSI1, RSSI2 and RSSI3, respectively. The position information (X, Y) of the device to be positioned can be calculated according to the following formula: x ═ X (X1 × RSSI1+ X2 × RSSI2+ X3 × RSSI3)/(RSSI1+ RSSI2+ RSSI3), Y ═ Y (Y1 × RSSI1+ Y2 × RSSI2+ Y3 × RSSI3)/(RSSI1+ RSSI2+ RSSI 3). Therefore, the coarse positioning of the device to be positioned can be realized through the interaction between the device to be positioned and the auxiliary device, the positioning accuracy is about 1 meter, and the safety control requirement is met.

And step 320, controlling the robot in the working area to avoid the working personnel carrying the equipment to be positioned to run by the scheduling server according to the position information of the equipment to be positioned.

In the embodiment of the invention, the robot can be controlled in real time according to the position information of the equipment to be positioned by the scheduling server in the robot working system. Specifically, through interaction between the device to be positioned and the auxiliary device, the position information of the device to be positioned may be calculated by the device to be positioned and transmitted to the scheduling server, or may be calculated by the scheduling server according to the received position signal of the auxiliary device and the received strength information of the wireless communication signal, and the scheduling server may finally receive or calculate the position information of the device to be positioned. Meanwhile, the dispatching server can acquire real-time position information of each robot in a working area in real time, so that the dispatching server can determine the relative position between a worker carrying the equipment to be positioned and each robot according to the position information of the equipment to be positioned and the real-time position information of each robot, and plan a real-time avoidance path of the robot according to the relative position. Meanwhile, the dispatching server can acquire real-time speed information of each robot in a working area in real time, so that the dispatching server can control the speed of the robot, such as speed reduction, stop or control within a certain safety range, according to the real-time speed information of each robot and the relative position of the worker and the robot, and can control the robot to recover to a normal working state when the robot is determined to be far away from the worker according to the real-time relative position information. It will be appreciated that the closer the distance between the robot and the worker, the lower the speed at which the robot is controlled to travel.

The safety range of the worker can be predetermined by taking the worker as a center, for example, the range with the radius of 2 meters by taking the worker as the center. Therefore, according to the relative positions of the staff and the robot, when the robot is detected to enter or be about to enter the safety range of the staff, the avoidance path and the speed can be re-planned.

In this embodiment, based on the position of the worker, the position of the robot, and the speed of the robot, the path and the speed of the robot can be re-planned, so that the scheduling server issues a control instruction to the corresponding robot according to the re-planned control information, so that the robot adjusts the motion state in time, and the safety of the worker is guaranteed.

For example, fig. 4 is a schematic diagram of a human-machine cooperative control system. As shown in fig. 4, the human-machine cooperation control system 400 may include at least a scheduling server 410, an auxiliary device 420, and a device to be positioned 430. A worker 441 carrying the device 430 to be positioned and at least one robot 442 may be included in the robot work area 440; at a certain height above the working area 440, e.g. 3 meters, the auxiliary devices 420 are arranged in a grid-like fixed arrangement, e.g. one auxiliary device is installed in one area every 5 x 5 meters. The entire work area is covered by a wireless network 450, such as a WIFI network, and accordingly, all of the robots 442, auxiliary devices 420, and devices 430 to be located may be connected to the dispatch server 410 via the wireless network 450. The auxiliary device 420 stores position information, an ID and the like, and the position information of the auxiliary device 420 is acquired and the wireless communication signal strength is detected through interaction between the device 430 to be positioned and the auxiliary device 420, so that the device 430 to be positioned or the scheduling server 410 can position the worker 441 carrying the device 430 to be positioned through calculation of the position information, and the scheduling server 410 can timely control the robot 442 to avoid the worker 441 to run according to the position information of the worker 441 and the position information and the speed information of the robot 442, and the safety of the worker 441 is guaranteed.

According to the technical scheme, auxiliary positioning equipment with known positions can be configured in the robot working area, a worker can configure equipment to be positioned, when the worker enters the robot working area, the equipment to be positioned and the auxiliary equipment are in wireless communication, the equipment to be positioned is positioned based on the position information of the auxiliary equipment, and therefore the robot in the working area is controlled to avoid the worker to drive according to the position information of the equipment to be positioned. The embodiment of the invention is based on the real-time interaction between the equipment to be positioned and the auxiliary equipment, realizes the omnibearing avoidance of the robot to surrounding workers by positioning the workers carrying the equipment to be positioned in real time and controlling the running state of the robot in real time, and improves the safety guarantee of the workers entering the working area of the robot.

Example two

The present embodiment provides a preferred implementation of the human-machine cooperation control method based on the first embodiment, and can control the robot to avoid the path and the speed. Fig. 5 is a flowchart of a human-machine cooperation control method according to a second embodiment of the present invention, wherein step 320 may further specifically include step 520 and step 540, as shown in fig. 5, the method specifically includes the following steps:

step 510, at least one of the scheduling server and the device to be positioned determines the location information of the device to be positioned according to the wireless communication signal strength between the device to be positioned and the auxiliary device and the location information of the auxiliary device.

Optionally, before determining the location information of the device to be positioned according to the strength of the wireless communication signal between the device to be positioned and the auxiliary device and the location information of the auxiliary device, the method further includes: and screening out target auxiliary equipment for positioning the equipment to be positioned according to the strength of the wireless communication signal between the equipment to be positioned and the auxiliary equipment.

In the embodiment of the invention, under the condition of ensuring the normal operation of the equipment, the strength of the received signals between the equipment is changed along with the change of the distance between the equipment. Therefore, when there is location information of multiple auxiliary devices, the multiple auxiliary devices can be screened according to the wireless communication signal strength, so as to reserve the location signal of the target auxiliary device with the strongest signal strength for positioning. A number threshold may be set, and if the number of the location information according to the calculation exceeds the number threshold, the location information is screened according to the signal strength. Therefore, the real-time position of the equipment to be positioned is calculated according to the screened position information of the target auxiliary equipment.

And step 520, the scheduling server determines an avoidance path of the robot in the working area according to the collected position information of the robot in the working area and the position information of the equipment to be positioned.

In the embodiment of the invention, the robot in the working area originally drives according to the path planned by the scheduling server according to the operation instructions of transportation and the like issued by the scheduling server. Meanwhile, the scheduling server can acquire real-time position information of each robot in the working area in real time. When the working personnel enter the working area of the robot, the running path of the robot needs to be changed in time according to the real-time position information of the robot and the working personnel, and the avoiding path of the running of the working personnel is avoided on the premise of ensuring the normal carrying and other operations of the robot. The present embodiment does not limit the manner of planning the avoidance path, and any manner capable of planning the avoidance path may be applied to the present embodiment. For example, the safety range of the worker is preset by taking the worker as a center, so that the avoidance path of the robot is generated based on the minimum path bypassing the safety range of the worker on the basis of the originally planned path of the robot. Therefore, the effect of avoiding the working personnel to ensure the safety of the working personnel and not influencing the normal work of the robot is achieved.

And step 530, the scheduling server determines the adjustment speed of the robot in the working area according to the acquired speed information of the robot in the working area and the relative position between the robot in the working area and the staff carrying the equipment to be positioned.

In the embodiment of the invention, the robot in the working area originally runs at the speed set by the dispatching server according to the operation instructions of transportation and the like given by the dispatching server. Meanwhile, the scheduling server can acquire real-time speed information of each robot in the working area in real time. When the working personnel enter the working area of the robot, the dispatching server can also control the running speed of the robot in time according to the real-time position information of the robot and the working personnel, and determine the adjusting speed of the robot in the working area. The present embodiment does not limit the control manner of the adjustment speed, and any manner capable of determining the adjustment speed may be applied to the present embodiment. For example, a safety range of the worker is preset with the worker as a center, and the safety range may be stepped, and the closer the distance between the robot and the worker, the lower the adjustment speed of the control robot. For example, assume that the worker is centered on the first safety step at a radius of 1 meter, the second safety step at a radius of 2 meters excluding the first step area, and so on. When the robot is located within a certain safety ladder range of a worker, controlling the robot to decelerate to an adjusting speed associated with the ladder; and when the distance between the robot and the worker is in the range of the step with the minimum distance, namely the first safety step, controlling the robot to stop. So that the safety of the robot for the staff is ensured even in the case of sudden appearance of the staff.

And 540, controlling the running state of the robot in the working area by the scheduling server according to the avoidance path and the adjustment speed so that the robot in the working area avoids the working personnel to run.

In the embodiment of the invention, the re-planning of the path and the speed of the robot can be realized based on the position of the staff, the position of the robot and the speed of the robot, so that the dispatching server issues a control instruction to the corresponding robot according to the re-planned control information, so that the robot can adjust the motion state in time to ensure the safety of the staff. In addition, the present embodiment is not limited to the safety control of the path and the speed, and other control methods for the robot operation state may be applied to the present embodiment.

According to the technical scheme, the equipment to be positioned is positioned based on the position information of the auxiliary equipment through wireless communication between the equipment to be positioned and the auxiliary equipment, so that the path and the speed of the robot are re-planned according to the position information of the equipment to be positioned, and the robot in a working area is controlled to avoid a worker to drive. The embodiment of the invention is based on the real-time interaction between the equipment to be positioned and the auxiliary equipment, realizes the omnibearing avoidance of the robot to surrounding workers by positioning the workers carrying the equipment to be positioned in real time and controlling the running state of the robot in real time, and improves the safety guarantee of the workers entering the working area of the robot.

EXAMPLE III

In this embodiment, on the basis of the first embodiment, a preferred implementation of the human-machine cooperation control method is provided, and motion state control can be performed on the robot around the staff in a scenario where the device to be positioned is a wireless signal receiving device and the auxiliary device is a wireless signal transmitting device fixedly arranged in the working area. Fig. 6 is an exemplary diagram of a human-machine cooperative control system, and as shown in fig. 6, a device to be positioned 610 is a wireless signal receiving device, such as a bluetooth positioning device for scanning wireless signals, and is carried by a worker; the auxiliary device 620 is a wireless signal transmitting device, such as a bluetooth transmitting device, fixedly disposed within the work area, and is fixedly installed above the work area in a grid shape. The auxiliary device 620 broadcasts and transmits the position information of the auxiliary device 620, the ID and other information in real time or at regular time, the device 610 to be positioned scans in real time or at regular time to acquire the position information of the auxiliary device 620, and calculates according to the scanned position information of the auxiliary device 620 and the detected strength of the wireless communication signal to acquire the position information of the device 610 to be positioned. The entire work area is covered by a wireless network 630, such as a WIFI network. Through the wireless network 630, the device to be positioned 610 may perform data transmission with the scheduling server 640, for example, the device to be positioned 610 sends the calculated position information to the scheduling server 640, or sends the scanned position information to the scheduling server 640, and the scheduling server 640 performs calculation of the position information. Therefore, the scheduling server 640 controls the motion state of the robot in the working area according to the position information of the device 610 to be positioned.

Fig. 7 is a flowchart of a human-machine cooperation control method according to a third embodiment of the present invention, and as shown in fig. 7, the method specifically includes the following steps:

step 710, the device to be positioned determines the location information of the device to be positioned according to the received location information of the auxiliary device and the detected wireless communication signal strength of the auxiliary device.

In the embodiment of the invention, the auxiliary equipment broadcasts and transmits the information such as the position information and the ID of the auxiliary equipment in real time or at regular time. Correspondingly, a scanning module can be configured in the device to be positioned to perform scanning in real time or at regular time so as to acquire the position information of the auxiliary device. An embedded computing chip, such as a single chip microcomputer, can be configured in the device to be positioned, so that the device to be positioned can be computed according to the scanned position information to obtain the position information of the device to be positioned.

Step 720, the wireless communication module configured in the device to be positioned sends the position information of the device to be positioned to the scheduling server.

In the specific embodiment of the present invention, the device to be positioned may be configured with a wireless communication module, so that the calculated position information of the device to be positioned is sent to the scheduling server based on a wireless network covered in the working area.

As an example, assume that the device to be positioned is a bluetooth receiving device, wherein a bluetooth scanning module, a WIFI communication module and a single chip microcomputer can be configured, and are carried by a worker. Assuming that the accessory is a bluetooth transmitter, it is installed in a grid-like fixed installation, for example, every 5 × 5 meters in an area, at a height of about 3 meters above the work area. Based on the bluetooth broadcast protocol which is designed autonomously, for example, through setting parameters such as signal transmission period in the bluetooth broadcast protocol, the bluetooth transmitting device periodically broadcasts out the ID and the position information of itself. The Bluetooth receiving device can scan wireless signals of all Bluetooth transmitting devices within a certain distance around, and calculates the position information of the Bluetooth receiving device according to the strength of the wireless signals and the position information of the Bluetooth transmitting devices. And finally, transmitting the position information of the robot to a dispatching server of the robot cluster through a WIFI network.

And step 730, controlling the robot in the working area to avoid the working personnel carrying the equipment to be positioned to run by the scheduling server according to the position information of the equipment to be positioned.

In the embodiment of the invention, the scheduling server can realize the re-planning of the path and the speed of the robot based on the position of the staff, the position of the robot and the speed of the robot, so that the scheduling server sends a control instruction to the corresponding robot according to the re-planned control information, so that the robot can adjust the motion state in time to ensure the safety of the staff.

According to the technical scheme, the device to be positioned calculates the position information of the device to be positioned through wireless communication between the device to be positioned and the auxiliary device, the device to be positioned is positioned based on the position information of the auxiliary device and is sent to the scheduling server, the scheduling server replans the path and the speed of the robot according to the position information of the device to be positioned, and the robot in the working area is controlled to avoid workers to run. The embodiment of the invention is based on the real-time interaction between the equipment to be positioned and the auxiliary equipment, realizes the omnibearing avoidance of the robot to surrounding workers by positioning the workers carrying the equipment to be positioned in real time and controlling the running state of the robot in real time, and improves the safety guarantee of the workers entering the working area of the robot.

Example four

In this embodiment, on the basis of the first embodiment, a preferred implementation of the human-machine cooperation control method is provided, and motion state control can be performed on the robot around the staff in a scenario where the device to be positioned is a wireless signal transmitting device and the auxiliary device is a wireless signal receiving device fixedly arranged in the working area. Fig. 8 is another exemplary diagram of a human-machine cooperative control system, and as shown in fig. 8, an auxiliary device 810 is a wireless signal receiving device fixedly disposed in a work area, such as a bluetooth positioning device for scanning wireless signals, and a plurality of auxiliary devices 810 are fixedly mounted above the work area in a grid shape; the device 820 to be located is a wireless signal transmitting device, such as a bluetooth transmitting device, carried by the staff. The device to be located 820 broadcasts wireless signals in real time or on a timed basis and the auxiliary device 810 scans in real time or on a timed basis. The entire work area is covered by a wireless network 830, such as a WIFI network. Through the wireless network 830, the auxiliary device 810 may perform data transmission with the scheduling server 840, for example, scan the auxiliary device 810 of the device 820 to be located, send information such as its own location information and ID to the scheduling server 840, the scheduling server 840 receives the own location information and the wireless communication signal strength sent by different auxiliary devices 810, and the scheduling server 840 calculates the location information of the device 820 to be located. Therefore, the scheduling server 840 controls the motion state of the robot in the working area according to the position information of the device 820 to be positioned.

Fig. 9 is a flowchart of a human-machine cooperation control method according to a fourth embodiment of the present invention, and as shown in fig. 9, the method specifically includes the following steps:

step 910, the auxiliary device sends the wireless communication signal strength between the device to be positioned and the auxiliary device and the position information of the auxiliary device to the scheduling server.

In a particular embodiment of the invention, the device to be positioned broadcasts the wireless signal in real time or on a timed basis. Accordingly, the auxiliary device can be provided with a scanning module to perform scanning in real time or at regular time. And the auxiliary equipment which scans the wireless signals sends the signal strength of the scanned wireless signals and the position information of the auxiliary equipment to the dispatching server.

Step 920, the scheduling server determines the location information of the device to be located according to the wireless communication signal strength between the device to be located and the auxiliary device and the location information of the auxiliary device.

In the embodiment of the invention, the scheduling server calculates according to the position information in the received wireless signal and the signal strength thereof to obtain the position information of the equipment to be positioned.

For example, the device to be positioned is assumed to be a bluetooth transmitting device, which is carried by a worker. Assuming that the auxiliary device is a bluetooth receiving device, the auxiliary device, namely the bluetooth receiving device, is installed in a grid-like fixed installation at a height of about 3 meters above the working area, for example, every 5 × 5 meters, wherein a bluetooth scanning module and a WIFI communication module can be configured. Based on an autonomously designed bluetooth broadcast protocol, a bluetooth transmitting device periodically broadcasts wireless signals. A bluetooth receiving device may scan for wireless signals to bluetooth transmitting devices within a certain distance of the surroundings. The Bluetooth receiving device which scans the wireless signals sends the signal intensity of the scanned wireless signals and the position information of the Bluetooth receiving device to the dispatching server. And the scheduling server calculates according to the position information in the received wireless signals and the signal intensity thereof to obtain the position information of the Bluetooth transmitting equipment.

And 930, controlling the robot in the working area to avoid the working personnel carrying the equipment to be positioned to run by the scheduling server according to the position information of the equipment to be positioned.

In the embodiment of the invention, the scheduling server can realize the re-planning of the path and the speed of the robot based on the position of the worker carrying the equipment to be positioned, the position of the robot and the speed of the robot, so that the scheduling server sends a control instruction to the corresponding robot according to the re-planned control information, so that the robot can adjust the motion state in time to ensure the safety of the worker.

According to the technical scheme, the auxiliary equipment which scans the wireless signals is used for sending the signal intensity of the scanned wireless signals and the position information of the auxiliary equipment to the scheduling server through wireless communication between the equipment to be positioned and the auxiliary equipment, the scheduling server calculates the position information of the equipment to be positioned, the equipment to be positioned is positioned based on the position information of the auxiliary equipment, the path and the speed of the robot are re-planned according to the position information of the equipment to be positioned, and the robot in a working area is controlled to avoid workers to run. The embodiment of the invention is based on the real-time interaction between the equipment to be positioned and the auxiliary equipment, realizes the omnibearing avoidance of the robot to surrounding workers by positioning the workers carrying the equipment to be positioned in real time and controlling the running state of the robot in real time, and improves the safety guarantee of the workers entering the working area of the robot.

EXAMPLE five

Fig. 10 is a schematic structural diagram of a human-machine cooperation control system according to a fifth embodiment of the present invention, which is applicable to a situation where a robot is controlled to avoid a worker to travel so as to ensure safety of the worker. The system can operate to realize the man-machine cooperation control method in any embodiment. The system 1000 specifically includes: a device to be located 1010, at least one auxiliary device 1020, a robot 1030, and a scheduling server 1040; the robot 1030 works in a working area, and the robot 1030 is in communication connection with the scheduling server 1040; a wireless network is arranged in the working area; at least one auxiliary device 1020 is fixedly arranged in the working area and has fixed position information; the equipment to be positioned 1010 is configured on a worker and moves along with the movement of the worker; one of the device to be positioned 1010 and the auxiliary device 1020 is a signal transmitting end, and the other one is a signal receiving end, and the device serving as the signal receiving end is in communication connection with the scheduling server 1040; wherein,

the auxiliary device 1020 and the device 1010 to be positioned perform wireless signal communication, the device serving as a signal transmitting end is used for transmitting a wireless signal to a working area, and the device serving as a signal receiving end is used for scanning the wireless signal in the working area and determining the position information and the wireless communication signal strength of the auxiliary device 1020 which are successfully communicated;

the scheduling server 1040 is configured to send a control instruction to the robot 1030 in the work area to adjust the running state of the robot 1030 according to the position information of the device to be positioned; at least one of the scheduling server 1040 and the device to be positioned 1010 obtains the position information of the device to be positioned 1030 by calculation according to the wireless communication signal strength between the device to be positioned 1010 and the auxiliary device 1020 and the position information of the auxiliary device 1020;

the robot 1030 is configured to adjust the driving state in response to the control instruction of the scheduling server 1040, and to avoid the worker carrying the device 1010 to be positioned to drive according to the control instruction.

According to the technical scheme, auxiliary positioning equipment with known positions can be configured in the robot working area, a worker can configure equipment to be positioned, when the worker enters the robot working area, the equipment to be positioned is positioned based on the position information of the auxiliary equipment through wireless communication between the equipment to be positioned and the auxiliary equipment, and therefore the robot in the working area is controlled to avoid the worker to run according to the position information of the equipment to be positioned. The embodiment of the invention is based on the real-time interaction between the equipment to be positioned and the auxiliary equipment, realizes the omnibearing avoidance of the robot to surrounding workers by positioning the workers carrying the equipment to be positioned in real time and controlling the running state of the robot in real time, and improves the safety guarantee of the workers entering the working area of the robot.

EXAMPLE six

On the basis of the fifth embodiment, the present embodiment provides a preferred embodiment of a human-machine cooperation control system, which can control a robot to avoid a path and a speed. Fig. 11 is a diagram illustrating a structure of a human-machine cooperative control system according to a sixth embodiment of the present invention, where if the device to be positioned 1010 is a wireless signal receiving device, and the auxiliary device 1020 is a wireless signal transmitting device fixedly disposed in a working area, the device to be positioned 1010 is communicatively connected to a scheduling server 1040;

the auxiliary device 1020 is configured to transmit a wireless signal carrying location information of the auxiliary device 1020 to a work area; the device to be positioned 1010 is configured to scan a wireless signal in a working area, determine the location information of the device to be positioned 1010 according to the received location information of the auxiliary device 1020 and the detected strength of the wireless communication signal of the auxiliary device, and send the location information of the device to be positioned 1010 to the scheduling server 1040 through a wireless communication module configured in the device to be positioned 1010.

In the embodiment of the invention, the auxiliary equipment broadcasts and transmits the information such as the position information and the ID of the auxiliary equipment in real time or at regular time. Correspondingly, a scanning module can be configured in the device to be positioned to perform scanning in real time or at regular time so as to acquire the position information of the auxiliary device. An embedded computing chip, such as a single chip microcomputer, can be configured in the device to be positioned, so that the position information of the device to be positioned can be obtained by computing according to the position information obtained by scanning and the strength of the wireless communication signal.

In this embodiment, the device to be positioned may be configured with a wireless communication module, so that the calculated position information of the device to be positioned is sent to the scheduling server based on a wireless network covered in the working area.

In this embodiment, the scheduling server may implement the re-planning of the robot path and speed based on the position of the worker, the position of the robot, and the speed of the robot, so that the scheduling server issues a control instruction to the corresponding robot according to the re-planned control information, so that the robot adjusts the motion state in time, and the safety of the worker is guaranteed.

According to the technical scheme, the equipment to be positioned is in wireless communication with the auxiliary equipment, the equipment to be positioned calculates position information of the equipment to be positioned, the equipment to be positioned is positioned based on the position information of the auxiliary equipment and is sent to the scheduling server, the scheduling server replans the path and the speed of the robot according to the position information of the equipment to be positioned, and the robot in a working area is controlled to avoid workers to run. The embodiment of the invention is based on the real-time interaction between the equipment to be positioned and the auxiliary equipment, realizes the omnibearing avoidance of the robot to surrounding workers by positioning the workers carrying the equipment to be positioned in real time and controlling the running state of the robot in real time, and improves the safety guarantee of the workers entering the working area of the robot.

EXAMPLE seven

On the basis of the fifth embodiment, the present embodiment provides a preferred embodiment of a human-machine cooperation control system, which can control a robot to avoid a path and a speed. Fig. 12 is another exemplary diagram of a structure of a human-machine cooperative control system according to a seventh embodiment of the present invention, wherein if the device to be located 1010 is a wireless signal transmitting device, and the auxiliary device 1020 is a wireless signal receiving device fixedly disposed in the working area, the auxiliary device 1020 is communicatively connected to a scheduling server 1040;

the device to be positioned 1010 is used to transmit wireless signals to the work area;

the auxiliary device 1020 is configured to scan wireless signals in the work area, and the auxiliary device 1020 that scans the wireless signals is configured to transmit the signal strength of the wireless communication with the device to be positioned 1010 and the position information of the auxiliary device 1020 itself to the scheduling server 1040.

In this embodiment, the scheduling server performs calculation according to the position information in the received wireless signal and the signal strength thereof to obtain the position information of the device to be positioned.

In this embodiment, the scheduling server may implement the re-planning of the robot path and speed based on the position of the worker carrying the device to be positioned, the position of the robot, and the speed of the robot, so that the scheduling server issues a control instruction to the corresponding robot according to the re-planned control information, so that the robot adjusts the motion state in time, and the safety of the worker is guaranteed.

Example eight

On the basis of the fifth embodiment, the present embodiment provides a preferred embodiment of a human-machine cooperation control system, which can control a robot to avoid a path and a speed. The scheduling server 1040 determines an avoidance path of the robot 1030 in the work area according to the collected position information of the robot 1030 in the work area and the position information of the equipment 1010 to be positioned; determining the adjustment speed of the robot 1030 in the working area according to the acquired speed information of the robot 1030 in the working area and the relative position between the robot 1030 and the worker carrying the equipment 1010 to be positioned in the working area; and controlling the running state of the robot 1030 in the working area according to the avoiding path and the adjusting speed so that the robot 1030 in the working area can run by avoiding the staff.

In the embodiment of the invention, the robot in the working area originally drives according to the path planned by the scheduling server according to the operation instructions of transportation and the like issued by the scheduling server. Meanwhile, the scheduling server can acquire real-time position information of each robot in the working area in real time. When the working personnel enter the working area of the robot, the dispatching server needs to change the running path of the robot in time according to the real-time position information of the robot and the working personnel, and the avoiding path of the running of the working personnel is avoided on the premise of ensuring the normal operation of the robot such as carrying. The present embodiment does not limit the manner of planning the avoidance path, and any manner capable of planning the avoidance path may be applied to the present embodiment. For example, the safety range of the worker is preset by taking the worker as a center, so that the avoidance path of the robot is generated based on the minimum path bypassing the safety range of the worker on the basis of the originally planned path of the robot. Therefore, the effect of avoiding the working personnel to ensure the safety of the working personnel and not influencing the normal work of the robot is achieved.

In this embodiment, the robot in the working area originally travels at a speed set by the scheduling server according to the operation instructions such as transportation and the like issued by the scheduling server. Meanwhile, the scheduling server can acquire real-time speed information of each robot in the working area in real time. When the working personnel enter the working area of the robot, the dispatching server can also control the running speed of the robot in time according to the real-time position information of the robot and the working personnel, and determine the adjusting speed of the robot in the working area. The present embodiment does not limit the control manner of the adjustment speed, and any manner capable of determining the adjustment speed may be applied to the present embodiment. For example, a safety range of the worker is preset with the worker as a center, and the safety range may be stepped, and the closer the distance between the robot and the worker, the lower the adjustment speed of the control robot. For example, when the robot is located within a certain safety ladder range of a worker, the robot is controlled to decelerate to an adjustment speed associated with the ladder; and when the distance between the robot and the worker is within the step range with the minimum distance, controlling the robot to stop. So that the safety of the robot for the staff is ensured even in the case of sudden appearance of the staff.

In this embodiment, based on the position of the worker, the position of the robot, and the speed of the robot, the path and the speed of the robot can be re-planned, so that the scheduling server issues a control instruction to the corresponding robot according to the re-planned control information, so that the robot adjusts the motion state in time, and the safety of the worker is guaranteed. In addition, the present embodiment is not limited to the safety control of the path and the speed, and other control methods for the robot operation state may be applied to the present embodiment.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the embodiments of the present invention have been described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and many other equivalent embodiments may be included without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A human-machine cooperation control method is characterized by comprising the following steps:

the method comprises the following steps that a scheduling server sends a control command to a robot in a working area according to the position information of equipment to be positioned, the robot avoids a worker carrying the equipment to be positioned to drive according to the control command, and the determination of the position information of the equipment to be positioned comprises the following steps: the equipment to be positioned is in wireless communication with auxiliary equipment arranged in the working area, and at least one of the scheduling server and the equipment to be positioned determines the position information of the equipment to be positioned according to the wireless communication signal strength of the auxiliary equipment and the equipment to be positioned and the position information of the auxiliary equipment.

2. The method of claim 1, wherein the device to be located is a wireless signal receiving device and the auxiliary device is a wireless signal transmitting device fixedly disposed within the work area.

3. The method of claim 2, wherein determining the location information of the device to be positioned based on the signal strength of the wireless communication between the device to be positioned and the auxiliary device and the location information of the auxiliary device comprises:

4. The method of claim 1, wherein the device to be located is a wireless signal transmitting device and the auxiliary device is a wireless signal receiving device fixedly disposed within the work area.

5. The method of claim 4, wherein determining the location information of the device to be positioned according to the wireless communication signal strength between the device to be positioned and the auxiliary device and the location information of the auxiliary device comprises:

6. The method according to claim 3 or 5, wherein the controlling the robot in the working area to avoid the staff carrying the equipment to be positioned to drive according to the position information of the equipment to be positioned comprises:

7. The method according to claim 1, wherein the controlling the robot in the working area to avoid the staff carrying the equipment to be positioned to drive according to the position information of the equipment to be positioned comprises:

8. The method of any of claims 1-5, further comprising, prior to determining the location information of the device to be positioned based on the wireless communication signal strength between the device to be positioned and the auxiliary device and the location information of the auxiliary device:

9. The method according to any of claims 1-5, characterized in that the device to be located and the auxiliary device are Bluetooth Low energy devices.

10. A human-machine cooperative control system, characterized in that the system comprises: the system comprises equipment to be positioned, at least one auxiliary device, a scheduling server and a robot; the robot works in a working area, and the robot is in communication connection with the scheduling server; a wireless network is arranged in the working area; the at least one auxiliary device is fixedly arranged in the working area and has fixed position information; the equipment to be positioned is configured on a worker and moves along with the movement of the worker; one of the equipment to be positioned and the auxiliary equipment is a signal transmitting end, the other one is a signal receiving end, and the equipment serving as the signal receiving end is in communication connection with the scheduling server; wherein,