CN112417691A - Prefabricated storage location model creation, layout, robot control method, storage medium, and processor - Google Patents
Prefabricated storage location model creation, layout, robot control method, storage medium, and processor Download PDFInfo
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Abstract
本发明提供一种模型化、高效快速布局的预制式库位模型创建、布局、机器人控制方法及存储介质、处理器。本发明采用创建初始库位模型，所述的初始库位模型包括对接布局；所述的初始库位模型包括至少一个用于表征所述的对接布局关系的函数关系；确定所述的函数关系并建立函数关系模型，生成库位模型；其中，所述的函数关系模型包括至少一个可变量。本发明通过函数关系模型，对对接布局进行归纳，约束并提炼可变量，实现模型化。
The invention provides a prefabricated storage location model creation, layout, and robot control method, a storage medium, and a processor for modeling, efficient and rapid layout. The present invention adopts to create an initial location model, the initial location model includes a docking layout; the initial location model includes at least one functional relationship for characterizing the docking layout relationship; determining the functional relationship and A functional relationship model is established to generate a location model; wherein the functional relationship model includes at least one variable. The invention summarizes the docking layout through the function relation model, constrains and refines the variable variables, and realizes the modeling.
Description
Technical Field
The invention relates to the field of robots, in particular to a prefabricated library position model and a creating and layout method and a robot control method thereof.
Background
With the development of science and technology, mobile robots are gradually applied to industries such as automatic transportation, unmanned driving, storage and logistics. The mobile robot needs to collect environmental data on site before actually running, and the process is called creating a map. During subsequent operation, the robot matches the map data according to the current sensing data, so that the position of the robot in the map is determined. Meanwhile, the map also needs to be added with operation information, such as running lines, charging points, feeding points and the like. The information needs to be edited and saved in the map through special software according to the field situation, and the process is also called field implementation.
The movable platform is implemented in an actual field, and point positions and connection road sections need to be set when the dock/shelf and other storage positions are butted. Depending on the type of the depot, a depot may require multiple points, such as entry points, exit points, servo points, waiting points, etc., which need to be interconnected to form a road segment of a particular nature. The position relation between the point location and the road section and the library location is called library location butt joint layout. One type of library site may have multiple layouts.
In the actual field implementation process of the movable platform, because the number of the field library positions is huge and slight differences exist in parts, each library position needs a large number of layout settings, and the editing and debugging work efficiency is low. Meanwhile, when the library position equipment is mechanically adjusted, the corresponding layout needs to be readjusted, which results in a great deal of time and labor waste.
Disclosure of Invention
Aiming at the problems of the existing products, the invention provides a prefabricated library position model which is modeled, efficiently and quickly arranged, and a creating, arranging and robot control method thereof.
The invention relates to a method for creating a prefabricated library position model of a robot,
creating an initial library position model, wherein the initial library position model comprises a butt joint layout; said initial library-level model comprising at least one functional relationship for characterizing said docking layout relationship;
determining the functional relationship and establishing a functional relationship model to generate a library position model; wherein the functional relationship model includes at least one variable.
Preferably, the determining the functional relationship and establishing a functional relationship model includes:
receiving experimental data information obtained by testing based on the initial library position model,
and adjusting the functional relation based on the experimental data information to determine the functional relation model.
The invention also relates to a prefabricated type storehouse position layout method of the robot,
acquiring a target map;
obtaining at least one library position model, wherein the library position model comprises a butt joint layout; wherein the library bit model comprises a functional relationship model for characterizing the docking layout relationship, the functional relationship model comprising at least one variable;
determining a first location of said library-level model on said target map, and determining said variable to generate a library-level layout.
Preferably, the determining the position of the library-position model on the target map includes:
generating a preview based on the target map and the library level model located on the target map.
Preferably, said determining said variable comprises: an input is received, responsive to the input and a value is assigned to the variable.
Preferably, after said responding to said input and assigning said variable, further comprises:
receiving operation data information of a field environment arranged based on the target map and the library space model on the target map;
wherein, the site environment comprises a site map corresponding to the target map and a butt joint layout in the library space model;
receiving the operation data information; adjusting and determining said variable based on said operational data information.
Preferably, in response to an input to change the location of the library level model, the library level model is modularly moved to a second location on the target map.
Preferably, a database is provided having one or more library site models, wherein each set of said library site models comprises a docking arrangement.
The invention also discloses a robot control method, which is applied to a robot,
obtaining first instruction information, wherein the first instruction information comprises instruction information obtained by calculating parameters in a library bit model, and the library bit model comprises a butt joint layout; the library position model comprises a functional relation model used for representing the butt joint layout relation;
and executing operation based on the first instruction information.
Preferably, the docking layout includes a point location and an attribute of the point location, and the first instruction information includes an order of sequentially passing through the point location and an action program executed at the point location.
A pre-fabricated library site model comprising a docking layout and a functional relationship model for characterizing said docking layout relationship, said functional relationship model comprising at least one variable.
Preferably, the docking layout includes the arrangement of the point locations relative to the library locations, and/or the attributes of the point locations; the functional relationship model comprises the arrangement of the point positions relative to the library positions and/or the attribute relationship of the point positions.
Preferably, the functional relationship model includes a point location and a point location, and/or a minimum distance value between the point location and a library location.
Preferably, the docking layout further includes the arrangement of the paths between the points, and/or the attributes of the paths; the functional relation model comprises the arrangement of the paths between the point positions and/or the attribute relation of the paths.
Preferably, the docking layout comprises a library position and the shape, the size and/or the docking mode of the robot to be docked, and the functional relationship model comprises the library position and/or the shape, the size and/or the docking mode relationship of the robot to be docked.
The invention also relates to a storage medium comprising: the storage medium includes a stored program, wherein the program executes the robot prefabricated library space model creation method or the robot prefabricated library space layout method.
The invention also relates to a processor comprising: the processor is configured to execute a program, wherein the program executes the robot prefabricated library space model creation method or the robot prefabricated library space layout method.
After adopting the structure, compared with the prior art, the invention has the following advantages:
the basic model concept is introduced into the library position layout method, and the basic model comprises the model library positions and the butt joint layout thereof. In the map generated on the basis of the implementation site, the map is laid out by using a prefabricated library position model, and a large number of layout settings for each library position are not required. The method induces the connection layout through the functional relation model, restrains and refines variable quantity, and realizes modeling. The butt joint layout can be adjusted only by setting or modifying a plurality of variable quantities in the functional relation model, so that the data quantity needing to be modified is greatly reduced, and efficient and rapid layout is achieved.
Drawings
Fig. 1 is a flow chart of a robot prefabricated library site model creation method of the present invention.
Fig. 2 is a flow chart of the robot prefabricated library site layout method of the present invention.
FIG. 3 is a diagram showing a first library bit model in the example.
FIG. 4 is a diagram showing a second library bit model in the example.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
The invention explains the problem of how to carry out efficient butt joint layout on the library position in the actual field implementation process of the movable platform. In the preparation stage, the movable platform needs to collect environmental data on site before actual operation so as to provide data for creating a target map on site. The target map comprises positions and directions of a plurality of library positions on the target map, and operation information. The storage position refers to the position of goods storage in the target map. The operation information comprises a running route preset by the movable platform, fixed point positions and the like.
In a newly-built factory area or an unintelligent production line, the existing warehouse location layout is not suitable for robot operation and needs to be modified to a certain degree. Before transformation, a planning sketch or design is needed, and grinding is continuously adjusted to determine a final scheme.
In the actual robot implementation and field reconstruction process, the CAD size of a factory drawing and a map created by the robot often have a certain degree of difference. The CAD is an ideal drawing, and can be gradually added into production equipment and partially artificially transformed after actual construction is finished. Therefore, the size of the map created by the robot is more accurate and is more suitable for being used as a size reference of a production line planning sketch.
Based on the thought, the robot implementation software is added with elements such as point positions, lines, library positions, auxiliary lines and the like, and editing and previewing operations are added, so that the robot implementation software meets the planning and design requirements of the whole production line. In the process, a docking point and a connecting section need to be established when docking a storage position such as a wharf/a shelf and the like. Depending on the type of the depot, a depot may require the matching of multiple point locations, such as an entry point, an exit point, a servo point, a waiting point, etc., which are interconnected to form a road segment with special attributes.
The butt joint layout comprises point locations, road sections among the point locations, storage locations, relative arrangement among the point locations, the road sections among the point locations, the storage locations and self-owned attributes of the point locations, the road sections and the storage locations. The arrangement includes a position, a direction, and/or a distance; attributes include constraints attached to the point, bin, or road segment, such as: the execution action corresponding to one point location, the speed limit information of one road section, the warehousing mode of the warehouse location and the like.
The functional relationship may be the position arrangement of the point location relative to the library location, and/or the attribute relationship of the point location; the arrangement of the paths between the point locations and/or the attributes of the paths can also be used; or a relational expression comprising the size of the library space and/or the robot to be docked; it may also be a point location and a point location, and/or a minimum separation value between a point location and a bin location.
In the prefabrication stage, as shown in fig. 1, the invention relates to a robot prefabrication type stock location model creating method, which is applied to a first server,
step S1, creating an initial library position model, wherein the initial library position model comprises a butt joint layout; said initial library-level model comprising at least one functional relationship for characterizing said docking layout relationship;
step S2, determining the functional relationship and establishing a functional relationship model to generate a library model; wherein the functional relationship model includes at least one variable.
In step S1, creating the initial library level model may be implemented by program entry. The initial library site model includes a docking layout.
Specifically, for the same class of library sites, there are several common docking layout types, for example, two layouts as shown in fig. 3-4, and for the same class of library sites, two library site models of an a-docking layout or a B-docking layout may be employed. The A butt joint layout does not interfere with the operation of the trunk line robot, and the B butt joint layout saves more space. The two butt joint layouts can be preset to be matched with the library positions, and the operation stability and the characteristics can be found out clearly in advance, namely the prefabricated butt joint layout. In the field implementation stage, only the layout needs to be directly applied, and the workload of manual one-by-one adjustment is reduced.
The initial library bit model comprises a functional relation model, and the functional relation model comprises variable quantities. Due to the influence of many variables such as robot size, storage space/shelf size, field limitation, etc., the pre-fabricated layout with fixed size is difficult to be directly applied, and for this purpose, the functional relation model is introduced, and adjustable variable quantity is introduced. According to the field condition, the variable quantity is adjusted according to local conditions, the adaptability is better, and the adjustment is more flexible and convenient.
As shown in fig. 3, taking the distance L1 from the entry point to the library bit in the a-docking layout as an example, the calculation method of L1 in the functional relationship model for characterizing the a-docking layout is as follows:
l1 = robot rotation radius + adjustable distance value + storage position half length;
for ease of understanding, the above relationship simply characterizes the functional relationship of the entry point to library location distance L1, with the adjustable spacing value being a variable. In practice, it will be more complicated. The actual mathematical model will take into account robot positioning errors, library site ground wire spacing, safety intervals, library site characteristics, ex-warehouse direction, etc. and set some values associated with these parameters as one or more variables. In more specific cases, the amount of variability considered will increase. For example, when a mobile shelf is in the storage space, the functional relationship model includes a shelf placement error; when the docking mode of the storage position is backpack docking, the functional relation model comprises the sizes of the robot and the storage position, and whether the robot can drill into the bottom of the goods shelf and the rotating space or not.
In the step S2, determining the functional relationship and establishing a functional relationship model to generate a library model; wherein the functional relationship model includes at least one variable.
More specifically, the determining the functional relationship and establishing a functional relationship model includes:
receiving experimental data information obtained by testing based on the initial library position model,
and adjusting the functional relation based on the experimental data information to determine the functional relation model.
The functional relationship model is typically tested in a laboratory system to obtain experimental data information. The stability of the device is usually higher than the size determined by the conventional field operation, the measurement process comprises the steps of carrying out actual operation test by adopting the size and the position calculated by a model, measuring the error and the operation speed, and repeatedly verifying to obtain the optimal functional relation.
The functional relationship may also be derived by human input, such as: and defining the functional relationship by adopting a program entry mode, wherein the functional relationship model is a set of functional relationships.
And when the library position model is prefabricated, the functional relation model is the optimal functional relation. The functional relationship model is generally most applicable to the same class of library bits.
For a class of library positions with specific butt joint layouts, the library position layouts are preset in advance through the steps, a functional relation model is completed to calculate the size, and the preset library position layout model is manufactured through testing a test certificate of a laboratory system.
As an implementation form, when the initial library bit model is in a combined form, the library bits may be the same type of library bits, and the docking layout is the same docking layout. For example, to save on-site space, multiple storage locations may be closely adjacent to each other, forming a group of storage locations with multiple storage locations combined, each storage location using the same docking layout. However, the implementation form is not the only implementation form, and the collocation of any library position and the docking layout thereof in the initial library position model, the docking layout and the library position in the initial library position model can be the same or different.
In the implementation and deployment stage, as shown in fig. 2, the present invention further relates to a prefabricated library location layout method for a robot, which is applied to a second server,
acquiring a target map;
obtaining at least one library position model, wherein the library position model comprises a butt joint layout; wherein the library bit model comprises a functional relationship model for characterizing the docking layout relationship, the functional relationship model comprising at least one variable;
determining a first location of said library-level model on said target map, and determining said variable to generate a library-level layout.
And carrying out investigation according to the field environment, and selecting a proper library position model. The determined variable is the optimal value of the variable when the functional relation model is adapted to the target scene. After determining the variable, the library bit model is most targeted to the target map, and is most applicable in the running implementation.
More specifically, said determining the location of said library-level model on said target map comprises:
generating a preview based on the target map and the library level model located on the target map.
In the implementation process of the mobile robot, the site environment can be modified according to the operation requirements of the robot, the stock space model can be used for layout and preview, and the preview presentation is performed on a map in real time. An appropriate bin model may be selected based on the software preview effect. The preview effect at this moment can guide the modification of a production line factory and is also the operation information of the actual operation of the follow-up robot. And adjusting and determining the position of the library position and each variable, and observing the preview effect to meet the actual requirement. And storing the library position and the layout information to a map.
More specifically, said determining said variable comprises: an input is received, responsive to the input and a value is assigned to the variable.
The variable may also be a human input defining some dimensional parameters, such as: the user inputs the library position size, the robot size and the relevant variable value, and the required size and the point position are calculated through the functional relation model.
More specifically, said responding to said input and after assigning said variable, further comprises:
receiving operation data information of a field environment arranged based on the target map and the library space model on the target map;
wherein, the site environment comprises a site map corresponding to the target map and a butt joint layout in the library space model;
receiving the operation data information; adjusting and determining said variable based on said operational data information.
According to the layout information, the robot can calculate the flows and parameters of most docking programs and calculate and simulate the flows and parameters on the server.
The process comprises the steps of carrying out actual operation test by adopting the size and the position calculated by the model, collecting operation data information, measuring errors and operation speed, and repeatedly verifying to obtain the optimal value of the variable quantity.
More specifically, in response to an input to alter the location of the library-level model, the library-level model is modularly moved to a second location on the target map.
In operation, a library-level model at a first location on the target map may be selected and the modular ensemble moved to a second location on the target map. The variable quantity does not need to be determined again, and the operation is convenient.
As an implementation form, the same library-level model may also be obtained and combined to form a library-level model group, and the library-level model group is synchronously operated, where the operation includes moving a displacement or determining a variable.
More specifically, a database is provided having one or more library site models, wherein each set of said library site models comprises a docking layout. When multiple library models exist in a database, a user can select a library model in the database. Generally, the same type of library bit may correspond to one or more docking layouts, i.e., the same type of library bit may have multiple library bit models. In providing the selection, a generalization can be made according to the type of the library bit. When one library position corresponds to a plurality of butt joint layouts, a user can select a library position type and then select a library position model with a required butt joint layout.
The invention also discloses a robot control method, which is applied to a robot,
obtaining first instruction information, wherein the first instruction information comprises instruction information obtained by calculating parameters in a library bit model, and the library bit model comprises a butt joint layout; the library position model comprises a functional relation model used for representing the butt joint layout relation;
and executing operation based on the first instruction information.
The first instruction information comes from the second server. The first instruction comprises a library position model, and the library position model comprises at least one library position and a butt joint layout thereof. As shown in fig. 3, for example, after the length of L1 is determined, the library level and the docking layout are determined, the arrangement and/or the attribute of the node and the path of the docking layout are determined, and the library level entry process of the robot is already determined: the robot navigates to the access point, adjusts the direction to the library position, and slowly moves forwards by the distance of L1 to reach the docking position with the library position. According to the type of the storage position, a more detailed docking program can be generated, such as a roller type dock, and the infrared correlation sensor can be triggered by slow movement; backpack shelves, which can be visually servo docked with an upward facing camera after L1 distance movement; and so on.
More specifically, the docking layout includes point locations and attributes of the point locations, and the first instruction information includes an order of sequentially passing through the point locations and an action program executed at the point locations.
The invention also relates to a prefabricated library bit model, which comprises a butt joint layout and a functional relation model for representing the butt joint layout relation, wherein the functional relation model comprises at least one variable quantity.
More specifically, preferably, the docking layout includes the arrangement of the point locations relative to the library locations, and/or the attributes of the point locations; the functional relationship model comprises the arrangement of the point positions relative to the library positions and/or the attribute relationship of the point positions.
The point locations comprise an entry point location, an exit point location, a butt joint point, a middle node and the like, and the point locations are nodes passing through or temporarily staying in the planned route of the robot. The arrangement of the point locations, the number of the pointing locations and the directions among the point locations. The attributes of the point location include the time of staying at the point location, the operation executed on the point location and the similar attached information. The arrangement of the point positions is related to the planned route and the running sequence of the robot.
More specifically, preferably, the functional relationship model includes a point location and a point location, and/or a minimum distance value between a point location and a library location.
Due to different operation forms and different butt joint forms, the minimum distance value required to be set is different. The point location and/or the minimum distance value between the point location and the storage location can be adjusted by adopting a variable form, so that the method is more flexible and more guaranteed for the smoothness and the safety of the operation of the robot.
More specifically, preferably, the docking layout further includes the arrangement of the paths between the points, and/or the attributes of the paths; the functional relation model comprises the arrangement of the paths between the point positions and/or the attribute relation of the paths. The path is a road section between point positions where the robot passes along the planned route. The arrangement of the paths refers to the number of the paths and the positions among the point positions. The attribute of the path refers to the same kind of attached information of the direction, width, length and the like of the path.
More specifically, preferably, the docking layout includes a library position and a shape, a size and/or a docking manner of the robot to be docked, and the functional relationship model includes a library position and/or a shape, a size and/or a docking manner relationship of the robot to be docked. Wherein, the size of the library position is the planar size occupied by the library position in the target scene, and the size of the robot to be docked is the planar size occupied by the robot in the target scene. In order to adapt to robots of different types and different scene spaces, the size of the library space can be adjusted according to the actual requirements in the target scene. The robot to be butted can be adjusted according to the actual sizes of the robots of different models in actual use. In many cases, the manner of interfacing is related to the placement of the dot locations relative to the library locations. For example, the docking means may be a piggy-back robot, accessible from a store
The invention also relates to a storage medium comprising: the storage medium includes a stored program, wherein the program executes the robot prefabricated library space model creation method or the robot prefabricated library space layout method.
The invention also relates to a processor comprising: the processor is configured to execute a program, wherein the program executes the robot prefabricated library space model creation method or the robot prefabricated library space layout method.
In the implementation process, the physical layout of the existing field equipment is modified to conform to a robot library position layout model.
The library layout and the docking procedure are generated reliably and stably. In the field implementation preparation process, transformation operation can be performed according to the layout size generated by calculation, such as pasting a schematic yellow line on the ground, setting a danger warning area and the like. The implementer can obtain the drawing with specific size in advance, and the field operation is convenient.
After the field transformation is completed, position information in software and an actual field can have errors, adjustment can be performed during implementation, test and operation, the adjustment process is fine adjustment of the whole position of the library layout, and the position size in the layout cannot be changed, so that the adjustment workload is reduced, and meanwhile, the butt joint operation stability of the robot is improved.
In summary, the invention is suitable for newly building a production line or a site convenient for reconstruction, and is particularly suitable for a case of combining robot operation design in a plant planning stage.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been illustrated and described above, it is not intended that they be construed as limiting the claims. The invention is not limited to the above embodiments, the specific construction of which allows variations, all of which are within the scope of the invention as defined in the independent claims.
Claims (17)
1. A robot prefabricated library position model establishing method is characterized in that,
creating an initial library position model, wherein the initial library position model comprises a butt joint layout; said initial library-level model comprising at least one functional relationship for characterizing said docking layout relationship;
determining the functional relationship and establishing a functional relationship model to generate a library position model; wherein the functional relationship model includes at least one variable.
2. The method as claimed in claim 1, wherein said determining said functional relationship and modeling said functional relationship comprises:
receiving experimental data information obtained by testing based on the initial library position model,
and adjusting the functional relation based on the experimental data information to determine the functional relation model.
3. A prefabricated storehouse position layout method of a robot is characterized in that,
acquiring a target map;
obtaining at least one group of library position models, wherein the library position models comprise butt joint layouts; wherein the library bit model comprises a functional relationship model for characterizing the docking layout relationship, the functional relationship model comprising at least one variable;
determining a first location of said library-level model on said target map, and determining said variable to generate a library-level layout.
4. A robot prefabricated library site layout method as claimed in claim 3,
said determining the location of said library-level model on said target map comprises:
generating a preview based on the target map and the library level model located on the target map.
5. A robot prefabricated library site layout method as claimed in claim 3,
said determining said variable quantity comprises: an input is received, responsive to the input and a value is assigned to the variable.
6. A robot prefabricated library site layout method as claimed in claim 5,
after said assigning a variable in response to said input, further comprising:
receiving operation data information of a field environment arranged based on the target map and the library space model on the target map;
wherein, the site environment comprises a site map corresponding to the target map and a butt joint layout in the library space model;
receiving the operation data information; adjusting and determining said variable based on said operational data information.
7. The method as claimed in claim 4, wherein the step of pre-constructing the library site layout is performed by a computer,
in response to an input to alter the location of the library-level model, modularly moving the library-level model to a second location on the target map.
8. A robot pre-fabricated library site placement method as claimed in claim 1, wherein a database is provided having one or more sets of library site models, wherein each set of said library site models comprises a docking layout.
9. A robot control method is applied to a robot and is characterized in that,
obtaining first instruction information, wherein the first instruction information comprises instruction information obtained by calculating parameters in a library bit model, and the library bit model comprises a butt joint layout; the library position model comprises a functional relation model used for representing the butt joint layout relation;
and executing operation based on the first instruction information.
10. The robot control method according to claim 9, wherein the docking layout includes a point location and an attribute of the point location, and the first instruction information includes an order of sequentially passing through the point locations and an action program executed at the point location.
11. A pre-fabricated library site model comprising a docking configuration and a functional relationship model for characterizing said docking configuration, said functional relationship model comprising at least one variable.
12. A pre-fabricated library site model according to claim 11, wherein the docking arrangement comprises the placement of the point locations relative to the library site, and/or the attributes of the point locations; the functional relationship model comprises the arrangement of the point positions relative to the library positions and/or the attribute relationship of the point positions.
13. The prefabricated library site model of claim 12, wherein said functional relationship model comprises point locations and point locations, and/or minimum spacing values between point locations and library sites.
14. The pre-fabricated library site model of claim 12, wherein the docking layout further comprises an arrangement of paths between the sites, and/or properties of the paths; the functional relation model comprises the arrangement of the paths between the point positions and/or the attribute relation of the paths.
15. A pre-made library site model according to claim 11, wherein the docking layout comprises the library site and the shape, size and/or docking manner of the robot to be docked, and the functional relationship model comprises the library site and/or the shape, size and/or docking manner relationship of the robot to be docked.
16. A storage medium, comprising: the storage medium includes a stored program, wherein the program executes the robot prefabricated library space model creation method of any one of claims 1 to 4, or executes the robot prefabricated library space layout method of any one of claims 5 to 10.
17. A processor, comprising: the processor is configured to execute a program that performs the robot prefabricated library site model creation method of any one of claims 1 to 4 or the robot prefabricated library site layout method of any one of claims 5 to 10.
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