CN112902979A - Robot set control system and method - Google Patents
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The application provides a robot set control system and a method, wherein the system comprises at least one robot and a control server, wherein the control server comprises: the robot counting system comprises a first robot counting module, a second robot counting module and a third robot counting module, wherein the first robot counting module is configured to count the number of robots to be gathered and acquire an identity and a first position of each robot to be gathered, and the first position is the position to be gathered of each robot to be gathered; the system comprises an aggregation point counting module, a position determining module and a control module, wherein the aggregation point counting module is configured to determine the number of aggregation points and the positions of the aggregation points in a robot aggregation area; the first movement instruction generation module is configured to calculate a movement path of each to-be-aggregated robot from the first position to each aggregation point according to the first position of each to-be-aggregated robot, determine a corresponding relation between each to-be-aggregated robot and the aggregation point, generate a first robot movement instruction and send the first robot movement instruction to each to-be-aggregated robot.
Description
Technical Field
The present disclosure relates to the field of warehouse logistics technologies, and in particular, to a robot set control system and method, a computing device, and a computer-readable storage medium.
Background
In the prior art, after a self-driven robot cluster finishes a job, a single robot may be scattered at each corner of a warehouse, and in order to collect all robots into a collection area, a user needs to manually compile a sequence of robot collections first, compile a collection point of each robot, and finally send a collection instruction to each robot to enable the robot to go to a corresponding collection point position. However, the operation of the current robot assembly process is complex and easy to make mistakes, which affects the working efficiency of field personnel, and the reasons are as follows: firstly, when a user compiles a robot set list, the resting positions of all robots are required to be ensured to be independent; secondly, the user needs to send instructions to all robots in sequence through manual operation, and the operation times are large; finally, the robot is in the way to the gathering point, and there is a certain probability that the robot is blocked by other robots to go the way, and the user is required to manually intervene to move the robot which is blocked the way.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a robot set control system and method, a computing device, and a computer-readable storage medium, so as to solve technical defects in the prior art.
According to a first aspect of embodiments herein, there is provided a robot set control system comprising at least one robot and a control server, wherein the control server comprises:
the robot counting system comprises a first robot counting module, a second robot counting module and a third robot counting module, wherein the first robot counting module is configured to count the number of robots to be gathered and acquire an identity and a first position of each robot to be gathered, and the first position is the position to be gathered of each robot to be gathered;
the system comprises an aggregation point counting module, a position determining module and a control module, wherein the aggregation point counting module is configured to determine the number of aggregation points and the positions of the aggregation points in a robot aggregation area;
the first movement instruction generation module is configured to calculate a movement path of each to-be-aggregated robot from the first position to each aggregation point according to the first position of each to-be-aggregated robot, determine a corresponding relation between each to-be-aggregated robot and the aggregation point, generate a first robot movement instruction and send the first robot movement instruction to each to-be-aggregated robot;
the robot is configured to receive the first robot movement instruction and move to a corresponding set point according to the first robot movement instruction;
the control server is in communication connection with the robot.
Optionally, the system further includes:
and the second robot counting module is configured to count the number of the robots to be gathered and acquire the identity and a second position of each robot to be gathered, wherein the second position is a position where each robot to be gathered is located after the robot to be gathered receives the first robot moving instruction and a preset time threshold value is passed.
Optionally, the system further includes:
the position judging module is configured to judge whether the second position of each robot to be aggregated is the same as the position of the aggregation point corresponding to each robot to be aggregated; if so, inputting the second position of the robot to be gathered to an obstacle position avoiding module; if not, inputting the second position of the robot to be assembled to a second movement instruction generation module;
the obstacle position avoiding module is configured to move the robot to be gathered to a third position outside the robot gathering area when the second position of the robot to be gathered is located on the motion paths of the other robots to be gathered, and control the robot to be gathered to move from the third position to the gathering point position corresponding to the robot to be gathered when the second position is no longer located on the motion paths of the other robots to be gathered.
A second movement instruction generation module configured to calculate, according to the second position of the robot to be aggregated and the corresponding relationship between the robot to be aggregated and the aggregation point, a movement path from the robot to be aggregated to the aggregation point corresponding to the robot to be aggregated, generate a second robot movement instruction, and send the second robot movement instruction to the robot to be aggregated, if the position judgment module judges that the second position of the robot to be aggregated is different from the aggregation point corresponding to the robot to be aggregated;
the robot is further configured to receive the second robot movement instruction and move to the corresponding set point according to the second robot movement instruction.
Optionally, the system further includes a workstation and a storage container, the workstation is disposed in the work area, the storage container is disposed in the shelf area, a high-speed passage area is disposed between the work area and the shelf area, and the robot assembly area is a rectangular area disposed in the high-speed passage area.
Optionally, the system includes at least two storage areas, adjacent storage areas are separated from each other by partitions, adjacent storage areas are communicated with each other by a non-robot passage, and each storage area is configured with the working area, the shelf area, the high-speed passage area, the robot aggregation area, and at least one robot;
the control server is further configured to start the robot assembly process in each storage area or terminate the robot assembly process according to a user instruction.
Optionally, the system further includes:
and the robot management interface is used for acquiring a user instruction and sending a set starting instruction or a set stopping instruction to the control server according to the user instruction so as to control the control server to start the set flow of the robot or stop the set flow of the robot.
Optionally, the rendezvous point statistics module includes:
an aggregation point setting unit configured to set the robot aggregation area and set a plurality of aggregation points not less than the number of robots to be aggregated in the robot aggregation area, and determine an order of the aggregation points and positions of the aggregation points according to a direction attribute of the aggregation points and an interval attribute of the aggregation points;
the first movement instruction generation module includes:
a path planning unit configured to calculate a motion path of each robot to be aggregated from the first position to each aggregation point according to a manhattan distance and a path planning algorithm and according to the positions of the aggregation points and the first positions of the robots to be aggregated;
the relation mapping unit is configured to determine the corresponding relation between the robots to be gathered and the gathering point according to the effectiveness of the motion paths of the robots to be gathered;
and the first instruction sending unit is configured to generate a first robot movement instruction according to the corresponding relation between the robot to be aggregated and the aggregation point and send the first robot movement instruction to the robot to be aggregated according to the sequence of the aggregation point, wherein the first time interval is taken as a period.
Optionally, the path planning algorithm is an a-Star path algorithm.
Optionally, the second robot statistics module includes:
and the position determining unit is configured to count the number and the identity of the robots to be assembled after receiving the first robot movement instruction, and acquire a second position of each robot to be assembled after receiving the first robot movement instruction.
Optionally, the obstacle position avoiding module includes:
an obstacle position determination unit configured to determine whether a second position of the robots to be grouped is located on a movement path of any of the robots to be grouped; if so, inputting the identity of the robot to be gathered to an obstacle elimination unit; if not, determining that the robot to be assembled completes the assembly;
an obstacle elimination unit configured to generate and issue a third robot movement instruction to cause a robot to be aggregated, which is located on a movement path of any one robot to be aggregated, to move from the second position to a third position located outside the robot aggregation area when the second position is no longer located on the movement paths of the other robots to be aggregated;
and the set resetting unit is configured to calculate a motion path from the third position to the set point corresponding to the to-be-set robot according to the third position of the to-be-set robot and the corresponding relation between the to-be-set robot and the set point, generate a fourth robot moving instruction and send the fourth robot moving instruction to the to-be-set robot so that the to-be-set robot moves from the third position to the set point corresponding to the to-be-set robot.
Optionally, the second time interval is smaller than the first time interval.
Optionally, the first time interval is 10 seconds; the second time interval is 1 second or 2 seconds.
According to a second aspect of embodiments herein, there is provided a robot set control method including:
counting the number of robots to be gathered, and acquiring an identity and a first position of each robot to be gathered, wherein the first position is the position to be gathered of each robot to be gathered;
determining the number of gathering points and the positions of the gathering points in a robot gathering area;
and calculating a motion path of each robot to be gathered from the first position to each gathering point according to the first position of each robot to be gathered, determining the corresponding relation between each robot to be gathered and the gathering point, generating a first robot movement instruction and sending the first robot movement instruction to each robot to be gathered.
Optionally, after generating and sending the first robot movement instruction to each of the robots to be aggregated, the method further includes:
counting the number of the robots to be gathered, and acquiring the identity and a second position of each robot to be gathered, wherein the second position is the position where each robot to be gathered receives the first robot movement instruction and is located after a preset time threshold value.
Optionally, after obtaining the identity and the second position of each robot to be aggregated, the method further includes:
judging whether the second position of each robot to be aggregated is the same as the aggregation point position corresponding to each robot to be aggregated;
if so, under the condition that the second position of the robot to be aggregated is located on the motion paths of other robots to be aggregated, moving the robot to be aggregated to a third position located outside the robot aggregation region, and controlling the robot to be aggregated to move from the third position to the aggregation point position corresponding to the robot to be aggregated when the second position is no longer located on the motion paths of other robots to be aggregated;
if not, calculating a motion path of the robot to be gathered to the gathering point corresponding to the robot to be gathered according to the second position of the robot to be gathered and the corresponding relation between the robot to be gathered and the gathering point, generating a second robot moving instruction and sending the second robot moving instruction to the robot to be gathered.
Optionally, determining the number of aggregation points and the positions of the aggregation points in the robot aggregation area includes:
setting the robot aggregation area, setting a plurality of aggregation points which are not less than the number of robots to be aggregated in the robot aggregation area, and determining the sequence of the aggregation points and the positions of the aggregation points according to the direction attributes of the aggregation points and the interval attributes of the aggregation points;
calculating a motion path from each robot to be gathered to each gathering point according to the first position of each robot to be gathered, determining the corresponding relation between each robot to be gathered and each gathering point, generating a first robot moving instruction and sending the first robot moving instruction to each robot to be gathered, wherein the motion path comprises the following steps:
according to a Manhattan distance and path planning algorithm, calculating a motion path of each robot to be gathered from the first position to each gathering point according to the position of the gathering point and the first position of the robot to be gathered;
determining the corresponding relation between the robots to be gathered and the gathering point according to the effectiveness of the motion paths of the robots to be gathered;
and taking a first time interval as a period, generating a first robot moving instruction according to the corresponding relation between the robot to be gathered and the gathering point, and sending the first robot moving instruction to the robot to be gathered according to the sequence of the gathering point.
Optionally, the path planning algorithm is an a-Star path algorithm.
Optionally, counting the number of the robots to be aggregated, and acquiring the identity and the second position of each robot to be aggregated includes:
and counting the number and the identity of the robots to be assembled which have received the first robot movement instruction by taking a second time interval as a period, and acquiring a second position of each robot to be assembled which has received the first robot movement instruction.
Optionally, when the second position of the robot to be aggregated is located on the motion path of the other robot to be aggregated, moving the robot to be aggregated to a third position located outside the robot aggregation area, and when the second position is no longer located on the motion path of the other robot to be aggregated, controlling the robot to be aggregated to move from the third position to the aggregation point position corresponding to the robot to be aggregated includes:
judging whether the second position of the robot to be gathered is positioned on the motion path of any robot to be gathered;
if so, generating and sending a third robot moving instruction to enable the robot to be gathered, which is positioned on the motion path of any robot to be gathered, to move from the second position to a third position outside the robot gathering area when the second position is no longer positioned on the motion paths of other robots to be gathered;
according to the third position of the robot to be gathered and the corresponding relation between the robot to be gathered and a gathering point, calculating a motion path from the third position to the gathering point corresponding to the robot to be gathered by the robot to be gathered, generating a fourth robot moving instruction and sending the fourth robot moving instruction to the robot to be gathered so that the robot to be gathered can move from the third position to the gathering point corresponding to the robot to be gathered;
if not, determining that the robot to be assembled completes the assembly.
Optionally, the second time interval is smaller than the first time interval.
Optionally, the first time interval is 10 seconds; the second time interval is 1 second or 2 seconds.
According to a third aspect of embodiments herein, there is provided a computing device comprising a memory, a processor and computer instructions stored on the memory and executable on the processor, the processor implementing the steps of the robot set control method when executing the instructions.
According to a fourth aspect of embodiments herein, there is provided a computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of the robot set control method.
The utility model provides an intelligent, automatic and configurable robot set control system, this system is through the quantity and the robot set region of acquireing the robot that treats the set, confirm every and treat the set point of robot to treating the set the robot sends the robot and removes the instruction, makes and treat the set the robot removes to the set point department that corresponds for the user only needs once operation just can accomplish the set of a plurality of robots in the set region, has greatly improved the efficiency of operation and maintenance robot, has guaranteed the stability and the sustainability of storage commodity circulation.
Drawings
Fig. 1 is a schematic structural diagram of a robot integrated control system provided in an embodiment of the present application;
FIG. 2-a is a schematic structural diagram of a storage area provided in an embodiment of the present application;
2-b is another structural schematic diagram of a storage area provided by the embodiment of the present application;
2-c is another schematic structural diagram of a storage area provided by the embodiment of the present application;
FIG. 3 is a block diagram of a computing device provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a robot set control method provided in an embodiment of the present application;
FIG. 5 is a flowchart of a robot set control method provided in an embodiment of the present application;
FIG. 6 is another flowchart of a robot set control method provided in an embodiment of the present application;
FIG. 7 is another flowchart of a robot set control method provided in an embodiment of the present application;
FIG. 8 is another flowchart of a robot set control method provided in an embodiment of the present application;
FIG. 9 is another flowchart of a robot set control method provided in an embodiment of the present application;
fig. 10 is another flowchart of a robot set control method according to an embodiment of the present application.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.
The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
First, the noun terms to which one or more embodiments of the present invention relate are explained.
Self-driven robot: an Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions.
Manhattan distance: the term "minkowski" in the nineteenth century is a geometric term used in a geometric space to indicate the sum of the absolute distances between two points in a standard coordinate system.
A-Star Path Algorithm: the most effective direct search method for solving the shortest path in the static road network is also an effective algorithm for solving a plurality of search problems, and the closer the distance estimation value in the algorithm is to the actual value, the faster the final search speed is.
In the present application, a robot set control system and method, a computing device, and a computer-readable storage medium are provided, which are described in detail one by one in the following embodiments.
Fig. 1 shows a robot set control system according to an embodiment of the application, comprising at least one robot and a control server, wherein the control server comprises:
the robot counting system comprises a first robot counting module, a second robot counting module and a third robot counting module, wherein the first robot counting module is configured to count the number of robots to be gathered and acquire the identity and the first position of each robot to be gathered;
in the above embodiment, the control server of the present application may, according to a request of a user, count the number of the robots to be aggregated after starting the aggregation process of the robots, and obtain an Identity (ID) and a first position of each robot to be aggregated, where the first position is a position to be aggregated of each robot to be aggregated, that is, a position where the robot to be aggregated is located at a current time, where the robot to be aggregated refers to a self-driven robot that is currently in an "idle" state without a carrying task.
The system comprises an aggregation point counting module, a position determining module and a control module, wherein the aggregation point counting module is configured to determine the number of aggregation points and the positions of the aggregation points in a robot aggregation area;
in the above embodiment, set points for parking robots are provided in a preset robot set area, each set point corresponds to one robot, and the control server of the present application may further determine the number of set points and the positions of the set points in the robot set area according to the number of robots to be set.
The first movement instruction generation module is configured to calculate a movement path of each to-be-aggregated robot from the first position to each aggregation point according to the first position of each to-be-aggregated robot, determine a corresponding relation between each to-be-aggregated robot and the aggregation point, generate a first robot movement instruction and send the first robot movement instruction to each to-be-aggregated robot;
in the above embodiment, the control server of the present application may calculate, according to the first position of each robot to be aggregated, a motion path of each robot to be aggregated from the first position to each aggregation point, form a correspondence between each robot to be aggregated and the aggregation point, and then generate a first robot movement instruction and send the first robot movement instruction to each robot to be aggregated.
The robot is configured to receive the first robot movement instruction and move to a corresponding set point according to the first robot movement instruction;
in the above embodiments, the robot of the present application can receive the first robot movement instruction from the control server, execute the first robot movement instruction assigned by the control server, and move to the corresponding rendezvous point according to the first robot movement instruction.
The control server is in communication connection with the robot.
In one or more embodiments of the present application, the control server and the robots are in communication and docking, so that information such as a working state, a position, and an identity of each robot can be obtained in real time.
Compared with the traditional collection mode of a plurality of robot manual collections, the robot collection control system has the advantages that the robot collection control system is intelligent, automatic and configurable, the robot collection control system determines that each robot collection point needs to be collected by acquiring the number of the robots to be collected and the robot collection area, sends robot moving instructions to the robots to be collected, enables the robots to be collected to move to the corresponding collection points, enables a user to complete the collection of the robots in the collection area only through one-time operation, greatly improves the efficiency of operating and maintaining the robots, and guarantees the stability and the sustainability of warehouse logistics.
In one or more embodiments of the present application, the control server further includes:
and the second robot counting module is configured to count the number of the robots to be gathered and acquire the identity and a second position of each robot to be gathered, wherein the second position is a position where each robot to be gathered is located after the robot to be gathered receives the first robot moving instruction and a preset time threshold value is passed.
The position judging module is configured to judge whether the second position of each robot to be aggregated is the same as the position of the aggregation point corresponding to each robot to be aggregated; if so, inputting the second position of the robot to be gathered to an obstacle position avoiding module; if not, inputting the second position of the robot to be assembled to a second movement instruction generation module;
the obstacle position avoiding module is configured to move the robot to be gathered to a third position outside the robot gathering area when the second position of the robot to be gathered is located on the motion paths of the other robots to be gathered, and control the robot to be gathered to move from the third position to the gathering point position corresponding to the robot to be gathered when the second position is no longer located on the motion paths of the other robots to be gathered.
A second movement instruction generation module configured to calculate, according to the second position of the robot to be aggregated and the corresponding relationship between the robot to be aggregated and the aggregation point, a movement path from the robot to be aggregated to the aggregation point corresponding to the robot to be aggregated, generate a second robot movement instruction, and send the second robot movement instruction to the robot to be aggregated, if the position judgment module judges that the second position of the robot to be aggregated is different from the aggregation point corresponding to the robot to be aggregated;
the robot is further configured to receive the second robot movement instruction and move to the corresponding set point according to the second robot movement instruction.
In the above embodiment, the control server of the present application may check and verify the second position of each robot after the robot aggregation process is performed for a period of time, determine whether the second position of each robot to be aggregated is the same as the aggregation point position corresponding to each robot to be aggregated, and perform temporary transfer or secondary aggregation of obstacle positions according to the determination result, thereby implementing monitoring of aggregation state of each robot, and ensuring that the aggregation process can be completed smoothly.
In one or more embodiments of the present application, as shown in fig. 2-a, the system of the present application further includes a workstation disposed in the work area and a storage container disposed in the shelf area, a high speed aisle area is disposed between the work area and the shelf area, and the robot aggregation area is a rectangular area disposed in the high speed aisle area for accommodating the robots in the storage area for aggregation.
In the above embodiment, the system of the present application may be applied to a storage area of warehouse logistics, and a user may virtually configure at least one robot aggregation area in the storage area and store the robot aggregation area to the control server by using the system of the present application according to the number of the robots in the storage area and attribute characteristics of the storage area, where the attribute characteristics of the storage area include a position, an area, special requirements, and the like, and for example, in an actual picking scene, the storage area may be generally disposed around a high-speed aisle area or a working area, and there is no fixed layout for dynamic configuration.
In the above embodiment, the long side and the wide side of the robot assembly area may be arranged in parallel with the boundary of the storage area, the robot assembly area may be divided into L × W rectangular units along the long side and the wide side of the robot assembly area, each rectangular unit may accommodate one robot, and therefore at most L × W robots may be accommodated, where L and W are positive integers greater than or equal to 1, and an absolute position of each rectangular unit in the robot assembly area is determined by coordinates of a start point and an end point.
In one or more embodiments of the present application, as shown in fig. 2-b, the robot aggregation control system of the present application includes two storage areas, adjacent storage areas are separated from each other by partitions, adjacent storage areas are communicated with each other by a non-robot channel, a robot in each storage area cannot move across the areas, each storage area is provided with a corresponding working area, a high-speed channel area and a shelf area, and the robots aggregate only in the storage area where the robots are located, so as to avoid the robot moving across the areas.
In one or more embodiments of the present application, as shown in fig. 2-c, the robot aggregation control system of the present application includes three storage areas, adjacent storage areas are separated from each other by partitions, adjacent storage areas are communicated with each other by a non-robot channel, a robot in each storage area cannot move across the areas, each storage area is provided with a corresponding working area, a high-speed channel area and a shelf area, and the robots aggregate only in the storage area where the robots are located, so as to avoid the robot moving across the areas.
The control server is further configured to start the robot assembly process in each storage area or terminate the robot assembly process according to a user instruction.
In one or more embodiments of the present application, the robot set control system further includes a robot management interface, where the robot management interface is configured to obtain a user instruction, and send a set starting instruction or a set stopping instruction to the control server according to the user instruction, so as to start a set flow of the robot according to the user instruction or at a preset time, or stop the set flow of the robot according to the user instruction or at a preset time during a set process of the robot. Specifically, the robot management interface includes a "one-key set" button and a "one-key set termination" button, and when a user clicks the "one-key set" button, the robot management interface sends a set starting instruction to the control server, the control server starts the set flow of the robot after receiving the set starting instruction, and meanwhile, in the set process, the control server feeds back the robot which has completed the set flow to the user through the robot management interface, and when the user clicks the "one-key set termination" button, the robot management interface sends a set termination instruction to the control server, and the control server terminates the set flow of the robot after receiving the set termination instruction.
Fig. 3 shows a communication framework schematic diagram of a robot collective control system according to an embodiment of the application.
The components of the control server include, but are not limited to, memory and a processor. The processor is connected with the memory through a bus, and the database is used for storing data.
The control server also includes an access device that enables the control server to communicate via one or more networks. Examples of such networks include the Public Switched Telephone Network (PSTN), a local area network (hAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the internet. The access device may include one or more of any type of network interface (e.g., a Network Interface Card (NIC)) whether wired or wireless, such as an IEEE802.11 wireless local area network (WhAN) wireless interface, a worldwide interoperability for microwave access (Wi-MAX) interface, an ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a bluetooth interface, a Near Field Communication (NFC) interface, and so forth.
In one or more embodiments of the present description, the above-mentioned components of the control server and other components not shown in fig. 3 may also be connected to each other, for example, by a bus. It should be understood that the block diagram of the computing device architecture shown in FIG. 3 is for purposes of example only and is not limiting as to the scope of the description. Those skilled in the art may add or replace other components as desired.
The control server may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet, personal digital assistant, laptop, notebook, netbook, etc.), a mobile phone (e.g., smartphone), a wearable computing device (e.g., smartwatch, smartglasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or PC. The control server may also be a mobile or stationary server.
In one or more embodiments of the present application, the rendezvous point statistics module includes:
an aggregation point setting unit configured to set the robot aggregation area and set a plurality of aggregation points not less than the number of robots to be aggregated in the robot aggregation area, and determine an order of the aggregation points and positions of the aggregation points according to a direction attribute of the aggregation points and an interval attribute of the aggregation points;
in the above embodiment, the first movement instruction generating module includes:
a path planning unit configured to calculate a motion path of each robot to be aggregated from the first position to each aggregation point according to a manhattan distance and a path planning algorithm and according to the positions of the aggregation points and the first positions of the robots to be aggregated;
the relation mapping unit is configured to determine the corresponding relation between the robots to be gathered and the gathering point according to the effectiveness of the motion paths of the robots to be gathered;
and the first instruction sending unit is configured to generate a first robot movement instruction according to the corresponding relation between the robot to be aggregated and the aggregation point and send the first robot movement instruction to the robot to be aggregated according to the sequence of the aggregation point, wherein the first time interval is taken as a period.
In the above embodiment, fig. 4 shows a robot assembly area with a length of 4 and a width of 3, in which 12 rectangular units are included and correspond to 12 assembly points, so that 12 robots can be accommodated at maximum, and taking 5 robots a, b, c, d and e as an example, in the case where the direction attribute of the assembly point is vertical and the direction attribute of the assembly point is 1 rectangular unit, the 5 robots a, b, c, d and e are arranged in order along the direction from the starting point to the end point.
Optionally, the path planning algorithm is an a-Star path algorithm.
The method and the device plan effective paths between the robots to be aggregated and the aggregation points through Manhattan distance and A-Star path algorithm, namely, each robot to be aggregated follows the shortest motion path from the first position to each aggregation point, wherein the shortest motion path can be physically realized, and the robots to be aggregated are guaranteed to correspond to the most preferable aggregation points.
In one or more embodiments of the present application, the second robot statistics module comprises:
and the position determining unit is configured to count the number and the identity of the robots to be assembled after receiving the first robot movement instruction, and acquire a second position of each robot to be assembled after receiving the first robot movement instruction.
In the above embodiment, the obstacle position avoidance module includes:
an obstacle position determination unit configured to determine whether a second position of the robots to be grouped is located on a movement path of any of the robots to be grouped; if so, inputting the identity of the robot to be gathered to an obstacle elimination unit; if not, determining that the robot to be assembled completes the assembly;
the obstacle elimination unit is configured to generate and send a third robot movement instruction to enable the robot to be gathered, which is positioned on the movement path of any robot to be gathered at the second position, to move from the second position to a third position outside the robot gathering area when the second position is no longer positioned on the movement paths of other robots to be gathered;
and the set resetting unit is configured to calculate a motion path from the third position to the set point corresponding to the to-be-set robot according to the third position of the to-be-set robot and the corresponding relation between the to-be-set robot and the set point, generate a fourth robot moving instruction and send the fourth robot moving instruction to the to-be-set robot so that the to-be-set robot moves from the third position to the set point corresponding to the to-be-set robot.
In the above embodiment, the second movement instruction generating module includes:
and the secondary collecting unit is configured to send a second robot moving instruction to the robots to be collected under the condition that the second positions of the robots to be collected are different from the collecting point positions corresponding to the robots to be collected.
In the above embodiment, the second time interval is smaller than the first time interval.
Optionally, the first time interval is 10 seconds; the second time interval is 1 second or 2 seconds.
The robot set state monitoring method and the robot set state monitoring device avoid the situation that the robot is blocked, and meanwhile, for the manually carried or actively moved robot, the first robot moving instruction can be sent out again, so that each robot can be assuredly set in the robot set area.
Wherein the control server may perform the steps of the method shown in fig. 5. Fig. 5 is a schematic flow chart diagram illustrating a robot set control method according to an embodiment of the present application, including steps 502 to 506.
Step 502: counting the number of the robots to be gathered, and acquiring the identity and a first position of each robot to be gathered, wherein the first position is the position to be gathered of each robot to be gathered.
Step 504: and determining the number of the gathering points in the robot gathering area and the positions of the gathering points.
Step 506: and calculating a motion path of each robot to be gathered from the first position to each gathering point according to the first position of each robot to be gathered, determining the corresponding relation between each robot to be gathered and the gathering point, generating a first robot movement instruction and sending the first robot movement instruction to each robot to be gathered.
In the above embodiment, the control server of the present application may receive a set starting instruction or a set terminating instruction sent by a user through a robot management interface, and after a set process of the robot is started, may immediately calculate an identity and a first position of each to-be-set robot, where the to-be-set robot refers to a robot that is currently in an "idle" state without a transfer task, the first position is a to-be-set position of each to-be-set robot, and after the number of set points in a robot set area and the positions of the set points are determined, calculate a motion path of each to-be-set robot from the first position to each set point according to the first position of each to-be-set robot, and determine a corresponding relationship between each to-be-set robot and the set points, and generating a first robot movement instruction and sending the first robot movement instruction to each robot to be gathered, wherein the robots can receive the first robot movement instruction and move to corresponding gathering points according to the first robot movement instruction.
Wherein the control server may perform the steps of the method shown in fig. 6. Fig. 6 is a schematic flow chart diagram illustrating a robot set control method according to another embodiment of the present application, including steps 602 to 610.
Step 602: counting the number of the robots to be gathered, and acquiring the identity and a first position of each robot to be gathered, wherein the first position is the position to be gathered of each robot to be gathered.
Step 604: and setting the robot aggregation area, setting a plurality of aggregation points which are not less than the number of the robots to be aggregated in the robot aggregation area, and determining the sequence of the aggregation points and the positions of the aggregation points according to the direction attributes of the aggregation points and the interval attributes of the aggregation points.
In the above embodiment, the control server of the present application first determines the number of the robots to be aggregated in the storage area, then divides the robot aggregation area into a plurality of rectangular units, where the number of the rectangular units is not less than the number of the robots to be aggregated, and finally sorts the robots to be aggregated from the starting point to the end point of the robot aggregation area according to the direction attribute of the aggregation point, and sets an interval according to the direction attribute of the aggregation point, so that each robot to be aggregated corresponds to one rectangular unit, thereby configuring the corresponding aggregation point and aggregation order for each robot to be aggregated according to the direction attribute of the aggregation point and the direction attribute of the aggregation point.
Step 606: and calculating the motion path of each robot to be gathered from the first position to each gathering point according to the Manhattan distance and the path planning algorithm and the positions of the gathering points and the first positions of the robots to be gathered.
Step 608: and determining the corresponding relation between the robot to be gathered and the gathering point according to the effectiveness of the motion path of the robot to be gathered.
In the foregoing embodiment, as shown in fig. 7, the control server of the present application can store the number and the sorting information of all aggregation points into an aggregation point list, where the aggregation point list includes e aggregation points, where e is a positive integer greater than or equal to 1, and the control server of the present application can execute the following steps:
s702, creating an initialized empty first robot set list, and acquiring the identity and the position of n robots to be set in the storage area, wherein n is a positive integer greater than or equal to 1.
S704, the g robots to be gathered which are located at the gathering points are obtained, the incidence relations between the identity identifications of the g robots to be gathered and the gathering points are marked, the g incidence relations are stored in the first robot gathering list, and g occupied gathering points are deleted from e gathering points in the gathering point list, wherein g is more than or equal to 0 and less than or equal to n and less than or equal to e, and g is an integer.
S706, acquiring the f th unoccupied rendezvous point in the rendezvous point list according to the rendezvous point sequence in the rendezvous point list, and calculating the Manhattan distance between the f th unoccupied rendezvous point and each robot to be gathered outside the first robot rendezvous list, wherein f is more than or equal to 1 and less than or equal to e-g, and f is an integer.
S708, according to the sequence of the Manhattan distances from near to far, calculating a motion path between the f th unoccupied set point and the h th to-be-set robot outside the first robot set list through a path planning algorithm, wherein h is more than or equal to 1 and less than or equal to n-g, and h is an integer.
And S710, judging whether the motion path is effective. If yes, go to step S712; if not, h is incremented by 1 and step S708 is executed.
S712, marking the association relationship between the h to-be-gathered robot and the f-th gathering point, storing the association relationship into the first robot gathering list, and deleting the f-th unoccupied gathering point from the gathering point list.
S714, judging whether the number of the robots to be gathered in the first robot gathering list is equal to n, if so, ending; if not, f is increased by 1, and step S706 is executed.
Optionally, the path planning algorithm is an a-Star path algorithm.
Step 610: and taking a first time interval as a period, generating a first robot moving instruction according to the corresponding relation between the robot to be gathered and the gathering point, and sending the first robot moving instruction to the robot to be gathered according to the sequence of the gathering point.
In the foregoing embodiment, as shown in fig. 8, the control server of the present application may create a second robot set list initialized to be empty, sequentially obtain, from the first robot set list, an association relationship between an identifier of a robot to be set and a set point by using a first time interval as a period, and send a first robot movement instruction to the robot to be set according to the association relationship between the identifier of the robot to be set and the set point, specifically, n robots to be set are included in the first robot set list, where n is a positive integer greater than or equal to 1, and the control server of the present application may perform the following steps:
s802, acquiring the association relation between the ith robot to be gathered and the gathering point from the first robot gathering list, wherein i is more than or equal to 1 and less than or equal to n, and i is an integer.
S804, judging whether the ith robot to be gathered is located at the corresponding gathering point according to the incidence relation between the robots to be gathered and the gathering point. If yes, go to step S806; if not, go to step S808.
S806, adding the identity of the ith robot to be gathered into the second robot gathering list.
S808, sending a first robot moving instruction to the to-be-gathered robot, enabling the to-be-gathered robot to move to the gathering point, and adding the identity of the to-be-gathered robot into the second robot gathering list.
S810, judging whether the number of the robots in the second robot set list is equal to n, if so, ending; if not, increasing i by 1 and executing step S802.
In one or more embodiments of the present application, as shown in fig. 9, after the first robot movement instruction is generated and sent to each robot to be assembled, steps 902 to 908 are further included.
Step 902: counting the number of the robots to be gathered, and acquiring the identity and a second position of each robot to be gathered, wherein the second position is the position where each robot to be gathered receives the first robot movement instruction and is located after a preset time threshold value.
Step 904: and judging whether the second position of each robot to be aggregated is the same as the position of the aggregation point corresponding to each robot to be aggregated. If yes, go to step 906. If not, go to step 908.
Step 906: and under the condition that the second position of the robot to be gathered is positioned on the motion paths of other robots to be gathered, moving the robot to be gathered to a third position outside the robot gathering area, and controlling the robot to be gathered to move from the third position to the gathering point position corresponding to the robot to be gathered when the second position is not positioned on the motion paths of other robots to be gathered any more.
Step 908: and calculating a motion path from the robot to be gathered to the gathering point corresponding to the robot to be gathered according to the second position of the robot to be gathered and the corresponding relation between the robot to be gathered and the gathering point, generating a second robot moving instruction and sending the second robot moving instruction to the robot to be gathered.
In the above embodiment, the control server of the present application may create an aggregation state monitoring list, and obtain, from the second robot aggregation list, a robot that has completed an aggregation process at a second time interval as a cycle, and store the robot into the aggregation state monitoring list, the system may determine whether the second location is located on a motion path of the other robot to be aggregated by periodically reviewing whether a location point is occupied by any path, and reschedule the robot to return to the corresponding aggregation point when any one of the robots in the second robot aggregation list is located outside the corresponding aggregation point. Specifically, as shown in fig. 10, steps 1002 to 1012 are included.
Step 1002: and counting the number and the identity of the robots to be assembled which have received the first robot movement instruction by taking a second time interval as a period, and acquiring a second position of each robot to be assembled which has received the first robot movement instruction.
Step 1004: and judging whether the second position of each robot to be aggregated is the same as the position of the aggregation point corresponding to each robot to be aggregated. If yes, go to step 1006. If not, go to step 1012.
Step 1006: and judging whether the second position of the robot to be gathered is positioned on the motion path of any robot to be gathered. If yes, go to step 1008. If not, determining that the robot to be assembled completes the assembly.
Step 1008: and when the second position is no longer located on the motion paths of other robots to be gathered, generating and sending a third robot moving instruction to enable the robots to be gathered, of which the second position is located on the motion paths of any of the robots to be gathered, to move from the second position to a third position located outside the robot gathering area.
Step 1010: and calculating a motion path from the third position to the collection point corresponding to the to-be-collected robot according to the third position of the to-be-collected robot and the corresponding relation between the to-be-collected robot and the collection point, generating a fourth robot moving instruction and sending the fourth robot moving instruction to the to-be-collected robot to enable the to-be-collected robot to move from the third position to the collection point corresponding to the to-be-collected robot.
Step 1012: and calculating a motion path from the robot to be gathered to the gathering point corresponding to the robot to be gathered according to the second position of the robot to be gathered and the corresponding relation between the robot to be gathered and the gathering point, generating a second robot moving instruction and sending the second robot moving instruction to the robot to be gathered.
Optionally, the first time interval is 10 seconds; the second time interval is 1 second or 2 seconds.
The utility model provides an intelligent, automatic and configurable robot set control system, this system is through acquireing the quantity and the robot set region of the robot that treats the set in the storage area confirm every and treat the set flow of robot to treating the set the robot sends first robot and removes the instruction, makes to treat the set the robot carries out the set flow to every is treated the set the robot reaches the state of set point and detects, makes the user only need once only operate and just can accomplish the set of target robot in the set region, has greatly improved the efficiency of operation and maintenance robot, has guaranteed the stability and the sustainability of storage commodity circulation.
An embodiment of the present application further provides a computing device, including a memory, a processor, and computer instructions stored on the memory and executable on the processor, where the processor executes the instructions to implement the following steps:
counting the number of the robots to be gathered, and acquiring the identity and a first position of each robot to be gathered, wherein the first position is the position to be gathered of each robot to be gathered.
And determining the number of the gathering points in the robot gathering area and the positions of the gathering points.
And calculating a motion path of each robot to be gathered from the first position to each gathering point according to the first position of each robot to be gathered, determining the corresponding relation between each robot to be gathered and the gathering point, generating a first robot movement instruction and sending the first robot movement instruction to each robot to be gathered.
An embodiment of the present application also provides a computer readable storage medium, which stores computer instructions, and the instructions, when executed by a processor, implement the steps of the robot set control method as described above.
The above is an illustrative scheme of a computer-readable storage medium of the present embodiment. It should be noted that the technical solution of the computer-readable storage medium is the same concept as the technical solution of the robot set control method, and details that are not described in detail in the technical solution of the computer-readable storage medium can be referred to the description of the technical solution of the robot set control method.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The computer instructions comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.
Claims (10)
1. A robot ensemble control system comprising at least one robot and a control server, wherein the control server comprises:
the robot counting system comprises a first robot counting module, a second robot counting module and a third robot counting module, wherein the first robot counting module is configured to count the number of robots to be gathered and acquire an identity and a first position of each robot to be gathered, and the first position is the position to be gathered of each robot to be gathered;
the system comprises an aggregation point counting module, a position determining module and a control module, wherein the aggregation point counting module is configured to determine the number of aggregation points and the positions of the aggregation points in a robot aggregation area;
the first movement instruction generation module is configured to calculate a movement path of each to-be-aggregated robot from the first position to each aggregation point according to the first position of each to-be-aggregated robot, determine a corresponding relation between each to-be-aggregated robot and the aggregation point, generate a first robot movement instruction and send the first robot movement instruction to each to-be-aggregated robot;
the robot is configured to receive the first robot movement instruction and move to a corresponding set point according to the first robot movement instruction;
the control server is in communication connection with the robot.
2. The system of claim 1, further comprising:
and the second robot counting module is configured to count the number of the robots to be gathered and acquire the identity and a second position of each robot to be gathered, wherein the second position is a position where each robot to be gathered is located after the robot to be gathered receives the first robot moving instruction and a preset time threshold value is passed.
3. The system of claim 2, further comprising:
the position judging module is configured to judge whether the second position of each robot to be aggregated is the same as the position of the aggregation point corresponding to each robot to be aggregated; if so, inputting the second position of the robot to be gathered to an obstacle position avoiding module; if not, inputting the second position of the robot to be assembled to a second movement instruction generation module;
the obstacle position avoiding module is configured to move the robots to be gathered to a third position outside the robot gathering area when the second position of the robots to be gathered is located on the motion paths of the other robots to be gathered, and control the robots to be gathered to move from the third position to the gathering point position corresponding to the robots to be gathered when the second position is no longer located on the motion paths of the other robots to be gathered;
a second movement instruction generation module configured to calculate, according to the second position of the robot to be aggregated and the corresponding relationship between the robot to be aggregated and the aggregation point, a movement path from the robot to be aggregated to the aggregation point corresponding to the robot to be aggregated, generate a second robot movement instruction, and send the second robot movement instruction to the robot to be aggregated, if the position judgment module judges that the second position of the robot to be aggregated is different from the aggregation point corresponding to the robot to be aggregated;
the robot is further configured to receive the second robot movement instruction and move to the corresponding set point according to the second robot movement instruction.
4. The system of claim 1, wherein the rendezvous statistics module comprises:
an aggregation point setting unit configured to set the robot aggregation area and set a plurality of aggregation points not less than the number of robots to be aggregated in the robot aggregation area, and determine an order of the aggregation points and positions of the aggregation points according to a direction attribute of the aggregation points and an interval attribute of the aggregation points;
the first movement instruction generation module includes:
a path planning unit configured to calculate a motion path of each robot to be aggregated from the first position to each aggregation point according to a manhattan distance and a path planning algorithm and according to the positions of the aggregation points and the first positions of the robots to be aggregated;
the relation mapping unit is configured to determine the corresponding relation between the robots to be gathered and the gathering point according to the effectiveness of the motion paths of the robots to be gathered;
and the first instruction sending unit is configured to generate a first robot movement instruction according to the corresponding relation between the robot to be aggregated and the aggregation point and send the first robot movement instruction to the robot to be aggregated according to the sequence of the aggregation point, wherein the first time interval is taken as a period.
5. The system of claim 2, wherein the second robot statistics module comprises:
and the position determining unit is configured to count the number and the identity of the robots to be assembled after receiving the first robot movement instruction, and acquire a second position of each robot to be assembled after receiving the first robot movement instruction.
6. The system of claim 3, wherein the obstacle position avoidance module comprises:
an obstacle position determination unit configured to determine whether a second position of the robots to be grouped is located on a movement path of any of the robots to be grouped; if so, inputting the identity of the robot to be gathered to an obstacle elimination unit; if not, determining that the robot to be assembled completes the assembly;
an obstacle elimination unit configured to generate and issue a third robot movement instruction to cause a robot to be aggregated, which is located on a movement path of any one robot to be aggregated, to move from the second position to a third position located outside the robot aggregation area when the second position is no longer located on the movement paths of the other robots to be aggregated;
and the set resetting unit is configured to calculate a motion path from the third position to the set point corresponding to the to-be-set robot according to the third position of the to-be-set robot and the corresponding relation between the to-be-set robot and the set point, generate a fourth robot moving instruction and send the fourth robot moving instruction to the to-be-set robot so that the to-be-set robot moves from the third position to the set point corresponding to the to-be-set robot.
7. A robot set control method, comprising:
counting the number of robots to be gathered, and acquiring an identity and a first position of each robot to be gathered, wherein the first position is the position to be gathered of each robot to be gathered;
determining the number of gathering points and the positions of the gathering points in a robot gathering area;
and calculating a motion path of each robot to be gathered from the first position to each gathering point according to the first position of each robot to be gathered, determining the corresponding relation between each robot to be gathered and the gathering point, generating a first robot movement instruction and sending the first robot movement instruction to each robot to be gathered.
8. The method of claim 7, further comprising, after generating and sending first robot movement instructions to each of the robots to be assembled:
counting the number of the robots to be gathered, and acquiring the identity and a second position of each robot to be gathered, wherein the second position is the position where each robot to be gathered receives the first robot movement instruction and is located after a preset time threshold value.
9. A computing device comprising a memory, a processor, and computer instructions stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 7-8 when executing the instructions.
10. A computer-readable storage medium storing computer instructions, which when executed by a processor, perform the steps of the method of any one of claims 7 to 8.
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