CN113021294B

CN113021294B - Robot automation system capable of configuring environment/action/flow and construction method and application thereof

Info

Publication number: CN113021294B
Application number: CN202110259073.2A
Authority: CN
Inventors: 王悦翔
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-03-10
Filing date: 2021-03-10
Publication date: 2023-03-28
Anticipated expiration: 2041-03-10
Also published as: CN113021294A

Abstract

The invention discloses a robot automation system capable of configuring environment/action/flow, comprising: the system comprises a central control system, a configuration system, a robot, a calling terminal and a docking mechanism; the invention also discloses an establishing method of the automatic system and application of the automatic system in robot automation. By utilizing the system, through setting the actions and/or action groups of three levels of the robot actions, the processes and the process groups, the characteristic that the robot can bear goods is utilized, and the automatic carrying under various scenes such as warehouses, workshops, production line edges, wharfs and the like can be realized. The application of the invention can shorten the early-stage communication time and directly deploy a standardized system; the deployment, configuration and use costs are reduced, and the large-scale popularization of the system is facilitated; after the business process is changed, the business process is modified at any time and is on-line at any time; after the production period is adjusted, the configuration is adjusted at any time.

Description

Robot automation system capable of configuring environment/action/flow and construction method and application thereof

Technical Field

The invention belongs to the technical field of robot application, and relates to a robot automation system capable of configuring environment/action/flow, a construction method and application thereof.

Background

In an existing robot automation system, a business process needs to be understood and function points need to be configured for each application scene and corresponding type equipment, and codes are written according to respective scenes to realize functions of material calling, carrying and the like. The method has the defects of poor applicability, weak expansibility, long time spent in each deployment and the like.

Disclosure of Invention

In order to solve the defects of the prior art, the invention aims to provide a robot automation system capable of configuring environment/action/flow, a construction method and application thereof. All functions of the robot system are divided into a plurality of dimensions according to different granularities, and the functions can be defined and configured by non-technical personnel in each dimension in a non-code mode. Therefore, related users who know the system for the first time can configure the robot system, and the process is modified when needed, so that the popularization of the system is greatly facilitated.

The invention provides a robot automation system capable of configuring environment/action/flow, which can realize corresponding action/flow groups by controlling and dispatching various types of robots, wherein the robots realize the movement of the robots and loads by the robots through wheels, double feet, four feet and the like, and common robots realize the loading and transferring of different types of goods through lifting trays, belt rollers, gear shaping and the like.

The robot used by the invention can adopt the self-developed robot and can also adopt other robots on the market.

The automatic system comprises a central control system, a configuration system, a robot, a calling terminal, a docking mechanism and the like;

the central control system comprises a database, a communication module, a logic module and an environment module, is a core control system of the automatic system, realizes task management and task distribution logic of the automatic system, and realizes communication interaction with the robot, the calling terminal and the docking mechanism in a Wi-Fi (wireless fidelity), wired network, PLC (programmable logic controller), 4G, 5G and other wireless communication network modes so as to achieve control and monitoring functions;

the configuration system is displayed through a display device, and the action, flow definition and configuration of the robot are realized through a webpage, an App and the like; and/or, realizing the definition and configuration of the related system in a non-code form; the non-code form comprises graphical interfaces such as tables, flow charts, lists and the like;

the robot is a movable robot with different tops; the robot comprises but is not limited to the current equipment type, and after related actions are abstracted, an action library can be inserted at any time to realize the scheduling control of the robots of different types;

the calling terminal is not limited in form and is used for sending signals to the central control system, and the calling terminal comprises a hardware terminal, a software terminal and the like;

the hardware terminal includes: call buttons, code-scanning guns, etc.; the calling button triggers the robot to execute actions through button pressing; the code scanning gun is used for controlling the robot process after code scanning;

the software terminal comprises a PC terminal, a PDA, a tablet personal computer and the like;

the docking mechanism and different robots carry out docking in different forms, and interaction of goods handover, goods posture conversion and the like is realized; the butt joint mechanism refers to a lifter, a conveyor belt, a roller and the like.

The robot includes, according to a movement pattern: wheeled mobile robots, multi-legged mobile robots, tracked mobile robots, and the like; the robot's facial make-up mode includes: lifting and loading a tray, lifting and loading gear shaping, loading a belt and a roller, loading a mechanical arm, loading a hook and the like;

the wheeled mobile robot includes but is not limited to AGVs, forklifts, ground cows, etc.; the multi-legged mobile robot comprises a two-legged upright robot, a four-legged mechanical dog and the like;

the tray lifting and loading refers to lifting the loaded goods integrally; the gear shaping lifting loading refers to lifting goods such as a tray, a cage car and the like; the belt and the roller are loaded, namely the loaded articles are horizontally moved, so that the goods are received and delivered by the corresponding butting mechanism; the mechanical arm loading means finishing the operations of mechanical arm grabbing and the like; the hook is used for hanging loaded articles.

The database comprises an environment library, an equipment library, an action library and a process library/process group library; the communication module is used for sending/receiving instructions and signals of each robot/docking mechanism/calling terminal; the logic module is used for converting a configuration table set by an operator into a code executed by the robot, making corresponding logic judgment aiming at the feedback of different robots/docking mechanisms/call terminals, and triggering/terminating the next action/flow group; the environment module is used for uploading and storing map information of the automatic solution, and the map information comprises selectable paths, equipment or docking mechanism positions, robot point positions and the like;

the environment library includes: map information and device information;

the device library includes: robot type, docking mechanism type, calling terminal type, etc.;

the action library includes: definition of a single action, corresponding machine model, included parameter values, etc.;

the process library/process group library comprises: parameters of corresponding processes and process groups; respective trigger mechanisms, parameter configurations, etc.

The invention also provides an establishing method of the robot automation system capable of configuring environment/action/flow, which comprises the following steps:

step 1: constructing a database which comprises an environment library, an equipment library, an action library and a process library/process group library; the method comprises the following substeps:

step 1.1: constructing an environment library, including map information and equipment information; the map information comprises position information, parameter information, channel information and the like; the equipment information comprises butt joint equipment, calling equipment type, calling equipment position and the like;

step 1.2: constructing an equipment library comprising a robot library, a docking mechanism library and a calling terminal library; the robot library comprises basic information and state information; the basic information comprises the size, the model, the adaptable action and the like of the robot; the state information includes: motion state, cargo carried state, electric quantity state, task state and the like;

step 1.3: constructing an action library, dividing and summarizing various actions of different types of robots into inseparable actions containing parameters, and storing the inseparable actions into a database; including basic information and usage information; the basic information comprises action types, action descriptions, adaptive robot models and the like; the use information comprises action parameters, such as a forward distance parameter of a forward action, a rotation angle parameter of a rotation action and a lifting height parameter of a lifting action;

step 1.4: constructing a flow library/flow group library, wherein the flow is formed by combining two or more single actions, and the flow group is formed by combining two or more flows; the process library/process group library includes trigger information, type information, execution parameter information, status parameter information, and the like.

Step 2: filling data in the database to realize the configuration of the system, wherein the configuration comprises environment configuration, equipment configuration and process configuration; wherein the device configuration comprises: configuring a robot module and a basic action module; the process configuration comprises process module configuration, process group module configuration and the like;

step 2.1: configuring an environment library, uploading and storing map information of an automatic solution, wherein the map information comprises selectable paths, equipment or docking mechanism positions, robot point positions and the like;

step 2.2: configuring an equipment library and an action library, and configuring and adding the mobile action and the operation action according to the indivisible action containing the parameters in the step 1.3; each action can be associated by a phrase, a symbol, a picture and the like, so that a user can be familiar with the corresponding action conveniently, a set of actions is defined into different codes, and an action library is established; with the abundance of robots, an action library can be further increased.

Step 2.3: configuring a flow/flow group library, combining different actions according to application scenes (environment, robots, docking equipment and the like), configuring a required flow/flow group, filling relevant information, combining the flow/flow group by dragging, moving, confirming a triggering mode, judging logic and the like, and performing storage, deletion, modification and other operations, wherein a configuration interface can refer to fig. 7 and 8;

and step 3: according to the application scenario, the process/process group in step 2.3 is selected to meet the usage requirement, and the configuration interface can refer to fig. 9.

The step 1 can be operated by technicians and planners, the step 2 can be configured in advance, and daily users can complete most of field requirements only through the step 3.

The construction of the map includes two tables: a point location table and a path table;

the point location table comprises point location numbers, point location coordinates, point location types, point location states and the like; the point location coordinates include: three-dimensional coordinates from the reference point; the point location types include: flatness, material, application, whether equipment can be placed or not and the like of the point positions; the point location state includes: whether the point location is occupied, whether the point location can pass, whether the point location is forbidden, and the like;

the path table includes: start point location, end point location, path type, path size, path state: the starting point position and the end point position determine the starting point and the end point of the path; the path types include: the material and the application of the path, whether equipment can be placed or not and the like; the path dimensions include: channel width, height, slope, inclination, etc.; the path states include: whether the path is occupied, whether it can pass, whether it is forbidden, etc.

The invention also provides a robot automation application based on the automation system, which can realize the automatic transportation under various scenes such as warehouses, workshops, production line edges, wharfs and the like by utilizing the characteristic that the robot can bear goods, and the application comprises the following steps:

step one, selecting corresponding actions on an automatic system interface, and/or combining different actions into related processes, and/or combining different processes into related process groups;

step two, setting the action/flow group of the robot through a configuration interface in a dragging, moving, trigger confirmation mode and logic judgment mode; including but not limited to trigger mechanism, flow after completion, flow after termination, parameter setting, associated actions/flows/flow groups, etc.;

step three, when the corresponding trigger condition is met, different actions/processes/flow groups are activated, and the central control system schedules corresponding equipment to execute the relevant actions/processes/flow groups; after the configuration is completed, the whole mobile system comprises a plurality of actions/processes, and after the central control system receives signals of corresponding equipment (robots/docking mechanisms/calling terminals) or monitors timing trigger signals, corresponding steps are sequentially executed according to the settings in the process library and the process group library, so that the whole system can effectively operate.

The second step is further followed by path planning of the robot, which comprises the following steps:

step a: searching a point location map and a path map according to the starting point location and the end point location, and acquiring all communication paths;

step b: judging whether the corresponding path can be passed or not according to the type of the corresponding robot according to the path properties, and eliminating the path which cannot be passed;

step c: according to the same information, confirming the time of passing through each path, and simultaneously considering the congestion of the whole system, selecting the nearest path with the shortest time consumption, the smallest energy consumption or the smallest risk;

step d: and finally sending the path acquired according to the logic to the robot for execution, wherein in the execution process of the robot, the path is adjusted at any time according to the use degree and the channel congestion degree, so that the final target of the system is realized.

In the invention, the action is a single action of a single robot, and the complete action is completed without the cooperation of other equipment; the actions are defined through the motion abstraction of the robot, and an action set consisting of single actions is obtained, wherein the actions comprise moving, carrying, adjusting the goods posture, unloading and the like;

in the invention, the moving action comprises advancing, retreating, rotating the robot body, driving the carried goods to rotate and the like; the invention only relates to the movement of different types of mobile robots to realize different operations, and does not limit the moving mode and the loading action of the robots.

In the present invention, the loading action includes: (1) lifting the lifting mechanism: the lifting mechanism jacks up the loaded goods to enable the loaded goods to leave the ground, so that the goods are convenient to transport; (2) rotation of the belt roller: receiving the loaded goods from the conveyor belt, the elevator and the chain machine mechanism; and (3) lifting the gear shaping: the carried goods are lifted off the ground, so that the transportation is convenient; (4) mounting: the carried goods are hung and connected with the robot body in a mode of hooks and the like, so that the dragging type transfer is convenient to realize;

the goods posture adjustment comprises the following steps: rotating the loaded article to make the wide surface or the narrow surface of the article forward; and/or further lifting or lowering the lifting mechanism and the gear shaping mechanism to change the height of the loaded goods; facilitating passage through the relevant area;

the unloading action comprises the lifting mechanism falling down and placing the loaded goods on the ground; and/or the belt roller rotates to transfer the loaded articles to a transmission belt, a lifter, a chain machine and the like;

meanwhile, as a new robot is added into the system, new related actions can be added into the action set, and system configuration is enriched.

In the invention, the flow is a series of actions of a single robot, is an action group formed by combining a plurality of single actions and comprises interaction with a docking mechanism or a call button, and after the flow is finished, the system returns to an initial state; the flow is formed by combining the actions and comprises a triggering mode and a flow type; the triggering modes include but are not limited to: automatic triggering is carried out regularly; calling and triggering through a terminal program by utilizing a hardware module; node triggering through other actions, flows, etc.; the nodes comprise actions, normal termination of the process, abnormal termination and the like; the hardware module includes: call buttons, code scanning guns, etc.; the terminal program comprises a PDA, a mobile phone end, a PC end and the like;

the flow can be represented by a flow chart, and the flow chart can also be converted into a flow chart;

the flow types include: calling an idle robot; the robot transports the designated loaded goods to the designated destination; the robot is in butt joint with a specified butt joint mechanism at a specified butt joint point, and the like;

specifically, the process may include: (1) taking goods in place: the robot moves to a designated position to complete the goods taking operation; (2) delivery: the robot which finishes picking the goods moves to a goods delivery point to finish the goods delivery operation; and (3) rotating the carried goods according to the instruction.

The flow group is an action group formed by combining a plurality of actions and/or flows and is used for describing all action flows of the current system; the process group comprises: empty-full switching, multi-process linking and the like; the empty-full switching means that: the fully loaded goods shelf which is finished with the operation is conveyed away, and then a no-load goods shelf is supplemented, so that the goods shelf switching of the operation position is realized; the multi-process connection means that: one shelf is transported to the next process, and the shelf is taken over from the previous process and is replenished to the current operation position.

The set of processes may further include: the robot transports the appointed goods to the appointed place; specifically, the robot waits for receiving goods before arriving at a designated transfer mechanism; after receiving goods, delivering the goods to be carried to a delivery mechanism; and finishing delivery.

The beneficial effects of the invention include: simplifying, standardizing and streamlining the planning configuration of an automatic system with higher professional requirements originally; the action/flow group is convenient to configure, the code-free configuration flow can be realized through the configuration of different levels according to the actual requirements of users, the automation is realized, and the direct modification and participation of clients are facilitated. Through simple, standard and visual configuration modes, parameters are adjusted, the process is dragged and the like, so that a non-technical common user can configure the automatic system, system configuration of different scenes and different projects can be quickly, accurately and flexibly realized, and the universality and convenience of the mobile robot carrying system are greatly improved. Meanwhile, the online system can be adjusted at any time and the automatic system can be adjusted in real time in the mode.

The common flow group of the system can meet the requirements of most users, can be configured downwards step by step along with the more and more deepened customized content, and finally realizes the control of the mobile robot by configuring the most basic action.

In addition, the application of the system can shorten the early-stage communication time, a standardized system is directly deployed, and the robot is configured once (the type of the robot and a basic action set) and can be used repeatedly; after the novel robot and the novel action are added, codes do not need to be rewritten and the robot and the novel action can be directly used; the deployment, configuration and use costs are reduced, and the large-scale popularization of the system is facilitated; after the business process is changed, the business process is updated at any time, modified at any time and online at any time; after the production period is adjusted, the configuration is adjusted at any time.

Drawings

Fig. 1 is a schematic diagram of a system architecture of the robotic automation system of the present invention.

FIG. 2 is a schematic diagram of the production process and the flow chart of the present invention in the field.

Fig. 3 is a schematic field view and a flow chart of a warehousing and transportation process according to embodiment 3 of the present invention.

Fig. 4 is a schematic diagram of map information according to embodiment 1 of the present invention.

Fig. 5 is a schematic flow chart of the automated system from triggering to completion according to embodiment 1 of the present invention.

Fig. 6 is a flowchart of embodiment 1 of the present invention for specifically executing a certain flow/flow group.

FIG. 7 is a schematic view of an operation interface of a defined flow according to the present invention, which can add an action in an action library to the flow by a drag-and-drop adjustment.

FIG. 8 is a schematic view of an operation interface for defining a flow group according to the present invention, wherein flows in a flow library can be added to the flow group by a drag-and-drop adjustment.

FIG. 9 is a schematic diagram of the configuration of the operation interface of the system according to the present invention.

Detailed Description

The present invention will be described in further detail with reference to the following specific examples and the accompanying drawings. The procedures, conditions, experimental methods and the like for carrying out the present invention are general knowledge and common general knowledge in the art except for the contents specifically mentioned below, and the present invention is not particularly limited.

The invention provides a robot automation system capable of configuring environment/action/flow, which can control and dispatch various types of robots to realize corresponding action/flow groups, wherein the robots realize the movement of the robots and loads through wheels, double feet, four feet and the like, and common robots realize the loading and transfer of different types of goods through lifting trays, belt rollers, gear shaping and the like.

In practical application, the types of the robot, the carried goods, the docking mechanism and the like can limit the realization of related actions; for example, only a robot with a lifting device can perform the lifting operation; the related robot can only carry the goods loaded correspondingly; whether a plurality of actions can be connected or not also has a plurality of limitations, such as a cargo-carrying robot, and the cargo-carrying robot cannot pass through a corresponding area due to the limitation of the length and the width of a carried cargo; a robot not lifted, which cannot perform a release operation, etc.;

the robot is movable and has different tops; the robot comprises but is not limited to the current equipment type, and after related actions are abstracted, an action library can be inserted at any time to realize the scheduling control of the robots of different types;

the hardware terminal includes: call buttons, code scanning guns, etc.; the calling button triggers the robot to execute actions through button pressing; the code scanning gun is used for controlling the robot process after code scanning;

the docking mechanism and different robots carry out docking in different forms, and interaction of goods handover, goods posture change and the like is realized; the butt joint mechanism refers to a lifter, a conveyor belt, a roller and the like.

The robot includes, according to a movement pattern: wheeled mobile robots, multi-legged mobile robots, tracked mobile robots, and the like; the robot's facial make-up mode includes: lifting a tray for loading, lifting gear shaping for loading, loading a belt and a roller, loading a mechanical arm, loading a hook and the like;

the wheeled mobile robot includes but is not limited to AGVs, forklifts, earthmovers, etc.; the multi-legged mobile robot comprises a two-legged upright robot, a four-legged mechanical dog and the like;

the environment library includes: map information and device information;

step 1.2: constructing an equipment library which comprises a robot library, a docking mechanism library and a calling terminal library;

step 1.3: constructing an action library, splitting and summarizing various actions of different types of robots into inseparable actions containing parameters, and storing the inseparable actions into a database;

including basic information and usage information; the basic information comprises action types, action descriptions, adaptive robot models and the like; the use information comprises action parameters, such as a forward distance parameter of a forward action, a rotation angle parameter of a rotation action and a lifting height parameter of a lifting action;

step 1.4: constructing a process library/process group library, wherein the process is formed by combining two or more single actions, and the process group is formed by combining two or more processes; the process library/process group library comprises trigger information, type information, execution parameter information, state parameter information and the like;

and step 3: according to the application scenario, the process/process group in step 2.3 is selected to meet the use requirement, and the configuration interface can refer to fig. 9.

Specifically, the visualization software, through graphical display, represents the action/flow set that needs to be described in text by icons in the form of icons, gif, and the like, and can add, modify, and delete different action/flow sets by dragging corresponding icons, for example:

the flow can be moved in or out through a dragging action, so that the purpose of modifying the flow is achieved;

the process set can be moved in or out by dragging the process, so that the purpose of modifying the process set is achieved;

the change of the flow can be realized by adjusting the sequence of the actions;

the change of the flow set can be realized by adjusting the sequence of the flows;

the trigger condition of the action/flow set can be modified by modifying the initial condition;

the method can realize the fixed-time development of a certain action/flow set by setting the cycle time;

the end of a certain action/flow set can be set as the beginning of one or more actions/flows/flow sets;

different connection actions/flows/flow sets can be set or related actions/flows/flow sets can be ended through different results of a certain action/flow set;

actions/flows/flow sets can be modified in batches;

the authority of the related action/flow set can be defined, and only the personnel with the related authority can execute the related operation;

the related actions/processes/flow sets correspond to different mobile robots one to one, the actions/processes/flow sets corresponding to different devices cannot be connected in series, and the like.

The invention also provides a robot automation application based on the automation system, which can realize the automation transportation under various scenes such as warehouses, workshops, production line edges, wharfs and the like by utilizing the characteristic that the robot can bear goods, and the application comprises the following steps:

The action is a single action of a single robot, and the complete action is completed without the cooperation of other equipment; the actions are defined through the motion abstraction of the mobile robot, and an action set consisting of single actions is obtained, wherein the actions comprise moving, carrying, adjusting the goods posture and unloading;

the moving action comprises advancing, retreating, rotation of the robot body, driving of the loaded articles to rotate and the like; the invention only relates to the movement of different types of mobile robots to realize different operations, and does not limit the moving mode and the loading action of the robots.

The cargo-carrying action includes: (1) lifting the lifting mechanism: the lifting mechanism jacks up the loaded goods to enable the loaded goods to leave the ground, so that the goods are convenient to transport; (2) rotation of the belt roller: receiving the loaded goods from the conveyor belt, the elevator and the chain machine mechanism; and (3) lifting the gear shaping: the carried goods are lifted off the ground, so that the transportation is convenient; (4) mounting: the carried goods are hung and connected with the robot body in a mode of hooks and the like, so that the dragging type transfer is convenient to realize;

the unloading action comprises the steps that the lifting mechanism is put down, and the loaded goods are placed on the ground; and/or the belt roller rotates to transfer the loaded articles to a transmission belt, a lifter, a chain machine and the like;

The process is a series of actions of a single robot, is an action group formed by combining a plurality of single actions and comprises interaction with a docking mechanism or a call button, and after the process is finished, the system returns to an initial state; the flow is formed by combining the actions and comprises a triggering mode and a flow type; the triggering modes include but are not limited to: automatic triggering is carried out regularly; calling and triggering through a terminal program by utilizing a hardware module; node triggering through other actions, flows, etc.; the nodes comprise actions, normal termination of the process, abnormal termination and the like; the hardware module comprises: call buttons, code scanning guns, etc.; the terminal program comprises a PDA, a mobile phone end, a PC end and the like;

specifically, the process may include: (1) taking goods in place: the robot moves to a designated position to finish the goods taking operation; (2) delivery: the robot which finishes picking the goods moves to a goods delivery point to finish the goods delivery operation; and (3) rotating the carried goods according to the instruction.

The flow group is an action group formed by combining a plurality of actions and/or flows and is used for describing all action flows of the current system; the process group comprises: empty-full switching, multi-process linking and the like; the empty-full switching means that: carrying away a full-load shelf which is finished with operation, and supplementing an empty-load shelf to realize shelf switching of operation positions; the multi-process connection means that: one shelf is transported to the next process, and the shelf is taken over from the previous process and is replenished to the current operation position.

Example 1 configuration of a robotic automation system

The system configuration comprises a basic configuration and a use configuration, wherein the basic configuration comprises: configuring a robot module and a basic action module; the use configuration comprises environment module configuration, process group module configuration and the like.

In actual use, the early configuration is mainly used for configuring the robot module and the basic action module, and the configuration of the part can be increased after a new robot is introduced or a new action is defined in the robot development. After the early-stage configuration is completed, corresponding use configuration can be carried out according to different use scenes and different use processes, and the robot automatic system can be deployed quickly.

Specifically, the robot module configuration includes a basic information configuration and a state configuration;

the basic information configuration comprises: robot size, model, adaptable actions, etc.;

the state configuration specifically includes the following information: motion state (position, velocity, angular velocity, etc.); the state of the loaded goods; electric quantity state: whether the electric quantity is sufficient; and (4) task state: whether it is idle, etc.

The basic action module configuration comprises a mobile action configuration and an operation action configuration;

the mobile action configuration specifically includes the following information: type information: move back and forth, left and right, rotate, ascend and the like; execution parameter information (which may be a series of parameters): the movement distance, the rotation angle, etc.; state information: information such as start, in-service, completion, abnormal termination, etc.; state parameter information: corresponding parameters for different states, such as abnormal termination of movement up to a few centimeters, etc.; map restriction information: what type and what parameter must be run; device restriction information: must be operated in the vicinity of or at a relative location to which device; robot type restriction information: which kind of robot must be operated; robot state restriction information: the corresponding robot can be operated in which state; action restriction information: must be run before or after what action, cannot be run before or after what action, etc.

The operation action configuration judges whether the operation action configuration can be executed according to a map and equipment configuration, and specifically comprises the following information: type (2): the loaded articles rotate, are lifted up/put down, are transmitted/received and move through the mechanical arm; execution parameter information (which may be a series of parameters); state information: information such as start, in-service, completion, abnormal termination, etc.; state parameter information: corresponding parameters of different states, such as abnormal termination of the mechanical arm lifting at most centimeter positions, and the like; the map restriction information: what type and what parameter must be run; robot type restriction information: which kind of robot must be operated; robot state restriction information: the corresponding robot can be operated under what state; action restriction information: must be run before or after what action, cannot be run before or after what action, etc.

The environment module configuration comprises a map configuration and a device configuration;

the map configuration specifically includes the following information: position information: x, y, z; parameter information: ground material, gradient, step and type; channel information: whether to communicate, channel width, height limitations;

after the map configuration is finished, the result is a form and corresponding map display which are mutually corresponding; the table contains the relevant parameter information of the map, including point location, path, equipment, etc.; further, the point location may include a type, a location; the path information may include material, gradient, flatness, installation equipment, etc. In the point locations, each type of object already contains a different parameter.

The device configuration specifically includes the following information: butt joint equipment: judging whether the map can be placed according to the map parameter information; calling equipment: and judging whether the map can be placed according to the map parameter information.

The flow/flow group configuration specifically includes the following information: triggering information: trigger mode (timing, device call, action completion, etc.); type information: the type of the corresponding action; executing the parameter information: parameters of the corresponding action; status information; state parameter information: corresponding result parameter feedback, etc.

After the flow is configured, the result is a table and a flow chart of the corresponding flow, and the table and the flow chart are mutually corresponding;

after the flow group is configured, the result is a table and a flow chart of the corresponding flow group, and the table and the flow chart are mutually corresponding; fig. 5 and the following table explain the flowchart by taking an example of a robot picking and delivering a product.

Numbering	Triggering mode	Type parameter	Results
					1	Call triggering/timing triggering	Moving the robot to the point of getting goods	In position
2	1 complete	Goods taking robot and equipment butt joint goods taking	Success/failure
				3	2 success of	Get goods robot to goods delivery point position	In position
4	2 failure of	Release robot	End up
				5	3 completion of	Delivery robot and equipment butt joint delivery	Success/failure
6	5 success of	Normally completed, released robot	End up
				7	5 failure	Release robot	End of

In particular, the move flow (only the destination flow is specified): the central control system plans the designated action in sequence, and the robot can reach the destination after executing the action.

In actual operation, the process of executing a certain flow/flow group is shown in fig. 6.

Example 2 production Called Material flow

The production stream comprises two procedures of procedure I and procedure II, wherein the procedure I comprises a plurality of devices: i is ₁ ,I ₂ ,I ₃ … …, each device is respectively provided with a docking mechanism for docking with the device; the process II likewise comprises a plurality of apparatuses: II ₁ ,II ₂ ,II ₃ … …. The robot may feed production material from the equipment in process I to the equipment in process II.

In particular, I in the process I ₁ For example, the operation of the production material calling system specifically comprises the following steps:

step I, generating a feeding task at regular time, as shown in step 1 of fig. 2, and scheduling the feeding robot to give I of the process I by a set program ₁ Feeding the equipment, and after the feeding is finished, the feeding robot feeds the materials from the step I in a mode of a step 2 ₁ Equipment release, the feeding process can be continued;

step ii, according to apparatus I ₁ To schedule the feeding robot to I ₁ After receiving the materials, feeding the materials to II in the step 3 ₁ After the feeding is finished, releasing the corresponding feeding robot in the step 4;

or the like, or a combination thereof,

step ii, according to apparatus I ₁ To schedule the feeding robot to I ₁ After receiving the materials, feeding the materials to II in the step 5 ₁ And after feeding is finished, releasing the corresponding feeding robot in step 6.

And so on.

The flow specifically referring to fig. 6 is:

step i

o A2 generating a feeding task 1 at regular time;

o B2, B3 specifies the corresponding robot to execute;

o B4 robot interacts with I1 to complete the instruction;

o C generating a new task according to the relevant process, and releasing the robot, namely step 2;

5363 after the operation of o B-B4 is finished, the robot releases successfully;

and D, judging according to the C, and ending the process.

Example 3 warehousing and handling procedure

The warehousing and transportation process can be divided into two types of warehousing butt joint and ex-warehouse butt joint, and a plurality of warehousing butt joint mechanisms P are respectively configured ₁ ,P ₂ ,P ₃ … …, several delivery and docking mechanisms O ₁ ,O ₂ ,O ₃ … …; and the warehousing docking mechanism and the ex-warehouse docking mechanism are respectively provided with three buttons, including a calling button, a rotating button and a warehouse returning button.

Specifically, the warehousing operation of the warehousing and handling system specifically comprises the following steps:

step one, pressing a calling button to trigger a goods shelf calling process, as shown in the figure 3, a central control system in the step 1 dispatches a carrying robot to carry idle goods shelves to a warehousing docking mechanism, and a subsequent carrying robot can queue up the first carrying robot;

step two, pressing a rotating button, if a carrying robot is moved to drive the shelf in place to rotate, as shown in step 2 of fig. 3, so that the warehousing docking mechanism can conveniently perform corresponding operation;

step three, pressing a warehouse returning button, and transferring the robot to return the goods shelves loaded with goods to a warehouse storage area, as shown in step 3 in fig. 3; the transfer robots in the subsequent line repeat the above operations.

The warehouse-out operation of the warehousing and transportation system specifically comprises the following steps:

step one, pressing a calling button to trigger a goods shelf calling process, as shown in a step a of fig. 3, a central control system dispatches a carrying robot to carry goods loaded on goods to a warehouse-out docking mechanism, and a subsequent carrying robot can follow the first carrying robot and then queue;

step two, pressing a rotating button, for example, moving a carrying robot to drive a shelf in place to rotate, as shown in step b in fig. 3, so that the warehouse-out docking mechanism can conveniently perform corresponding operation;

step three, pressing a warehouse returning button, and transferring the robot to return the idle goods shelves to the warehouse storage area, as shown in step c of fig. 3; the transfer robots in the subsequent line repeat the above operations.

Example 4 example System establishment

Abstract examples 2 and 3, a general system establishment and use mode can be obtained, and the method specifically comprises the following steps:

the method comprises the following steps: configuring environmental parameters, maps, calling equipment, docking mechanisms and the like;

step two: selecting a robot type, and further determining a corresponding action library;

step three: establishing an action/flow group in a preamble step frame, and configuring a corresponding trigger action;

step four: putting into use.

In the actual use process, the specific process is as follows:

after the central control system receives a certain trigger condition, searching a flow library to generate a task;

the task corresponds to a corresponding action/flow, and a proper robot is selected to send a task instruction;

after the robot completes the corresponding operation, the result is fed back to the central control system to complete the corresponding task;

according to the corresponding feedback result, the central control system continues the next action/flow;

the above process is repeated until the corresponding action/flow group is completed.

The action table executed by the robot comprises a sequence, an action type, an adaptive robot type, an input parameter, an output result parameter and the like. The action table is shown in the following table:

number of

Movement ofType (B)

Adaptive robot

Type parameter

Result parameter

Preamble restriction

Limitation of sequence

1

Forward

Moveable

Distance between two adjacent devices

Completion distance

Is composed of

Is free of

2

Rotate

Steering device

Angle of rotation

Completion angle

Is free of

3

Lifting goods

Can be lifted

Is free of

Whether or not to succeed

Not lifted

4

Put down goods

Can be put down

Is composed of

Whether or not to succeed

Lifting state

The task table executed by the robot comprises a sequence, a task flow, a state, a task result and the like; the task types include: corresponding to the mother process and the like; the states include: unassigned, assigned robots, in-flight, execute normal completion, execute abnormal completion, etc.; the task result includes parameters and the like when the task ends.

Example 5 construction of maps

The map construction includes two tables, a point table and a path table. Wherein: the point location table comprises point location numbers, point location coordinates, point location types, point location states and the like; the point location coordinates include: three-dimensional coordinates from the reference point; the point location types include: flatness, material, application, possibility of placing equipment and the like of the point position; the point location state includes: whether the point location is occupied, whether the point location can pass, whether the point location is forbidden, and the like. The path table contains start point location, end point location, path type, path size, path state, etc.: the starting point and the end point determine the starting point and the end point of the path; the path types include: the material and the application of the path, whether equipment can be placed or not, and the like; the path dimensions include: channel width, height, slope, inclination, etc.; the path states include: whether the path is occupied, whether it can pass, whether it is forbidden, etc.

The process of constructing the map comprises the following steps: point location information is automatically converted into the table through different modes such as CAD import, manual input, excel file import and the like, corresponding paths and the like are generated, and further adjustment is performed through modes such as automatic completion and manual completion. The table information can be displayed in a map mode through a visual interface, and the table information can be modified through the visual interface.

Embodiment 6 disassembly of a single action of a robot and defining the single action of the robot as a non-detachable action, for example:

1. forward motion: the robot can advance x distance by comprising an advance distance parameter.

2. Rotation action: the robot can rotate x degrees by containing a rotation angle parameter.

3. Lifting action: the robot can lift x height by comprising a lifting height parameter.

By the definition, various operations of the robot are packaged, so that a system user does not need to consider implementation details and concentrate on results, and the system user cannot acquire action details, thereby ensuring the safety of related operations. And meanwhile, the whole system tends to be standardized and has the smallest inseparable detail.

Example 7 establishment of a robot motion model

The realization of the robot path planning considers the following scenes, after the robot has map information and the size of the robot, a certain flow generates a moving task, the robot needs to be moved to a certain point, and the central control system realizes the path planning by the steps similar to the following steps

1. And searching a point location map and a path map according to the starting point location and the end point location, and acquiring all communication paths.

2. According to the path properties such as gradient, material, channel width and the like, judging whether the corresponding path can be passed or not according to the type of the corresponding robot such as size, size of carried goods, climbing capacity and the like, and excluding the path which cannot be passed.

3. According to the same information, the time for passing each route is confirmed (the speed of the robot can be different according to the routes of different materials and slopes), and meanwhile, the congestion of the whole system needs to be considered, and the route which is the nearest or shortest in time consumption or smallest in energy consumption or smallest in risk is selected.

The path obtained according to the logic is finally sent to the robot to be executed, and in the execution process of the robot, the final target of the system is achieved due to the fact that the use degree of the path, the channel congestion degree and the like are adjusted at any time.

The algorithm pseudo code for this section is as follows: // first step: finding all feasible paths from point a to point b

Path set R (initial value includes b)

Path evaluation value V

While (x dot! = a)

For (adjacent point of point b, y, i.e. there is a path connection y-b)

If path y-b meets the traffic conditions (preamble step 2)

Adding y points to the path set b

Adding the evaluation value of y-b to V (preamble step 3)

And after the circulation is finished, acquiring a path set R and a corresponding evaluation value V

// second step: find the most suitable path

And selecting a proper path according to the V evaluation according to the acquired path set.

// third step: dynamic adjustment

According to the change of the path and the state information of the robot, the traffic condition needs to be reevaluated in real time, and feasible paths are searched, for example:

changes in ground and path conditions

Changes in the state of the robot load, etc

The protection of the present invention is not limited to the above embodiments. Variations and advantages that may occur to those skilled in the art are intended to be included within the present invention without departing from the spirit and scope of the inventive concept and are intended to be protected by the following claims.

Claims

1. A robotic automation system of configurable environment/action/flow, the automation system comprising: the system comprises a central control system, a configuration system, a robot, a calling terminal and a docking mechanism; wherein the content of the first and second substances,

the central control system is a core control system of the automation system, realizes task management and task distribution logic of the automation system, realizes communication with the robot, the calling terminal and the docking mechanism, achieves control and monitoring functions, and comprises: the system comprises a database, a communication module, a logic module and an environment module;

the database includes: an environment library, an equipment library, an action library and a process library/process group library; the communication module is used for sending/receiving instructions and signals of each robot/docking mechanism/calling terminal; the logic module is used for converting a configuration table set by an operator into a code executed by the robot, making corresponding logic judgment aiming at the feedback of different robots/docking mechanisms/call terminals, and triggering/terminating the next action/flow group; the environment module is used for uploading and storing map information of the automatic solution, and comprises selectable paths, equipment or docking mechanism positions and robot point positions;

the environment library includes: map information and device information;

the device library includes: robot type, docking mechanism type, calling terminal type;

the action library includes: definition of single action, corresponding machine model, contained parameter value;

the process library/process group library comprises: parameters of corresponding processes and process groups; respective trigger mechanism and parameter configuration;

the configuration system is displayed through a display device, and realizes the action, flow definition and configuration of the robot through a webpage and an App mode; and/or, realizing the definition and configuration of the related system in a non-code form; the non-code form comprises a table, a flow chart and a list graphical interface;

the robot is a movable robot with different tops; the robot comprises the current equipment type, and after the related actions are abstracted, the robot can be inserted into an action library at any time to realize the dispatching control of the robots of different types;

the calling terminal is used for sending a signal to the central control system and comprises a hardware terminal and a software terminal; the hardware terminal includes: calling a button and scanning a code gun; the calling button triggers the robot to execute actions through button pressing; the code scanning gun is used for controlling the robot process after code scanning; the software terminal comprises a PC (personal computer) terminal, a PDA (personal digital assistant) and a tablet personal computer;

the docking mechanism and different robots carry out docking in different forms, and interaction of goods handover and goods posture conversion is realized; the butt joint mechanism comprises a lifter, a conveyor belt and a roller.

2. The automated system of claim 1, wherein the robot, in accordance with a movement pattern, comprises: wheeled mobile robots, multi-legged mobile robots, tracked mobile robots; the robot's facial make-up mode includes: the tray is lifted and loaded, the gear shaping is lifted and loaded, the belt and the roller are loaded, the mechanical arm is loaded, and the hook is loaded.

3. A set-up method of a configurable environment/action/flow robotic automation system according to claim 1 or 2, characterized in that the set-up method comprises the steps of:

step 1: constructing a database which comprises an environment library, an equipment library, an action library and a process library/process group library; the method specifically comprises the following substeps:

step 1.1: constructing an environment library comprising map information and equipment information; the map information comprises position information, parameter information and channel information; the equipment information comprises docking equipment, calling equipment type and position;

the robot library comprises basic information and state information; the basic information comprises the size, the model and the adaptable action of the robot; the state information includes: motion state, loaded object state, electric quantity state and task state;

step 1.3: constructing an action library, dividing and summarizing various actions of different types of robots into inseparable actions containing parameters, and storing the inseparable actions into a database;

the action library comprises basic information and use information; the basic information comprises action types, action descriptions and adaptive robot models; the usage information includes an action parameter;

step 1.4: constructing a flow library/flow group library, wherein the flow is formed by combining two or more single actions, and the flow group is formed by combining two or more flows;

the process library/process group library comprises trigger information, type information, execution parameter information, state information and state parameter information;

step 2: filling data in the database in the step 1 to realize the configuration of the system, wherein the configuration comprises environment configuration, equipment configuration and process configuration; wherein the device configuration comprises: configuring a robot module and a basic action module; the process configuration comprises environment module configuration, process module configuration and process group module configuration;

step 2.1: configuring an environment library, uploading and storing map information of an automatic solution, wherein the map information comprises selectable paths, equipment or docking mechanism positions and robot point positions;

step 2.2: configuring an equipment library and an action library, and configuring and adding the mobile action and the operation action according to the indivisible action containing the parameters in the step 1.3;

step 2.3: configuring a flow/flow group library, combining different actions according to an application scene, configuring a required flow/flow group, filling related information, combining by dragging, moving, confirming a trigger mode and a judging logic mode, and performing storage, deletion and modification operations;

and step 3: and (4) selecting the flow/flow group in the step 2.3 according to the application scene to meet the use requirement.

4. The method of building according to claim 3, wherein the construction of the map comprises two tables: a point location table and a path table;

the point location table comprises point location numbers, point location coordinates, point location types and point location states; the point location coordinates include: three-dimensional coordinates from the reference point; the point location types include: flatness, material and use of the point location, and whether equipment can be placed; the point location state includes: whether the point location is occupied, whether the point location can pass or not and whether the point location is forbidden or not;

the path table includes: start point location, end point location, path type, path size, path state: the starting point position and the end point position determine the starting point and the end point of the path; the path types include: the material and the application of the path, and whether equipment can be placed or not; the path dimensions include: channel width, height, slope, inclination; the path states include: whether the path is occupied, whether the path can pass through, and whether the path is forbidden.

5. A robotic automation application of a robotic automation system based on a configurable environment/action/flow according to claim 1 or 2, characterized in that the application comprises the steps of:

step two, setting the action/flow group of the robot through a configuration interface in a dragging, moving, trigger confirmation mode and logic judgment mode;

and step three, when the corresponding trigger conditions are met, different actions/processes/process groups are activated, and the central control system schedules corresponding equipment to execute the relevant actions/processes/process groups.

6. The automated application of claim 5, wherein the action is a single action of a single robot, completing a complete action without cooperation of other equipment; the actions are defined through the motion abstraction of the robot, and an action set consisting of single actions is obtained, wherein the actions comprise moving, carrying, adjusting the goods posture and unloading;

the process is a series of actions of a single robot, is an action group formed by combining a plurality of single actions and comprises interaction with a docking mechanism or a call button, and after the process is finished, the system returns to an initial state; the flow is formed by combining the actions and comprises a triggering mode and a flow type; the triggering mode comprises the following steps: automatic triggering is carried out regularly; calling and triggering through a terminal program by utilizing a hardware module; triggering through nodes of other actions and processes; the node comprises an action, normal termination of a flow and abnormal termination;

the flow types include: calling an idle robot; the robot transports the designated loaded goods to the designated destination; the robot is in butt joint with a specified butt joint mechanism at a specified butt joint point;

the flow group is an action group formed by combining a plurality of actions and/or flows and is used for describing all action flows of the current system; the process group comprises: empty-full switching and multi-process connection; the empty-full switching means that: the fully loaded goods shelf which is finished with the operation is conveyed away, and then a no-load goods shelf is supplemented, so that the goods shelf switching of the operation position is realized; the multi-process connection refers to that: one shelf is transported to the next process, and the shelf is taken over from the previous process and is replenished to the current operation position.

7. The automated application of claim 6, wherein the moving action comprises moving forward, moving backward, rotating the robot body, and rotating the object to be carried;

the cargo-carrying action includes: (1) lifting the lifting mechanism: the lifting mechanism jacks up the loaded goods to enable the loaded goods to leave the ground, so that the goods are convenient to transport; (2) rotation of the belt roller: receiving the loaded goods from the conveyor belt, the elevator and the chain machine mechanism; and (3) lifting the gear shaping: the carried goods are lifted off the ground, so that the transportation is convenient; (4) mounting: the carried goods are hung and connected with the robot body in a hook mode, so that dragging type transfer is facilitated;

the unloading action comprises the lifting mechanism falling down and placing the loaded goods on the ground; and/or the belt roller rotates to transfer the loaded articles to the transmission belt, the lifting machine and the chain machine.

8. The automation application of claim 6, wherein the hardware module comprises: calling a button and scanning a code gun; the terminal program comprises a PDA, a mobile phone end and a PC end.

9. The automated application of claim 5, further comprising a path plan for the robot after step two, the implementation of which comprises the steps of: