CN114274144A - Control method of transfer robot and related equipment - Google Patents
Control method of transfer robot and related equipment Download PDFInfo
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- CN114274144A CN114274144A CN202111666780.XA CN202111666780A CN114274144A CN 114274144 A CN114274144 A CN 114274144A CN 202111666780 A CN202111666780 A CN 202111666780A CN 114274144 A CN114274144 A CN 114274144A
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- 239000011159 matrix material Substances 0.000 claims abstract description 88
- 239000000463 material Substances 0.000 claims abstract description 74
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Abstract
The embodiment of the invention provides a control method of a transfer robot, which comprises the following steps: generating a planned route of the carrying robot according to the material carrying starting position and the material carrying end position; generating a time sequence light path diagram of the LED matrix light source according to the planned route; controlling an LED matrix light source to generate a light route through a time sequence light path diagram; and controlling the carrying robot to carry out line patrol operation on the lamplight route so as to complete the carrying task of the materials. Through set up LED matrix light source on the roof of closed factory building, according to material handling starting point position and material handling terminal point position, after the planning route that generates transfer robot, according to the corresponding chronogenesis light path map of planning route generation, control LED matrix light source and generate the light route, transfer robot can patrol the line according to the light route, need not set up transfer robot's discernment sign on ground, has improved transfer robot discernment precision, and then improves transfer robot's work efficiency.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a control method of a transfer robot and related equipment.
Background
As the industry has developed, the required materials may be handled by handling robots that may handle the materials from one location to another. In the process of carrying by the existing carrying robot, carrying control is mostly carried out on the route of the carrying robot through the identification mark on the ground, however, the identification mark of the carrying robot is arranged on the ground and is easy to wear, and when the identification mark is worn, the carrying robot cannot accurately identify the identification mark on the ground, so that the identification precision of the carrying robot is poor, and the normal work of the carrying robot is influenced.
Disclosure of Invention
The embodiment of the invention provides a control method of a carrying robot, which is characterized in that an LED matrix light source is arranged on a top plate of a closed factory building, a planned route of the carrying robot is generated according to a material carrying starting point position and a material carrying end point position, a corresponding time sequence light path diagram is generated according to the planned route, and the LED matrix light source is controlled to generate a light route.
In a first aspect, an embodiment of the present invention provides a method for controlling a transfer robot, where the method includes:
generating a planned route of the carrying robot according to the material carrying starting position and the material carrying end position;
generating a time sequence light path diagram of the LED matrix light source according to the planned route;
controlling the LED matrix light source to generate a light route through the time sequence light path diagram;
and controlling the carrying robot to carry out line patrol operation on the lamplight route so as to complete the carrying task of the materials.
Optionally, the plurality of transfer robots generate a planned route of the transfer robot according to the material transfer starting position and the material transfer ending position, and the method includes:
and generating planned routes of the carrying robots on the condition that the carrying robots do not collide according to the material carrying starting position and the material carrying end position, wherein the number of the planned routes is the same as that of the carrying robots.
Optionally, the planning route includes a traveling speed and a traveling vector of the transfer robot, and the generating of the time sequence light path diagram of the LED matrix light source according to the planning route includes:
generating on-off time parameters of the LED matrix light source according to the walking speed;
generating on-off time sequence parameters of the LED matrix light source according to the walking vector;
and generating a time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter.
Optionally, the generating a time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter includes:
judging whether a plurality of partially parallel time sequence light path diagrams exist or not according to the on-off time parameter and the on-off time sequence parameter;
and if a plurality of partially parallel time sequence light path diagrams exist, distributing color parameters of the plurality of partially parallel time sequence light path diagrams to generate the time sequence light path diagrams of the LED matrix light source with different color parameters, wherein the color parameters are allowed color parameters of the LED matrix light source.
Optionally, the generating a time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter includes:
judging whether a plurality of time sequence light path diagrams with local distances smaller than a preset distance exist according to the on-off time parameter and the on-off time sequence parameter;
and if a plurality of time sequence light path diagrams with local distances smaller than the preset distance exist, performing color parameter distribution on the plurality of time sequence light path diagrams with the local distances smaller than the preset distance to generate the time sequence light path diagrams of the LED matrix light source with different color parameters.
Optionally, control the transfer robot is right the light route is patrolled the line and is operated to accomplish the transport task of material, include:
setting line patrol parameters for each handling robot according to the time sequence light path diagrams, wherein one handling robot corresponds to one time sequence light path diagram;
and controlling the carrying robot to carry out line patrol operation on the lamplight route through the line patrol parameters so as to complete the carrying task of materials.
Optionally, the setting of the line patrol parameter for each transfer robot according to the time sequence light path diagram includes:
and setting line patrol parameters for each handling robot according to the color parameters of the time sequence light path diagram.
In a second aspect, an embodiment of the present invention provides a control apparatus for a transfer robot, the apparatus including:
the first generation module is used for generating a planned route of the carrying robot according to the material carrying starting position and the material carrying end position;
the second generation module is used for generating and obtaining a time sequence light path diagram of the LED matrix light source according to the planned route;
the first control module is used for controlling the LED matrix light source to generate a light route through the time sequence light path diagram;
and the second control module is used for controlling the carrying robot to carry out line patrol operation on the lamplight route so as to complete the carrying task of the materials.
In a third aspect, an embodiment of the present invention provides a patrol robot, including: the robot control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method for controlling a transfer robot according to an embodiment of the present invention when executing the computer program.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the steps in the method for controlling a transfer robot provided by the embodiment of the present invention.
In the embodiment of the invention, a planned route of the carrying robot is generated according to the material carrying starting position and the material carrying end position; generating a time sequence light path diagram of the LED matrix light source according to the planned route; controlling the LED matrix light source to generate a light route through the time sequence light path diagram; and controlling the carrying robot to carry out line patrol operation on the lamplight route so as to complete the carrying task of the materials. Through set up LED matrix light source on the roof of closed factory building, according to material handling starting point position and material handling terminal point position, after the planning route that generates transfer robot, according to the corresponding chronogenesis light path map of planning route generation, control LED matrix light source and generate the light route, transfer robot can patrol the line according to the light route, need not set up transfer robot's discernment sign on ground, has improved transfer robot discernment precision, and then improves transfer robot's work efficiency.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a control method of a transfer robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a control device of a transfer robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a transfer robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a control method of a transfer robot according to an embodiment of the present invention, and as shown in fig. 1, the control method of the transfer robot is used for controlling the transfer robot in a closed factory building, a top plate of the closed factory building is provided with an LED matrix light source, and the control method of the transfer robot includes the following steps:
101. and generating a planned route of the transfer robot according to the material transfer starting position and the material transfer end position.
In an embodiment of the present invention, the material handling start point refers to an initial stacking position of the material, and the material handling end point refers to a final stacking position of the material, and the material may be handled from the initial stacking position to the final stacking position by one or more handling robots.
The closed plant refers to a plant with walls and a ceiling, which may also be referred to as a ceiling, on which the LED matrix light sources are arranged. The arrangement region of the LED matrix light source may be the entire ceiling plate region, or may be the ceiling plate region directly above the transfer region of the transfer robot.
The LED matrix light source can be composed of a plurality of LED lamps, and further the LED lamps are adjustable in light intensity and adjustable in color, so that the LED matrix light source can be controlled by different light intensities and different colors.
It should be noted that each LED lamp in the LED matrix light source can be controlled individually, so as to control the on-off state, the light intensity, and the color of the local LED lamp by the LED matrix light source.
The line patrol robot can be a line patrol robot, line patrol parameters can be set according to line colors and line lamp light intensity, the line patrol robot can advance according to corresponding lines, the line patrol robot can patrol tasks through the light sensor and the color sensor, set line colors are collected through the color sensor, set line lamp light intensity is collected through the light sensor, the line patrol robot compares the set line patrol parameters with the collected line colors and the collected lamp light intensity, and corresponding control instructions are executed according to the collected line colors and the collected lamp light intensity, such as straight running or turning.
The inspection robot can perform inspection tasks through image equipment, the image equipment is arranged on the transfer robot, the image equipment can collect images of a top plate right above the transfer robot, the image equipment is intelligent image equipment, an image processing model corresponding to a required scene is carried on the intelligent image equipment and can be used for image collection and image processing analysis, for example, the intelligent image equipment can be carried with a detection model of a light route, after the images of the top plate right above the transfer robot are collected, the light route in the images is detected through the detection model of the light route, according to the detected light intensity and light color above the top plate, the inspection robot compares the set inspection parameters with the detected line color and light intensity, and the collected line color and light intensity execute corresponding control instructions, such as straight or turning.
In a possible embodiment, the image device may be connected to a server, the server is connected to the transfer robot, the detection model of the lighting route is loaded in the server, the image device collects an image of a top plate right above the transfer robot and sends the image to the server, and the lighting route detection is performed on the image through the detection model of the lighting route in the server to obtain the lighting intensity and the line color of the lighting route.
The transfer robot may establish a connection with the image device through a wireless connection, the server may establish a connection with the image device through a wireless connection, and the server may establish a connection with the transfer robot through a wireless connection, wherein the wireless connection may include, but is not limited to, a 3G/4G/5G connection, a WiFi connection, a bluetooth connection, a WiMAX connection, a Zigbee connection, a uwb (ultra wideband) connection, and other wireless connections now known or developed in the future.
The detection model of the light route may be constructed based on a convolutional neural network, for example, may be constructed based on resnet 18.
The detection model of the lighting route can be trained through a data set, and the trained detection model of the lighting route is deployed in a server or image equipment.
The data set comprises a sample image with a light route and label data with light intensity and route color, and a detection model of the light route is trained through the data set. In the training process, the sample images in the data set are input into the detection model of the lighting route for detection to obtain a detection result, the error LOSS between the detection result and the label data is calculated, back propagation is carried out according to the error LOSS, and model parameters of the detection model of the lighting route are iterated. And when the error LOSS is smaller than a preset value, a trained detection model of the lighting route can be obtained.
The planned route may be performed according to different numbers of transfer robots, and if only one transfer robot performs the transfer, the shortest route from the initial stacking position to the final stacking position may be used as the planned route in consideration of a condition that the volume of the transfer robot when the transfer robot is fully loaded with the material does not collide with the environment.
Optionally, the number of the carrying robots is multiple, a planned route of the carrying robot is generated on the condition that the carrying robots do not collide according to the material carrying starting position and the material carrying end position, and the number of the planned route is the same as that of the carrying robots.
Specifically, if there are multiple transfer robots, the condition that the volume of a transfer robot under a full load of materials does not collide with the environment is considered, and the condition that the volume of any one transfer robot under a full load of materials does not collide with other transfer robots is considered, and the shortest total route length is taken as an objective, and nonlinear programming is performed through an MATLAB tool to obtain a corresponding planned route.
102. And generating a time sequence light path diagram of the LED matrix light source according to the planned route.
The planned route refers to a route obtained by planning a transport route of the transport robot. And the time sequence light path diagram is used for carrying out light control on the LED matrix light source.
The above-mentioned generating the time sequence light path diagram of the LED matrix light source according to the planned route can be understood as mapping the planned route to the LED matrix light source for displaying.
Further, the time-series light path image has a time-series attribute, and specifically, the time-series light path image can be understood as moving on a planned route according to a time series through a light source with a preset length, and a transfer robot captures the light source with the preset length to perform line patrol. In this way, the planned route does not need to be displayed by all lights, for example, the LED lights required in the planned route are (L1, L2, L3, L4, L5, L6, L7, L8, L9, …), at the time t1, the LED lights (L1, L2, L3) are controlled to be on, and an optical path diagram at the time t1 is obtained; controlling the LED lamps (L2, L3 and L4) to be on at the time t2 to obtain a light path diagram at the time t 2; and at the time t3, controlling the LED lamps (L3, L4 and L5) to be turned on, and obtaining an optical path diagram at the time t 3. And analogizing in turn to obtain a time sequence light path diagram of the LED matrix light source. Therefore, the light energy consumption required by a planned route is reduced, and the time sequence light path diagram of the LED matrix light source is more flexible, for example, the light path diagram of the planned route A6 at the time t3 is (L3, L4, L5), and at the time t3, the LED lamps (L1, L7, L8, L9, …) in the planned route A6 can be utilized by the planned route B, and the light path diagrams (L3, L4, L5) are not affected.
Optionally, the planned route includes a walking speed and a walking vector of the transfer robot, and in the step of generating the time sequence light path diagram of the LED matrix light source according to the planned route, the on-off time parameter of the LED matrix light source may be generated according to the walking speed; generating on-off time sequence parameters of the LED matrix light source according to the walking vector; and generating a time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter.
In an embodiment of the present invention, the traveling speed is a traveling speed of the transfer robot, and the on-off time parameter of the LED matrix light source is generated according to the traveling speed, where the on-off time parameter may be a time sequence step length of a time sequence light path diagram.
For example, when the walking speed is fast, the timing step can be set to be 2, and at the time t1, the LED lamps (L1, L2, L3) are controlled to be turned on, so that an optical path diagram at the time t1 is obtained; controlling the LED lamps (L3, L4 and L5) to be on at the time t2 to obtain a light path diagram at the time t 2; and at the time t3, controlling the LED lamps (L5, L6 and L7) to be turned on, obtaining an optical path diagram at the time t3 and the like.
When the walking speed is slow, setting the time sequence step length to be 1, and controlling the LED lamps (L1, L2 and L3) to be on at the time t1 to obtain a light path diagram at the time t 1; controlling the LED lamps (L2, L3 and L4) to be on at the time t2 to obtain a light path diagram at the time t 2; and at the time t3, controlling the LED lamps (L3, L4 and L5) to be turned on, and obtaining an optical path diagram at the time t 3.
In the embodiment of the present invention, the travel vector is the travel direction and length of the transfer robot, for example, at time t1, the LED lights (L1, L2, L3) are controlled to be turned on, the travel direction of the transfer robot is L, the length is (L1, L2, L3), and an optical path diagram at time t1 is obtained; controlling the LED lamps (L2, L3 and B3) to be turned on at the time t2, wherein the walking direction of the transfer robot is L-to-B, the length in the L direction is (L2 and L3), the length in the B direction is (B3), and an optical path diagram at the time t2 is obtained; at time t3, the LED lamps (L3, B3, B4) are controlled to be turned on, the traveling direction of the transfer robot is L-to-B, the length in the L direction is (L3), the length in the B direction is (B3, B4), and an optical path diagram at time t3 is obtained.
Optionally, in the step of generating the time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter, whether a plurality of partially parallel time sequence light path diagrams exist may be determined according to the on-off time parameter and the on-off time sequence parameter; and if a plurality of partially parallel time sequence light path diagrams exist, distributing color parameters of the plurality of partially parallel time sequence light path diagrams to generate the time sequence light path diagrams of the LED matrix light source with different color parameters, wherein the color parameters are allowed color parameters of the LED matrix light source.
In the embodiment of the invention, a plurality of partially parallel time sequence light path diagrams exist, and if the light is the light with the same color, the light is easy to interfere with each other, for example, if the plurality of partially parallel time sequence light path diagrams are all white light, the corresponding machine can walk side by side at the time corresponding to the partial parallel time, and the light signal of the opposite side is easy to be acquired by mistake. Therefore, color parameter distribution is carried out on a plurality of partially parallel time sequence light path diagrams so as to generate the time sequence light path diagrams of the LED matrix light sources with different color parameters, and the light signals of the opposite side can be prevented from being acquired by mistake. For example, at time t1, the optical path diagram of the transfer robot a is (L1, L2, L3), the optical path diagram of the transfer robot B is (B1, B2, B3), the distance between L and B is close, for example, the distance between L and B is within 5 LED lamps, at this time, the transfer robot a and the transfer robot B travel side by side at time t1, and if the color of the light in the optical path diagrams (L1, L2, L3) is white, and the color of the light in the optical path diagrams (B1, B2, B3) is also white, false recognition is likely to occur. Therefore, in the embodiment of the present invention, the whole optical path diagram corresponding to the optical path diagrams (L1, L2, and L3) may be set as red light, the whole optical path diagram corresponding to the optical path diagrams (B1, B2, and B3) may be set as green light, the inspection parameter of the transfer robot a is set as red, the inspection parameter of the transfer robot B is set as green, the transfer robot a only inspects the red light, and the transfer robot B only inspects the green light, so as to avoid the false recognition between the transfer robot a and the transfer robot B, and improve the transfer efficiency of each transfer robot.
Optionally, in the step of generating the time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter, whether multiple time sequence light path diagrams with local distances smaller than a preset distance exist may be determined according to the on-off time parameter and the on-off time sequence parameter; and if a plurality of time sequence light path diagrams with local distances smaller than the preset distance exist, performing color parameter distribution on the plurality of time sequence light path diagrams with local distances smaller than the preset distance to generate the time sequence light path diagrams of the LED matrix light sources with different color parameters.
In the embodiment of the invention, a plurality of time sequence light path diagrams with local distances smaller than the preset distance exist, if the light is the light with the same color, the interference is easily caused, for example, if a plurality of time sequence light path diagrams which are partially parallel are all white light, the corresponding machine can walk side by side at the time corresponding to the portion in parallel, and the light signal of the opposite side is easily acquired by mistake. Therefore, color parameter distribution is carried out on the plurality of time sequence light path diagrams with the local distances smaller than the preset distance so as to generate the time sequence light path diagrams of the LED matrix light sources with different color parameters, and the light signals of the opposite side can be prevented from being acquired by mistake. For example, at time t1, the optical path diagrams of the transfer robot a are (L1, L2, L3), the optical path diagrams of the transfer robot B are (L4, B4, B5), and L4 and L3 are close to each other, and at this time, when the transfer robot a and the transfer robot B travel side by side at time t1, if the light colors of the optical path diagrams (L1, L2, L3) are white and the light colors of the optical path diagrams (L4, B4, B5) are also white, false recognition is easily caused, for example, two travel paths of the transfer robot a at time t1 are (L1, L2, L3, L4) and two travel paths of the transfer robot B at time t1 are (L4, B4, B5) or (L4, L3, L2, L1), which causes logic confusion. Therefore, in the embodiment of the present invention, the whole optical path diagram corresponding to the optical path diagrams (L1, L2, and L3) may be set as red light, the whole optical path diagram corresponding to the optical path diagrams (L4, B4, and B5) may be set as green light, the inspection parameter of the transfer robot a is set as red, the inspection parameter of the transfer robot B is set as green, the transfer robot a only inspects the red light, and the transfer robot B only inspects the green light, so as to avoid the false recognition between the transfer robot a and the transfer robot B, and improve the transfer efficiency of each transfer robot.
103. And controlling the LED matrix light source to generate a light route through the time sequence light path diagram.
In the embodiment of the invention, after the time sequence light path diagram is obtained, the LED matrix light source is controlled through the time sequence light path diagram, and the light route for the carrying robot to patrol is obtained.
104. And controlling the carrying robot to carry out line patrol operation on the lamplight route so as to complete the carrying task of the materials.
In the embodiment of the invention, the carrying robot completes the carrying task by performing line patrol operation on the light route. Specifically, the server sends line patrol parameters corresponding to the time sequence light path diagram to the carrying robot, and the carrying robot executes line patrol tasks according to the line patrol parameters in the material carrying process.
Optionally, in the step of controlling the handling robots to perform line patrol operation on the light routes to complete the material handling task, line patrol parameters may be set for each handling robot according to the time sequence light path diagrams, where one handling robot corresponds to one time sequence light path diagram; and controlling the carrying robot to carry out line patrol operation on the lamplight route through line patrol parameters so as to complete the carrying task of materials.
For example, can come to set up for every transfer robot according to line color and light intensity in the time sequence light path diagram and patrol the line parameter for transfer robot can patrol the line to light route on the roof according to self patrolling the line parameter.
Optionally, in the step of setting the line patrol parameters for each transfer robot according to the time-series optical path diagram, the line patrol parameters may be set for each transfer robot according to the color parameters of the time-series optical path diagram, so that the transfer robots patrol lines according to the respective color parameters.
In the embodiment of the invention, a planned route of the transfer robot is generated according to the material transfer starting position and the material transfer end position; generating a time sequence light path diagram of the LED matrix light source according to the planned route; controlling the LED matrix light source to generate a light route through the time sequence light path diagram; and controlling the carrying robot to carry out line patrol operation on the lamplight route so as to complete the carrying task of the materials. Through set up LED matrix light source on the roof of closed factory building, according to material handling starting point position and material handling terminal point position, after the planning route that generates transfer robot, according to the corresponding chronogenesis light path map of planning route generation, control LED matrix light source and generate the light route, transfer robot can patrol the line according to the light route, need not set up transfer robot's discernment sign on ground, has improved transfer robot discernment precision, and then improves transfer robot's work efficiency.
The method for controlling a transfer robot according to the embodiment of the present invention can be applied to devices such as a smartphone, a computer, and a server that can control a transfer robot.
Optionally, referring to fig. 2, fig. 2 is a schematic structural diagram of a control device of a transfer robot according to an embodiment of the present invention, and as shown in fig. 2, the control device includes:
a first generating module 201, configured to generate a planned route of the transfer robot according to the material transfer start position and the material transfer end position;
a second generating module 202, configured to generate a time-sequence light path diagram of the LED matrix light source according to the planned route;
the first control module 203 is used for controlling the LED matrix light source to generate a light route through the time sequence light path diagram;
and the second control module 204 is used for controlling the carrying robot to carry out line patrol operation on the light route so as to complete the carrying task of the materials.
Optionally, the plurality of transfer robots are provided, and the first generating module 201 includes:
and the first generation submodule is used for generating a planned route of the carrying robot according to the material carrying starting position and the material carrying end position under the condition that the carrying robot does not collide, wherein the number of the planned route is the same as that of the carrying robots.
Optionally, the planned route includes a walking speed and a walking vector of the transfer robot, and the second generating module 202 includes:
the second generation submodule is used for generating the on-off time parameters of the LED matrix light source according to the walking speed;
the third generation submodule is used for generating on-off time sequence parameters of the LED matrix light source according to the walking vector;
and the fourth generation submodule is used for generating a time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter.
Optionally, the fourth generation submodule includes:
the first judging unit is used for judging whether a plurality of partially parallel time sequence light path diagrams exist according to the on-off time parameter and the on-off time sequence parameter;
the first distribution unit is used for distributing color parameters of a plurality of partially parallel time sequence light path diagrams if the plurality of partially parallel time sequence light path diagrams exist, so as to generate the time sequence light path diagrams of the LED matrix light source with different color parameters, wherein the color parameters are allowed color parameters of the LED matrix light source.
Optionally, the fourth generation submodule includes:
the second judging unit is used for judging whether a plurality of time sequence light path diagrams with local distances smaller than a preset distance exist according to the on-off time parameter and the on-off time sequence parameter;
and the second distribution unit is used for distributing color parameters of the plurality of time sequence light path diagrams with the local distances smaller than the preset distance to generate the time sequence light path diagrams of the LED matrix light source with different color parameters if the plurality of time sequence light path diagrams with the local distances smaller than the preset distance exist.
Optionally, the second control module 204 includes:
the setting submodule is used for setting line patrol parameters for each handling robot according to the time sequence light path diagrams, and one handling robot corresponds to one time sequence light path diagram;
and the control submodule is used for controlling the carrying robot to carry out line patrol operation on the lamplight route through the line patrol parameters so as to complete the carrying task of the materials.
Optionally, the setting sub-module includes:
and the setting unit is used for setting line patrol parameters for each transfer robot according to the color parameters of the time sequence light path diagram.
The control device for a transfer robot according to the embodiment of the present invention can be applied to a patrol robot capable of controlling a transfer robot, an external device for a robot, and the like.
The control device of the transfer robot provided by the embodiment of the invention can realize each process realized by the control method of the transfer robot in the method embodiment, and can achieve the same beneficial effects. To avoid repetition, further description is omitted here.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a transfer robot according to an embodiment of the present invention, as shown in fig. 3, including: a memory 302, a processor 301, and a computer program for a method of controlling a transfer robot stored in the memory 302 and operable on the processor 301, wherein:
the processor 301 is configured to call the computer program stored in the memory 302, and execute the following steps:
generating a planned route of the carrying robot according to the material carrying starting position and the material carrying end position;
generating a time sequence light path diagram of the LED matrix light source according to the planned route;
controlling the LED matrix light source to generate a light route through the time sequence light path diagram;
and controlling the carrying robot to carry out line patrol operation on the lamplight route so as to complete the carrying task of the materials.
Optionally, the generating a planned route of the transfer robot according to the material transfer starting position and the material transfer ending position by the plurality of transfer robots executed by the processor 301 includes:
and generating planned routes of the carrying robots on the condition that the carrying robots do not collide according to the material carrying starting position and the material carrying end position, wherein the number of the planned routes is the same as that of the carrying robots.
Optionally, the planned route executed by the processor 301 includes a walking speed and a walking vector of the transfer robot, and the generating a time sequence light path diagram of the LED matrix light source according to the planned route includes:
generating on-off time parameters of the LED matrix light source according to the walking speed;
generating on-off time sequence parameters of the LED matrix light source according to the walking vector;
and generating a time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter.
Optionally, the generating, by the processor 301, a time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter includes:
judging whether a plurality of partially parallel time sequence light path diagrams exist or not according to the on-off time parameter and the on-off time sequence parameter;
and if a plurality of partially parallel time sequence light path diagrams exist, distributing color parameters of the plurality of partially parallel time sequence light path diagrams to generate the time sequence light path diagrams of the LED matrix light source with different color parameters, wherein the color parameters are allowed color parameters of the LED matrix light source.
Optionally, the generating, by the processor 301, a time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter includes:
judging whether a plurality of time sequence light path diagrams with local distances smaller than a preset distance exist according to the on-off time parameter and the on-off time sequence parameter;
and if a plurality of time sequence light path diagrams with local distances smaller than the preset distance exist, performing color parameter distribution on the plurality of time sequence light path diagrams with the local distances smaller than the preset distance to generate the time sequence light path diagrams of the LED matrix light source with different color parameters.
Optionally, the controlling performed by the processor 301 controls the handling robot to perform line patrol operation on the light route to complete a material handling task, including:
setting line patrol parameters for each handling robot according to the time sequence light path diagrams, wherein one handling robot corresponds to one time sequence light path diagram;
and controlling the carrying robot to carry out line patrol operation on the lamplight route through the line patrol parameters so as to complete the carrying task of materials.
Optionally, the setting, executed by the processor 301, of the line patrol parameter for each of the transfer robots according to the time-series optical path diagram includes:
and setting line patrol parameters for each handling robot according to the color parameters of the time sequence light path diagram.
The electronic device according to the embodiment of the present invention can be applied to a patrol robot that can control a transfer robot, an external device of a robot, and the like.
The electronic equipment provided by the embodiment of the invention can realize each process realized by the control method of the transfer robot in the method embodiment, and can achieve the same beneficial effects. To avoid repetition, further description is omitted here.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the control method for a transfer robot or the control method for an application-side transfer robot provided in the embodiment of the present invention, and can achieve the same technical effect, and in order to avoid repetition, details are not described here again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (10)
1. A control method of a transfer robot is characterized by being used for controlling the transfer robot in a closed workshop, wherein an LED matrix light source is arranged on a top plate of the closed workshop, and the control method comprises the following steps:
generating a planned route of the carrying robot according to the material carrying starting position and the material carrying end position;
generating a time sequence light path diagram of the LED matrix light source according to the planned route;
controlling the LED matrix light source to generate a light route through the time sequence light path diagram;
and controlling the carrying robot to carry out line patrol operation on the lamplight route so as to complete the carrying task of the materials.
2. The method of claim 1, wherein the plurality of transfer robots generating the planned route of the transfer robot based on the material transfer start position and the material transfer end position comprises:
and generating planned routes of the carrying robots on the condition that the carrying robots do not collide according to the material carrying starting position and the material carrying end position, wherein the number of the planned routes is the same as that of the carrying robots.
3. The method of claim 2, wherein the planned route comprises a walking speed and a walking vector of a transfer robot, and the generating of the time sequence light path diagram of the LED matrix light source according to the planned route comprises:
generating on-off time parameters of the LED matrix light source according to the walking speed;
generating on-off time sequence parameters of the LED matrix light source according to the walking vector;
and generating a time sequence light path diagram of the LED matrix light source according to the on-off time parameter and the on-off time sequence parameter.
4. The method of claim 3, wherein said generating a timing light path diagram of said LED matrix light source from said on-off time parameter and said on-off timing parameter comprises:
judging whether a plurality of partially parallel time sequence light path diagrams exist or not according to the on-off time parameter and the on-off time sequence parameter;
and if a plurality of partially parallel time sequence light path diagrams exist, distributing color parameters of the plurality of partially parallel time sequence light path diagrams to generate the time sequence light path diagrams of the LED matrix light source with different color parameters, wherein the color parameters are allowed color parameters of the LED matrix light source.
5. The method of claim 4, wherein said generating a timing light path diagram of said LED matrix light source from said on-off time parameter and said on-off timing parameter comprises:
judging whether a plurality of time sequence light path diagrams with local distances smaller than a preset distance exist according to the on-off time parameter and the on-off time sequence parameter;
and if a plurality of time sequence light path diagrams with local distances smaller than the preset distance exist, performing color parameter distribution on the plurality of time sequence light path diagrams with the local distances smaller than the preset distance to generate the time sequence light path diagrams of the LED matrix light source with different color parameters.
6. The method of claim 5, wherein controlling the handling robot to perform the routing operation on the light route to complete the material handling task comprises:
setting line patrol parameters for each handling robot according to the time sequence light path diagrams, wherein one handling robot corresponds to one time sequence light path diagram;
and controlling the carrying robot to carry out line patrol operation on the lamplight route through the line patrol parameters so as to complete the carrying task of materials.
7. The method according to claim 6, wherein the setting of the patrol parameters for each of the transfer robots according to the time-series light path diagram includes:
and setting line patrol parameters for each handling robot according to the color parameters of the time sequence light path diagram.
8. The utility model provides a controlling means of transfer robot for control transfer robot in closed factory building, be provided with LED matrix light source on the roof of closed factory building, the device includes:
the first generation module is used for generating a planned route of the carrying robot according to the material carrying starting position and the material carrying end position;
the second generation module is used for generating and obtaining a time sequence light path diagram of the LED matrix light source according to the planned route;
the first control module is used for controlling the LED matrix light source to generate a light route through the time sequence light path diagram;
and the second control module is used for controlling the carrying robot to carry out line patrol operation on the lamplight route so as to complete the carrying task of the materials.
9. A patrol robot, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the method of controlling a transfer robot according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed by a processor implements the steps in the control method of a transfer robot according to any one of claims 1 to 7.
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