CN114384876B

CN114384876B - Carrier control method, carrier, storage medium and computer program product

Info

Publication number: CN114384876B
Application number: CN202111594577.6A
Authority: CN
Inventors: 许爱功
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Filing date: 2021-12-23
Publication date: 2024-08-02
Anticipated expiration: 2041-12-23

Abstract

The application provides a carrier control method, a carrier, a storage medium and a computer program product, and relates to the technical field of control. The method comprises the following steps: receiving a carrier control instruction based on a transmission control protocol sent by a carrier control system, wherein the carrier control instruction comprises a plurality of transmission task fields and a plurality of function enabling fields; based on the transmission control protocol, respectively analyzing the plurality of transmission task fields and the plurality of function enabling fields to obtain a transmission task and a function of the carrier control system for indicating the carrier to be enabled; judging whether hardware equipped by the vehicle control system supports a function for indicating the vehicle to start; and responding to the carrier control instruction to execute the transmission task under the condition that the carrier control system is supported by self-equipped hardware to indicate the carrier to start the function. The application aims to improve the applicability of a carrier.

Description

Carrier control method, carrier, storage medium and computer program product

Technical Field

Embodiments of the present application relate to the field of control technologies, and in particular, to a vehicle control method, a vehicle, a storage medium, and a computer program product.

Background

Along with the rapid development of society, the scale of manufacturing factories is also increasingly enlarged, so as to improve the working efficiency, various carriers (such as material robots) are introduced into the existing manufacturing factories, and the carriers can replace a large number of repeated manual labor, so that the point-to-point material transportation can be realized more accurately, the workload of workers can be reduced, and the working efficiency is obviously improved.

However, the current carrier is designed to meet a specific scene generally with single design and application form, and has low applicability, if the scene is changed, the carrier needs to be redesigned according to the changed scene, so that the deployment difficulty of the carrier is high.

Disclosure of Invention

In view of the above, embodiments of the present invention provide a vehicle control method, a vehicle, a storage medium, and a computer program product, so as to overcome or at least partially solve the above-mentioned problems.

In a first aspect of an embodiment of the present invention, a method for controlling a vehicle is provided, where the method is applied to a vehicle, and includes:

Receiving a carrier control instruction based on a transmission control protocol sent by a carrier control system, wherein the carrier control instruction at least comprises: a plurality of transmission task fields and a plurality of function enable fields;

Based on the transmission control protocol, respectively analyzing the plurality of transmission task fields and the plurality of function enabling fields to obtain a transmission task and a function of the carrier control system for indicating the carrier to be enabled;

judging whether hardware of the carrier supports a function of the carrier control system for indicating the carrier to start or not;

and executing the transmission task under the condition that the carrier control system is supported to indicate the carrier to start the function.

Optionally, the carrier control instruction further includes a carrier type field;

Before parsing the plurality of transmission task fields and the plurality of function enable fields, respectively, based on the transmission control protocol, the method further includes:

analyzing the carrier control instruction based on the transmission control protocol to obtain a carrier type;

Based on the transmission control protocol, respectively parsing the plurality of transmission task fields and the plurality of function enabling fields, including:

And respectively analyzing the plurality of transmission task fields and the plurality of function enabling fields based on the transmission control protocol under the condition that the type of the carrier is consistent with the type of the carrier.

Optionally, the carrier stores a plurality of respective configurable parameters of the functions, and the method further includes:

determining whether each of the plurality of functions is enabled according to a parameter value of a configurable parameter of each of the plurality of functions;

judging whether hardware equipped by the vehicle control system supports a function for indicating the vehicle to start;

executing the transmission task under the condition that the carrier control system is supported to indicate the carrier to start the function, and further comprising:

Responding to the carrier control instruction when the carrier control system is supported by self-equipped hardware to indicate the carrier-enabled function and the carrier control system indicates that the carrier-enabled function is an enabled function.

Optionally, the method further comprises:

Outputting prompt information that the carrier control instruction cannot execute under the condition that the self-equipped hardware does not support the function of the carrier control system for indicating the carrier to be started; or alternatively, the first and second heat exchangers may be,

And outputting prompt information that the carrier control instruction cannot execute when the carrier control system indicates that the function started by the carrier is not the started function.

Optionally, the plurality of transmission task fields include at least: a material location field and a track transmission type field; the method further comprises the steps of:

Based on the transmission control protocol, the material position field and the track transmission type field are respectively analyzed to obtain a material position and a track transmission type of the carrier, wherein the track transmission type is any one of the following: receiving materials, sending materials and not transmitting materials;

determining the rotation direction of the self track according to the material position and the track transmission type of the carrier;

and controlling the running state of the driving motor of the track according to the rotation direction of the track.

Optionally, the plurality of transmission task fields further includes a send-receive material quantity field; the method further comprises the steps of:

Analyzing the material receiving and sending quantity field based on the transmission control protocol to obtain the material receiving and sending quantity;

Determining the rotation time length of the self track according to the quantity of the materials to be sent and received and the track transmission type of the carrier;

according to the rotation direction of the self track, the running state of the driving motor of the track is controlled, and the method comprises the following steps:

and controlling the running state of the driving motor of the track according to the rotation direction and the rotation time length of the track.

Optionally, in a case where the self-equipped hardware supports the vehicle control system to instruct the vehicle to enable a function, responding to the vehicle control instruction further includes:

And driving the current position positioned by the self to the transmission task starting position according to the transmission task starting position and the target transmission route which are obtained by analyzing the transmission task field, and executing the transmission task according to the target transmission route.

Optionally, the plurality of function enable fields in the vehicle control instruction include a check enable field, and the method further includes:

analyzing the verification enabling field based on the transmission control protocol, and determining whether the carrier control system instructs the carrier to execute verification;

Under the condition that the carrier control system indicates the carrier to execute verification, in the process of executing the transmission task, verifying whether the deviation between the self-positioned real-time position and the position on the target transmission route is larger than a threshold value or not;

And when the deviation is larger than the threshold value, outputting prompt information of failure of position verification, and adjusting the self driving route.

Optionally, the carrier control instruction includes a check enable field and a material receiving and sending number field, and the method further includes:

based on the transmission control protocol, respectively analyzing the verification enabling field and the material receiving and dispatching quantity field, and determining whether the carrier control system instructs the carrier to execute verification and material receiving and dispatching quantity;

under the condition that the carrier control system indicates the carrier to execute verification, executing the following steps in the process of executing the transmission task:

checking whether a track access opening of the carrier is aligned with a material access opening of a material table;

The material feeding position detection device which is equipped by the self is controlled to detect the actual material receiving and sending quantity of the self track;

And checking whether the actual material receiving and sending quantity of the self track is matched with the material receiving and sending quantity.

Optionally, the vehicle control instruction includes a check enable field, the method further comprising:

In the event that the vehicle control system instructs the vehicle to perform a verification, the method further comprises, prior to performing the transmission task, at least one of:

checking whether the quantity of the received and transmitted materials obtained by analyzing the transmission task field exceeds the quantity of the materials which can be borne by the carrier;

And checking whether the material station identifier obtained by analyzing the transmission task field is the material station identifier reachable by the carrier.

Optionally, the carrier stores a configurable docking protocol, the method further comprising:

judging whether a material platform attribute value obtained by analyzing the transmission task field is matched with a specified material platform attribute value in the configurable docking protocol, wherein the material platform attribute value is a material platform identifier and/or a material platform type;

And under the condition that the material platform attribute value is matched with the appointed material platform attribute value, synchronizing transmission information with the material platform corresponding to the material platform attribute value according to the configurable docking protocol before and after the transmission task is executed and in the process of executing the transmission task.

Optionally, the carrier control instruction includes a check enable field, a send-receive material quantity field, and a material information field, and the method further includes:

In the case that the vehicle control system instructs the vehicle to perform verification, after performing the transmission task, performing at least one of the following steps:

checking whether the quantity of the received and dispatched materials obtained by analyzing the received and dispatched material quantity field is consistent with the quantity of the materials actually received and dispatched by the carrier;

and checking whether the material ID obtained by analyzing the material information field is consistent with the material ID actually received and transmitted by the carrier.

In a second aspect of the embodiments of the present invention, a carrier is provided, which is configured with a processor, and the processor is configured to execute the carrier control method according to the first aspect of the embodiments.

In a third aspect of the embodiments of the present invention, there is provided a computer readable storage medium having stored thereon a computer program/instruction which, when executed by a processor, implements the method of the first aspect of the embodiments.

In a fourth aspect of embodiments of the present invention, there is provided a computer program product comprising a computer program/instruction which, when executed by a processor, implements the method of the first aspect of embodiments.

The embodiment of the invention has the following advantages:

In the embodiment of the application, a carrier receives a carrier control instruction sent by a carrier control system, and based on a transmission control protocol, a plurality of transmission task fields and a plurality of function enabling fields included in the carrier control instruction are respectively analyzed, so that a transmission task to be executed and a function of the carrier control system for indicating the carrier to be enabled are obtained, the carrier judges whether hardware equipped with the carrier supports the function of the carrier control system for indicating the enablement, and if the hardware equipped with the carrier supports the function of the carrier control system for indicating the enablement, the carrier control instruction is responded to execute the transmission task.

Because the carrier control instruction based on the transmission control protocol comprises a plurality of transmission task fields and a plurality of function enabling fields, the transmission task fields and the function enabling fields can form a plurality of different combinations, so that the carrier can be commanded to execute various tasks and be applied to more scenes, the carrier does not need to be redesigned every time the scene is replaced, the difficulty in the development and deployment of the carrier can be reduced, and the applicability of the carrier in multiple scenes is remarkably improved; meanwhile, the carrier control instruction based on the transmission control protocol can be universal, namely, different types of carriers under different scenes can be instructed to execute tasks, for example, carriers with different bearing mechanisms or picking and placing mechanisms can be controlled to execute the transmission tasks, and the deployment difficulty of each type of carrier under a specific scene is further reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart illustrating steps of a control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a carrier according to an embodiment of the application;

FIG. 3 is a schematic diagram illustrating a carrier docking with a material table according to an embodiment of the present application;

fig. 4 is a functional block diagram of a control device according to an embodiment of the present application.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description.

Carriers refer to machines or equipment for transporting materials, personnel, etc., which are widely used in factories, warehouses. The carrier can move independently or automatically according to the received instruction, and the carrier can carry goods in the moving process, so that the working efficiency can be effectively improved. For example, the carrier may be a four-way shuttle, AGV, AMR, or other handling device.

Referring to fig. 1, a step flow chart of a vehicle control method according to an embodiment of the present invention is shown, where the method is applied to a vehicle, and may specifically include the following steps:

s101: receiving a carrier control instruction based on a transmission control protocol sent by a carrier control system, wherein the carrier control instruction at least comprises: a plurality of transmission task fields and a plurality of function enable fields.

In order to improve the working efficiency, a manufacturing factory introduces a plurality of carriers to replace manual work to perform point-to-point material transmission tasks, the carrier control system communicates with the carriers through a preset transmission control protocol, and when the carriers are required to perform the transmission tasks, workers can send carrier control instructions to the carriers through the carrier control system.

The carrier control command may include a plurality of transmission task fields and a plurality of function enabling fields, where the transmission task fields are mainly used to represent the content of the transmission task that the carrier is currently required to complete, including, but not limited to, information about the target transmission material, the target position of the transmission material, and the target number of transmission materials. Because a carrier can have modules for realizing multiple functions, the function enabling field is mainly used for controlling whether a certain function module of the carrier is enabled in the current transmission task, and further, different function modules can be controlled more effectively by modularization of the functions of the carrier.

Therefore, although the hardware of the carrier configuration may have a difference, by combining a plurality of transmission task fields and corresponding function enabling fields, various carrier control instructions can be generated, so as to control the carrier to execute different tasks, and the method is applicable to more scenes, has universality for a carrier control system based on a transmission control protocol and the carrier, and further can effectively reduce development difficulty.

The specific form of the carrier is not limited, the carrier can be a material robot, the corresponding carrier control system can be a robot control system corresponding to the material robot, and in order to facilitate the staff to conveniently input the carrier control instruction when distributing the transmission task each time, the robot control system can be configured with a front-end interactive interface, and the corresponding carrier control instruction is generated based on the input operation of the staff on the front-end interactive interface; the customer may have a material management system, which is used for uniformly managing the materials in the whole workshop, or the material management system can send the material transmission information to be executed to the carrier control system, and the carrier control instruction is generated by combining the input operation of the staff at the front end interactive interface, and then the carrier control system sends the carrier control instruction to the carrier.

S102: and respectively analyzing the plurality of transmission task fields and the plurality of function enabling fields based on the transmission control protocol to obtain a transmission task and a function of the carrier control system for indicating the carrier to be enabled.

After the carrier receives the carrier control instruction issued by the carrier control system, the carrier analyzes the carrier control instruction, specifically, obtains the transmitted task content required to be executed by the carrier at this time based on the transmission task field, and obtains the function required to be started in the execution process of the transmitted task based on the function enabling field.

S103: and judging whether hardware equipped by the carrier supports a function which the carrier control system indicates to start the carrier or not.

The carrier control system and the carrier control instruction have universality, namely, the carrier and the carrier control system which are used for communication based on a transmission control protocol can be suitable for the carrier control instruction, but the hardware configuration of different carriers can be different according to different client requirements, and the hardware requirements of different carriers which execute different work tasks in the same client factory are also different, so that in order to ensure that the transmission tasks can be normally carried out, after analyzing the carrier control instruction to obtain the function which needs to be started, whether the own hardware condition can support the function of the carrier control system for indicating to start or not needs to be judged.

The carrier is configured with a factory configuration file when leaving the factory, the factory configuration file records the hardware information of the carrier, and the carrier analyzes whether the carrier can respond to the current carrier control instruction according to the carrier control instruction and the factory configuration file.

And S104, executing the transmission task under the condition that the carrier control system is supported to indicate the carrier to start the function.

When the carrier obtains according to the carrier control command and the factory configuration file, the self-equipped hardware can support the carrier control system to instruct the carrier to start the function, and the carrier can execute the transmission task corresponding to the carrier control command.

Through the arrangement, the carrier and the carrier control system are connected according to a preset protocol, the carrier can identify a specific carrier control instruction issued by the carrier control system, then the carrier control instruction is analyzed, and under the condition that the self-equipped hardware support carrier control system indicates to enable a function, the carrier control instruction is responded to execute the transmission task.

The carrier control instruction comprises a plurality of transmission task fields and a plurality of function enabling fields, and the transmission task fields and the function enabling fields are combined into a plurality of different combinations, so that the carrier can be commanded to execute various tasks and be applied to more scenes.

In the related art, the carrier is often customized for the specific scene only, and the hardware and the software do not need to be redesigned at the same time every time the scene is replaced, so that the applicability of the carrier in multiple scenes is remarkably improved, the task suitable for the carrier can be executed by changing the combination of the transmission task field and the function enabling field for the carrier with different hardware, and the method provided by the application has universality for the carrier and can reduce the difficulty in the development and deployment of the carrier.

Meanwhile, the carrier control instruction based on the transmission control protocol can be universal, namely, different types of carriers under different scenes can be instructed to execute tasks, for example, carriers of different bearing mechanisms or picking and placing mechanisms can be controlled to execute the transmission tasks, and the deployment difficulty of each type of carrier under a specific scene is further reduced.

The control method provided in another embodiment of the present invention may specifically include the following steps S201 to S205. The same contents as those in the embodiment shown in fig. 1 may refer to the description in the above embodiment, and will not be repeated herein.

S201: receiving a carrier control instruction based on a transmission control protocol sent by a carrier control system, wherein the carrier control instruction at least comprises: a plurality of transmission task fields and a plurality of function enable fields.

Referring to fig. 2, a carrier is shown, in this embodiment, the carrier is a material robot, a transmission track for transmitting materials is provided on the material robot, a plurality of transmission tracks may be provided, the types of the transmission tracks may be adjusted according to different application scenarios of the material robot, and illustratively, the transmission track of the material robot includes a structure that a conveyor belt, a roller or a roller and the like can drive the materials placed thereon to travel; the conveyor belt can be a whole belt without gaps, is suitable for long-distance transmission of a plurality of smaller materials, and is not easy to slip due to larger friction force of the belt; the roller conveyor track can rapidly convey larger and heavier materials.

The carrier control system corresponding to the material robot is a robot control system, and in this embodiment, the robot control system is a master control server, and is used for integrally dispatching the transmission system, the robot control system and a main control board of the carrier robot can be connected through wireless communication technologies such as WIFI, bluetooth, visible light communication and the like, and the robot control system is also configured with a front end interactive interface, so that a worker can generate a carrier control instruction through the operation of the front end interactive interface.

The carrier control instruction based on the transmission control protocol comprises a plurality of transmission task fields and a plurality of function enabling fields, and in this embodiment, the transmission task fields in the carrier control instruction comprise a coordinate node field, a material table type field, a material table identification field, a track number field, a material receiving and sending number field, a track transmission type field, a material position field and a material information field, and the function enabling fields comprise a verification enabling field; in other embodiments, the function enabling field may further include an upload abnormal data enabling field and a warning enabling field, where the upload abnormal data enabling field is used to control whether to upload abnormal data in the task executing process to the vehicle control system, and the warning enabling field is used for prompting the vehicle under an abnormal condition; in other embodiments, the verification enable field may also be partitioned, including, for example, a locate verification enable field and a quantity of material transfer verification enable field.

Wherein, the coordinate node field is used for indicating the starting position of the transmission task of the robot, the field contains a coordinate node id, each transmission protocol comprises a coordinate node id, and each coordinate node id corresponds to a unique coordinate position of the material robot;

The material table type field is used for indicating the type of the material table, and for a customer site, there are a plurality of material tables with different functions, and the material table type of each function can be identified by a unique marking code, so that the customer is convenient for managing field equipment, and meanwhile, the requirements of different customers on different equipment can be compatible;

the material platform identification field is used for specific number of material platforms, each material platform can be provided with a number for marking the serial number and the attribute of the material platform;

the track number field is used for indicating the number of the transmission track for executing the transmission task, so that the material robots with different track numbers can be effectively controlled, and the task track control under multiple tracks can be realized;

a material receiving and sending number field, configured to indicate the material receiving and sending number corresponding to each track in the current transmission task;

a track transfer type field for indicating a target transfer type of each track, the track transfer type being any one of: receiving materials, sending materials and not transmitting materials;

The verification enabling field is used for indicating whether the material robot performs verification of related information in the transmission task, and the verified information comprises, but is not limited to, position, precision and material transmission quantity;

The material position field is used for indicating the material position and can be the position of the material relative to the robot;

the material information field comprises a material ID indicating the current transmission task and can be used for confirming the material information or displaying the current transmitted material information on a front-end interactive interface of the robot control system.

The material robot can be controlled to execute various transmission tasks through different information of a plurality of fields of the carrier control instruction and different combination modes among the fields, so that the material robot is applicable to more scenes, and the applicability of the material robot is obviously improved.

S202: and respectively analyzing the plurality of transmission task fields and the plurality of function enabling fields based on the transmission control protocol.

After the material robot receives the carrier control command, the main control board of the material robot analyzes the carrier control command, so that the content of the transmission task and the function required to be executed by the material robot are obtained.

Illustratively, analyzing the coordinate node field to obtain a transmission task starting position; analyzing the material table type field and the material table identification field to obtain a material table attribute value, wherein the material table attribute value is a material table type and/or a material table identification; analyzing the track number field to obtain the number of the track for executing the task; analyzing the material receiving and sending number field and the track transmission type field respectively to obtain the material receiving and sending number and the track transmission type of the carrier; analyzing the verification enabling field to determine whether the material robot executes a verification task in the current transmission task; analyzing the material position field to obtain a material position; and analyzing the material information field to obtain the material information in the current transmission task.

Other fields may also be added to the vehicle control instructions in order to extend the control content of the vehicle control instructions, which, for example, in one possible implementation, further include a vehicle type field. By expanding the carrier type field, the carrier control instruction can control various carriers with different types to execute various tasks, so that the deployment difficulty of the carriers is further reduced.

In one example, before parsing the plurality of transport task fields and the plurality of function enable fields, respectively, the following steps are performed:

Analyzing a carrier type field in the carrier control instruction based on the transmission control protocol to obtain a carrier type;

if the type of the carrier is consistent with the type of the carrier, step S202 is executed again.

Specifically, because the different carriers adapt to different working scenes, the types and the configuration functions of the different carriers are different, files of the types are pre-configured in the carriers, when the carriers receive the carrier control instructions, the carrier type fields are firstly analyzed, then whether the types of the carriers obtained through analysis are consistent with the types of the carriers or not is compared, if so, the transmission tasks of the carrier control instructions can be executed by the carriers, and if not, the transmission tasks of the carrier control instructions cannot be executed by the carriers are represented. If the type of the carrier obtained by analysis is different from the type of the carrier, other fields are not needed to be analyzed, and the processing efficiency is improved. It should be understood that the embodiment of the present application is not limited thereto, and in S202, all of the multiple fields, such as the carrier type field, the multiple transmission task fields, and the multiple function enable fields, in the carrier control instruction may be resolved based on the transmission control protocol.

S203: and according to the analysis result of the carrier control instruction, acquiring a transmission task and a function of the carrier control system for indicating the carrier to be started.

For example, a target transfer route from the transfer task start location to the material location may be generated based on the transfer task start location and the material location; according to the material position and the track transmission type, the rotation direction of the track can be determined; according to the quantity of materials to be sent and received and the track transmission type, the rotation duration of the track can be determined.

And, according to the analysis result, the function that the carrier control system (robot control system) indicates needs to be started, for example, the robot control system indicates whether the material robot starts the verification function in the current transmission task, or the number of tracks, the number of track layers and the like included in the transmission function in the current transmission task.

S204: and judging whether the hardware equipped with the system supports the function of the carrier control system for indicating the carrier to be started or not.

First, each type of material robot is configured with a factory configuration file, and the factory configuration file at least contains customer project names, robot models, types, names, delivery dates and SN information, so that after the analysis of the functions to be started in the transmission task and the transmission task, the judgment needs to be performed according to the factory configuration file.

Firstly, checking whether a client who issues a transmission task is a client project name in a factory configuration file, and only executing the transmission task issued by the client with the client project name consistent with the client project name in the factory configuration file by the material robot, so that the situation that the client customized material robot is not matched with an actual material robot on site can be avoided.

Meanwhile, according to the hardware equipment information of the material robot in the factory configuration file, whether the material robot can support the currently issued transmission task and the functions to be started can be judged, and the transmission task can be executed only by the support of the hardware equipment information, for example, the transmission function started by the transmission task comprises four tracks to be operated, but the material robot has three transmission tracks in total, so that the hardware equipment of the material robot cannot support the current transmission task, or the verification function in the transmission task comprises position location verification, but the material robot is not provided with related positioning equipment, and the current transmission task cannot be executed.

S205: responding to the carrier control instruction to execute the transmission task under the condition that the carrier control system is supported by self-equipped hardware to indicate the carrier to start the function; and outputting prompt information that the vehicle control instruction cannot be executed under the condition that the self-equipped hardware does not support the function of the vehicle control system for indicating the starting of the vehicle.

When the self-equipped hardware supports the execution of the currently issued transmission task or the function needing to be started, the material robot can respond to the control instruction to execute the transmission task, and when the self-equipped hardware does not support the currently issued transmission task or the function needing to be started, the material robot outputs prompt information to indicate to a user that the material robot cannot execute the current transmission task, in the embodiment, the prompt information is not limited, and a text prompt, a popup prompt and an acousto-optic prompt can be displayed on a front-end interaction page.

In one implementation manner of this embodiment, the carrier, that is, the material robot, further stores respective configurable parameters of multiple functions, and a user may input or modify the configurable parameters through a front end interactive interface of the robot control system, where the configurable parameters may set parameters in a transmission task, for example, a transmission speed of a transmission track, and may also set starting of multiple functions of the material robot through the configurable parameters, so that in a process of determining whether hardware equipped by the user supports a function of the carrier control system indicating starting of the carrier, whether the configurable parameters start a current function needs to be considered, that is:

determining whether each of the plurality of functions is enabled according to a parameter value of a configurable parameter of each of the plurality of functions; responding to the carrier control instruction when the carrier control system is supported by self-equipped hardware to indicate the carrier-enabled function and the carrier control system indicates that the carrier-enabled function is an enabled function.

Outputting prompt information that the carrier control instruction cannot execute under the condition that the self-equipped hardware does not support the function of the carrier control system for indicating the carrier to be started; or outputting prompt information that the carrier control instruction cannot execute when the carrier control system indicates that the function started by the carrier is not the started function.

For example, whether the verification function is enabled or not can be marked by the material robot in the transmission task through a verification enabling field in the configurable parameter and the carrier control instruction, in one embodiment, if the verification function of the configurable parameter marked material robot is enabled, whether the verification function needs to be started or not in the current transmission task can be controlled through the verification enabling field in the carrier control instruction, and if the verification function of the configurable parameter marked material robot is not enabled, the verification function of the material robot cannot be used; in other embodiments, the configurable parameters corresponding to the verification function and the priority of the verification enable field may be set in a customized manner according to the actual requirements of the client.

Specifically, the method for responding the carrier control instruction by the carrier further comprises the following steps:

According to the starting position of the transmission task and the target transmission route, the material robot runs from the current position to the starting position of the transmission task, and starts from the starting position of the transmission task, and runs to the position corresponding to the material table outlet and/or the material position corresponding to the material table number in the transmission task according to the target transmission route.

After the material robot reaches the material platform department that the material platform serial number corresponds, the material robot can dock with the material platform, and the mode of docking is including following two modes:

Firstly, when information interaction and synchronization can be carried out between the material robot and the material platform, namely, the carrier is stored with a configurable docking protocol, and the docking protocol can enable communication and information synchronization between the carrier and the material platform;

When the material robot approaches the material table, judging whether a material table attribute value obtained by analyzing a transmission task field is matched with a designated material table attribute value in a configurable docking protocol, wherein the material table attribute value is a material table identifier and/or a material table type;

Under the condition that the material table attribute value is matched with the appointed material table attribute value, the material table and the material robot are successfully butted, the mutual material receiving and sending is determined through information interaction, and the actual material receiving and sending quantity and material information can be synchronized; and in the process of executing the transmission task and before and after executing the transmission task, the material robot can synchronize transmission information with the material platform corresponding to the material platform attribute value according to the configurable docking protocol.

In the mode, the docking protocol is different according to different brands of material platforms, client requirements and project application scenes, and the customization is high.

Secondly, when no butt joint protocol can not exchange information between the material robot and the material platform, after the material robot reaches the material platform corresponding to the material platform number, the material robot can directly start to transmit, and the material robot is suitable for simple scenes and occasions with low requirements on safety.

After the material robot arrives at the material station for executing the transmission task, in combination with S203, the main control board of the material robot obtains the material position, the track transmission type and the material receiving and transmitting quantity by analyzing the transmission task field, so that the rotation direction of the self track can be determined according to the material position and the track transmission type, and then the running state of the driving motor of the track is controlled according to the rotation direction of the self track.

In other embodiments, the rotation duration of the track of the carrier can be determined according to the quantity of the materials to be received and sent and the track transmission type of the carrier; and according to the rotation direction and the rotation time length of the self track, the running state of the driving motor of the track is controlled, so that the track of the material robot can execute the task of receiving or conveying the material.

Specifically, the controller that controls the driving motor may include two kinds of:

First, the I/O controller has several read-write control pins, the write control information is speed, direction, clear abnormality, the read control can obtain the motor state in real time, used for monitoring the motor state in the transmission process, because the pin number limit can only realize fixed configuration, such as speed setting, simple structure.

Secondly, compared with an I/O controller, the numerical control controller can realize more complex control, such as enabling and disabling the motor, realizing arbitrary speed setting in a certain range, monitoring more states and abnormal information of the motor, and setting performance parameters such as motor overload rate.

In the practical application process, the controller of the driving motor configured according to the material robot controls the rotation direction and the rotation time of the driving motor according to the rotation direction and the rotation time of the self track, so that the rotation speed of the driving motor or the transmission speed of the self track can be determined by the configurable parameters, the main control board writes the speed into the controller according to the speed set by the user in a self-defining manner, and the transmission speed of the track can be adjusted by controlling the rotation speed of the driving motor.

It is noted that the maximum speed that allows the drive motor to rotate may be set in the factory configuration file of the corresponding hardware in the robot, and when the user defines the rotation speed of the drive motor by the configurable parameter, the rotation speed needs to be compared with the maximum speed in the factory configuration file, and a smaller value is selected to perform the task, that is, the user's configurable parameter setting cannot exceed the setting in the factory configuration file.

In the practical implementation process, the two ends of the material robot track may be further provided with baffles, that is, the material robot may be classified into the following types according to different track interfaces:

First, the interface on both sides of the track is all without a baffle, and both sides of the track can be subjected to receiving and transmitting operations, so that the transmission is more flexible, but due to the fact that both sides are not shielded, the condition that the material falls from one side to the other side can be received, meanwhile, the material is required to be quickly stopped after being received, and unbalanced loading and even falling of the material are avoided.

Secondly, the interface on one side is fixedly provided with the single baffle, and the single baffle can only receive and transmit from one side, so that the receiving is safer, meanwhile, the material can be ensured to be transmitted to the inside of the track as much as possible, the receiving is safer in the moving process, but the receiving is inflexible, only one-side receiving and transmitting operation can be realized, and the adaptability to special scenes is lower.

Third, the baffle can be controlled, the baffle can be opened at one side of receiving and transmitting, and the baffle can be closed at the other side of receiving and transmitting, and then the side baffle can be closed after the transmission is completed, so that flexible material receiving from two sides can be realized, the safety of the material transmission can be ensured, and the hardware structural design and the material receiving and transmitting operation logic are complex.

For the third controllable baffle, whether the function of the control baffle is started or not can be determined by the configurable parameters, when the configurable parameter characterizes that the function of the control baffle is not started, the baffles of the material robot are opened twice, and under the condition that the configurable parameter characterizes that the function of the control baffle is started, the material robot can determine the opening and closing of each baffle according to the material position and the track transmission type in the material receiving and sending process, so that the material can be flexibly received and sent, the safety of the material is ensured, and the material receiving and sending device is suitable for being applied to scenes with higher material requirements or vulnerable materials.

In one implementation manner of this embodiment, the verification enabling field is parsed, and when the carrier control system instructs the carrier to perform verification, the material robot enables the verification function when the current transmission task needs to be performed, and the verification includes multiple verifications before the transmission task is performed, during the transmission task is performed, and after the transmission task is performed.

Before performing the transmission task, the method includes at least one of the following verification methods:

And checking whether the quantity of the received and sent materials obtained by analyzing the quantity field of the received and sent materials in the transmission task field exceeds the quantity of the materials which can be carried by the carrier.

Specifically, the material robot can count the quantity of the materials on the current track in the process of receiving and dispatching the materials, for example, an infrared detection device or a pressure detection device for detecting the materials can be arranged at a track interface of the material robot.

The infrared detection device can identify the in-place condition of materials through the shielding response of the infrared sensor, and has the advantages of high sensitivity response speed and false triggering, and meanwhile, the reliability of sensing can be influenced by site dust and illumination.

The pressure detection device is suitable for heavier materials, and the material in-place condition can be detected through extrusion of the materials, and response is relatively slow, but better in reliability.

The material detection condition of the infrared detection device or the pressure detection device is counted through the main control board, the quantity of materials received in each transmission task, the quantity of materials sent and the quantity of materials remained on the track are counted, before the transmission task is executed, the material robot can compare the quantity of materials received and sent, the quantity of materials remained on the track and the maximum transmission quantity threshold value of the track marked in the factory configuration file, and whether the material robot can continue to execute the transmission task is determined, and whether the transmission task is executed exceeds the quantity of materials which can be borne by the carrier.

Checking whether a material station identifier obtained by analyzing the transmission task field is a material station identifier which can be reached by the carrier; that is, checking whether the material robot can reach the material station where material receiving and sending is required, for example, determining whether the material robot can reach the material station through distance checking, or checking whether the material station attribute value of the target material station is a material station where the material robot allows docking in case of communication based on a configurable docking protocol.

In performing the transmission task, the method includes at least one of the following verification methods:

Checking whether the deviation between the self-positioned real-time position and the position on the target transmission line is larger than a threshold value or not; and when the deviation is larger than the threshold value, outputting prompt information of failure of position verification, and adjusting the self driving route.

In the actual implementation process, the positioning mode of the material robot comprises laser positioning, two-dimensional code positioning and magnetic stripe positioning, wherein the laser positioning means that the surrounding environment is scanned through laser and is matched with a map of the material robot so as to determine the pose of the robot; the two-dimensional code positioning means that the material robot acquires images through the image acquisition equipment and analyzes coordinates of the two-dimensional code to realize positioning; the magnetic stripe positioning means that a scanning gun arranged on the material robot car body scans a magnetic stripe or a magnetic mark in a working scene to determine coordinates.

The material robot analyzes the carrier control instruction to obtain a transmission task starting position, and then a target transmission route from the transmission task starting position to the material position can be generated according to the transmission task starting position and the material position; in the process of executing the transmission task, the material robot can position and obtain the real-time position of the material robot, calculate the deviation between the real-time position and the position on the target transmission path, then compare the relation between the deviation and the threshold value, if the deviation is smaller than the threshold value, the material robot continues to move according to the target transmission path, if the deviation is larger than the threshold value, the material robot deviates from the target transmission path, the moving path of the material robot needs to be adjusted, the adjustment mode can be that the material robot returns to the initial position of the transmission task and resumes moving along the target transmission path, or that the material robot returns to the position of which the latest deviation is smaller than the threshold value, and continues moving along the target transmission path; under the condition that the deviation is larger than the threshold value, prompt information can be displayed to the front-end interactive interface so as to draw attention of staff and facilitate the staff to correct the material robot in time; in other real-time modes, the position verification of the material robot can be realized by other modes, and the embodiment is not particularly limited.

Checking whether the track access of the carrier is aligned with the material access of the material table.

Referring to fig. 3, a schematic diagram of docking a carrier with a material table is shown, specifically, when a material robot moves to a target material table where material receiving and sending is required along a target transmission route, the material robot can check whether a track access of the material robot is aligned with a material access of the material table. In one embodiment, a mark may be provided at the position of the material gate of the material table, and a scanner may be provided at the position of the track gate on the material robot, and the scanner scans the mark when the material robot approaches the target material table position. Under the condition that the deviation of the mark relative to the material inlet and outlet of the material table and the deviation of the scanner relative to the material inlet and outlet of the robot track are known, the position deviation of the material inlet and outlet of the robot track and the position deviation of the material inlet and outlet of the material table can be calculated, if the position deviation is larger than a preset calibration value, the material robot can adjust the position of the material robot until the position deviation is smaller than the preset calibration value, so that the material robot can be in more accurate butt joint with the material table, the situation that the material is blocked or the material falls is avoided by reducing the dislocation of the transmission port, and the material is protected conveniently.

The material feeding position detection device which is equipped by the self is controlled to detect the actual material receiving and sending quantity of the self track; according to the previous description, the rail interface of the material robot may be provided with an infrared detection device or a pressure detection device for detecting materials, and the infrared detection device or the pressure detection device may count the actual material receiving and sending quantity, so as to compare whether the actual material receiving and sending quantity is matched with the material receiving and sending quantity.

After performing the transmission task, performing at least one of the following steps:

checking whether the quantity of the material receiving and sending obtained by analyzing the material receiving and sending quantity field is consistent with the quantity of the material actually received and sent by the carrier;

If information interaction can be performed between the material robot and the material table, the material robot can obtain the actual transmitted and received material ID through butt joint with the material table, if information interaction cannot be performed between the material robot and the material table, the material ID can be set according to the position where the material is placed in advance, when the material robot is in the process of executing a transmission task, the material robot reaches the position where the material is placed, the actual transmitted and received material ID can be obtained, in other embodiments, the actual transmitted and received material ID can be obtained through other methods, for example, a material two-dimensional code is set at the position where the current material is placed, and the material robot can obtain the material ID through scanning the material two-dimensional code.

In this embodiment, the verification result is reported to the vehicle control system for recording, and if the verification result is abnormal, a prompt message can be output, so that the worker can perform verification or correction in time.

In summary, the application has at least any of the following advantages:

1. The multiple transmission task fields and the multiple function enabling fields form multiple different combinations, so that the carrier can be controlled to execute multiple tasks, the method is applied to more scenes, and the applicability of the carrier in multiple scenes is obviously improved;

2. the carrier does not need to be redesigned every time the scene is replaced, so that the difficulty in the development and deployment of the carrier can be reduced;

3. Different functional modules of the modularized control carrier;

4. The configurable parameters are set, so that more requirements and debugging of clients can be dynamically adapted;

5. The carrier control instruction can control a plurality of different types of carriers to execute various tasks, so that the deployment difficulty of the carriers is further reduced.

Referring to fig. 4, there is shown a vehicle control apparatus according to an embodiment of the present application, the apparatus including:

the receiving instruction module 100 is configured to receive a carrier control instruction based on a transmission control protocol sent by a carrier control system, where the carrier control instruction at least includes: a plurality of transmission task fields and a plurality of function enable fields;

The parsing instruction module 200 is configured to parse the plurality of transmission task fields and the plurality of function enabling fields respectively based on the transmission control protocol, so as to obtain a transmission task and a function that the carrier control system indicates to enable the carrier;

A judging module 300, configured to judge whether hardware equipped by the carrier supports a function that the carrier control system instructs the carrier to start;

and the execution module 400 is configured to execute the transmission task when the carrier control system is supported to instruct the carrier to enable the function.

Optionally, the carrier control instruction further includes a carrier type field, and the apparatus further includes:

The type analysis unit is used for analyzing the carrier control instruction based on the transmission control protocol to obtain a carrier type;

The analysis instruction module comprises:

and the first analysis instruction unit is used for respectively analyzing the plurality of transmission task fields and the plurality of function enabling fields based on the transmission control protocol under the condition that the type of the carrier is consistent with the type of the carrier.

Optionally, the carrier stores a plurality of respective configurable parameters of functions, and the apparatus further includes:

a parameter determining module, configured to determine whether each of the plurality of functions is enabled according to a parameter value of a configurable parameter of each of the plurality of functions;

The execution module is further configured to respond to the vehicle control instruction when hardware equipped by the execution module supports a function that the vehicle control system instructs the vehicle to be started, and the vehicle control system instructs the function that the vehicle is started to be started.

Optionally, the apparatus further comprises:

the prompting module is used for outputting prompting information which cannot be executed by the carrier control instruction under the condition that the self-equipped hardware does not support the function of the carrier control system for indicating the carrier to be started; or alternatively, the first and second heat exchangers may be,

Optionally, the plurality of transmission task fields include: a material location field and a track transmission type field; the apparatus further comprises:

The first transmission determining unit is configured to parse the material position field and the track transmission type field respectively based on the transmission control protocol to obtain a material position and a track transmission type of the carrier, where the track transmission type is any one of the following: receiving materials, sending materials and not transmitting materials;

the rotation direction determining unit is used for determining the rotation direction of the self track according to the material position and the track transmission type of the carrier;

And the running state control unit is used for controlling the running state of the driving motor of the track according to the rotation direction of the track.

Optionally, the plurality of transmission task fields further includes a send-receive material quantity field, and the apparatus further includes:

The second transmission determining unit is used for analyzing the material receiving and sending quantity field based on the transmission control protocol to obtain the material receiving and sending quantity;

The rotation duration determining unit is used for determining the rotation duration of the track of the carrier according to the quantity of the materials to be received and sent and the track transmission type of the carrier;

Optionally, the execution module further includes:

A first check determining unit, configured to parse the check enabling field based on the transmission control protocol, and determine whether the carrier control system instructs the carrier to perform a check;

The transmission route judging unit is used for checking whether the deviation between the self-positioned real-time position and the position on the target transmission route is larger than a threshold value or not in the process of executing the transmission task under the condition that the carrier control system indicates the carrier to execute the check;

And the route adjusting unit is used for outputting prompt information of failure of position verification and adjusting the self driving route when the deviation is larger than the threshold value.

Optionally, the carrier control instruction includes a check enable field and a material receiving and sending number field, and the apparatus further includes:

The second check determining unit is used for respectively analyzing the check enabling field and the material receiving and transmitting number field based on the transmission control protocol and determining whether the carrier control system instructs the carrier to execute check and material receiving and transmitting number;

the second checking execution unit is used for checking whether the track access of the carrier is aligned with the material access of the material platform in the process of executing the transmission task under the condition that the carrier control system indicates the carrier to execute checking; the material feeding position detection device which is equipped by the self is controlled to detect the actual material receiving and sending quantity of the self track; and checking whether the actual material receiving and sending quantity of the self track is matched with the material receiving and sending quantity.

Optionally, the vehicle control instruction includes a check enable field, and the apparatus further includes:

A third check determining unit, configured to parse the check enabling field based on the transmission control protocol, and determine whether the carrier control system instructs the carrier to perform a check;

The third checking execution unit is used for checking whether the quantity of the received and transmitted materials obtained by analyzing the transmission task field exceeds the quantity of the materials which can be borne by the carrier per se or not before the transmission task is executed under the condition that the carrier control system indicates the carrier to execute checking; and checking whether the material station identifier obtained by analyzing the transmission task field is the material station identifier reachable by the carrier.

Optionally, the carrier stores a configurable docking protocol, and the apparatus further includes:

The material platform judging unit is used for judging whether the material platform attribute value obtained by analyzing the transmission task field is matched with the appointed material platform attribute value in the configurable docking protocol, wherein the material platform attribute value is a material platform identifier and/or a material platform type;

And the material platform synchronization unit is used for synchronizing transmission information with the material platform corresponding to the material platform attribute value according to the configurable docking protocol before and after the transmission task is executed and in the process of executing the transmission task under the condition that the material platform attribute value is matched with the appointed material platform attribute value.

Optionally, the vehicle control instruction further includes: a verification enabling field, a material receiving and sending number field and a material ID field; the apparatus further comprises:

A fourth check determining unit, configured to parse the check enabling field based on the transmission control protocol, and determine whether the carrier control system instructs the carrier to perform a check;

The third checking execution unit is used for checking whether the quantity of the received and transmitted materials obtained by analyzing the quantity field of the received and transmitted materials is consistent with the quantity of the materials actually received and transmitted by the carrier or not after the transmission task is executed under the condition that the carrier control system instructs the carrier to execute checking; and checking whether the material ID obtained by analyzing the material ID field is consistent with the material ID actually received and transmitted by the carrier.

The embodiment of the invention also provides a carrier, which is provided with a processor, wherein the processor is used for executing the carrier control method.

The embodiment of the invention also provides a computer readable storage medium, on which a computer program/instruction is stored, which when executed by a processor, implements the method for controlling a carrier according to the embodiment.

The embodiment of the invention also provides a computer program product, which comprises a computer program/instruction, and the computer program/instruction realizes the carrier control method in the embodiment when being executed by a processor.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the application.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal device that comprises the element.

The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present application and the core ideas thereof; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A method of controlling a vehicle, the method comprising:

Receiving a carrier control instruction based on a transmission control protocol sent by a carrier control system, wherein the carrier control instruction at least comprises: a plurality of transmission task fields and a plurality of function enable fields; the vehicle control system is used for: commanding the vehicle to perform a plurality of tasks by combining the transport task field and the function enable field into a plurality of different combinations;

Outputting prompt information that the carrier control instruction cannot execute under the condition that the self-equipped hardware does not support the function of the carrier control system for indicating the carrier to be started;

Executing the transmission task under the condition that the carrier control system is supported to indicate the carrier to start the function, wherein the transmission task comprises the following steps: and responding to the carrier control instruction to execute the transmission task under the condition that the carrier control system is supported by self-equipped hardware to indicate the carrier to start the function.

2. The control method of claim 1, wherein the vehicle control instruction further comprises a vehicle type field;

3. The control method according to claim 2, wherein the carrier stores a plurality of function-respective configurable parameters, the method further comprising:

And judging whether the hardware equipped with the system supports the function of the carrier control system for indicating the carrier to be started or not.

4. A control method according to claim 3, characterized in that the method further comprises:

5. The control method according to any one of claims 1 to 4, wherein the plurality of transmission task fields include at least: a material location field and a track transmission type field; the method further comprises the steps of:

6. The control method of claim 5, wherein the plurality of transmission task fields further comprises a send-receive material quantity field; the method further comprises the steps of:

7. The control method according to any one of claims 1 to 4, wherein in a case where the self-equipped hardware supports the vehicle control system to instruct the vehicle enabling function, responding to the vehicle control instruction further comprises:

8. The control method of claim 7, wherein the plurality of function enable fields in the vehicle control instruction include a check enable field, the method further comprising:

9. The control method of any one of claims 1-4, wherein the vehicle control instruction includes a check enable field and a send receive material quantity field, the method further comprising:

10. The control method of any of claims 1-4, wherein the vehicle control instruction includes a check enable field, the method further comprising:

11. The control method according to any one of claims 1 to 4, wherein the carrier stores a configurable docking protocol, the method further comprising:

12. The control method according to any one of claims 1-4, wherein the vehicle control instruction includes a check enable field, a send-receive material quantity field, and a material information field, the method further comprising:

13. A vehicle provided with a processor for performing the vehicle control method according to any one of claims 1 to 12.

14. A computer readable storage medium having stored thereon a computer program/instruction which, when executed by a processor, implements the method of any of claims 1-12.

15. A computer program product comprising computer programs/instructions which, when executed by a processor, implement the method of any of claims 1-12.