CN115338863A - Robot scheduling method, device, equipment and storage medium for multiple systems - Google Patents
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Abstract
The embodiment of the application relates to a robot scheduling method, a robot scheduling device, robot scheduling equipment and a storage medium for multiple systems. The method comprises the following steps: acquiring a first target point position of a robot in each system at the next moment; matching each first target point location with a preset point location mapping relation; the point location mapping relation comprises the mapping relation between point locations in a path overlapping area among systems; if the matching fails, controlling the robots in the systems to enter the first target point positions; and if the matching is successful, determining a second target point position corresponding to the first target point position through the point position mapping relation, and controlling the robot in each system to move according to the occupation condition of the second target point position. The method can enable the robots among the systems to sequentially pass through the path overlapping area, avoid the collision of the robots among the systems and ensure the safety of the robots.
Description
Technical Field
The present application relates to the field of internet technologies, and in particular, to a method, an apparatus, a device, and a storage medium for robot scheduling among multiple systems.
Background
Along with the increasing of labor cost, in the fields of logistics industry and the like, more and more enterprises use robots to replace high labor cost, the operation cost of the enterprises can be reduced, and the production efficiency can be improved.
In order to avoid collision of multiple robots at a fork or a public area, the multiple robots need to be scheduled so that the multiple robots sequentially pass through a traffic control area.
However, in the existing digital factory, there are usually a plurality of automation providers to accept the deployment of automation schemes, so that there are robots of the plurality of providers in one area, and when the robots of the plurality of providers work cooperatively in the same area, how to realize that the robots of the plurality of providers pass through the traffic control area in order is a technical problem to be solved urgently.
Disclosure of Invention
Based on the above, the application provides a robot scheduling method, device, equipment and storage medium for multiple systems.
In a first aspect, an embodiment of the present application provides a robot scheduling method for multiple systems, including:
acquiring a first target point position of a robot in each system at the next moment;
matching each first target point location with a preset point location mapping relation; the point location mapping relation comprises a mapping relation between point locations in a path overlapping area among systems;
if the matching fails, controlling the robots in the systems to enter the first target point positions;
and if the matching is successful, determining a second target point position corresponding to the first target point position through the point position mapping relation, and controlling the robot in each system to move according to the occupation condition of the second target point position.
In a second aspect, an embodiment of the present application provides a robot scheduling apparatus for use between multiple systems, including:
the acquisition module is used for acquiring a first target point position of the robot in each system at the next moment;
the processing module is used for matching each first target point location with a preset point location mapping relation; the point location mapping relation comprises the mapping relation between point locations in a path overlapping area among systems;
the first control module is used for controlling the robots in each system to enter the first target point position under the condition of failed matching;
and the second control module is used for determining a second target point position corresponding to the first target point position through the point position mapping relation under the condition that the matching is successful, and controlling the robot in each system to move according to the occupation condition of the second target point position.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the robot scheduling method for multiple systems provided in the first aspect of the embodiment of the present application when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the robot scheduling method for multiple systems provided in the first aspect of the embodiment of the present application.
According to the technical scheme provided by the embodiment of the application, the first target point position of the robot in each system at the next moment is obtained; matching each first target point location with a preset point location mapping relation; if the matching fails, controlling robots in the systems to enter the first target point location; and if the matching is successful, determining a second target point position corresponding to the first target point position through the point position mapping relation, and controlling the robot in each system to move according to the occupation condition of the second target point position. That is to say, when a robot in one system is about to enter a path overlapping region between systems, the motion of the robot in the system can be controlled based on the point occupation situation of the robots in other systems in the path overlapping region, so that the robots between the systems can pass through the path overlapping region in order, the robots between the systems are prevented from colliding, and the safety of the robot is ensured.
Drawings
Fig. 1 is a schematic diagram of a scheduling scenario applied in an embodiment of the present application;
fig. 2 is a schematic flowchart of a robot scheduling method for multiple systems according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a point-to-point mapping relationship establishing process according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a robot scheduling apparatus for use between multiple systems according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application are further described in detail by the following embodiments in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the present application may be applied to a scheduling scenario as shown in fig. 1, where as shown in fig. 1, the scheduling scenario includes a plurality of systems, such as a system a and a system b, each system includes a plurality of robots, and the robots in each system execute tasks within the management scope of each system. Moreover, the multiple systems work in the same area, so that path overlapping areas exist among the systems, namely when a robot in one system enters the path overlapping area to execute a task, robots in other systems may pass through the path overlapping area when executing the task, and then the robots among the systems may collide when passing through the path overlapping area simultaneously.
It should be noted that the execution subject of the method embodiments described below may be a robot scheduling apparatus for multiple systems, and the apparatus may be implemented as part or all of an electronic device by software, hardware, or a combination of software and hardware. Optionally, the electronic device may be a smart phone, a tablet computer, or the like, or may be a server or a server cluster formed by a plurality of servers.
Fig. 2 is a flowchart illustrating a robot scheduling method for multiple systems according to an embodiment of the present disclosure. As shown in fig. 2, the method may include:
s201, acquiring a first target point position of the robot in each system at the next moment.
The motion trail of the robot in each system is walking according to the point location, so in order to avoid collision of the robots between the systems, the first target point location to which the robot in each system is about to drive at the next moment needs to be obtained.
Optionally, the robot and the scheduling system may communicate with each other by using a Message Queue Telemetry Transport (MQTT) mechanism, so that the scheduling system may establish communication with the robots in each system based on the MQTT to obtain the first target point location of the robot in each system at the next time. One of the systems may be considered a scheduling system.
Optionally, communication may be established between the scheduling systems based on Socket, and therefore, the scheduling systems may also establish communication with other scheduling systems based on Socket to obtain the first target point location of the robot in each system at the next time.
Therefore, even if the bandwidth of the robot in each system is limited and the network environment is unstable, the required target point data can be reliably acquired, and a data basis is provided for robot scheduling between subsequent systems.
S202, matching each first target point location with a preset point location mapping relation.
The point location mapping relationship comprises a mapping relationship between point locations in a path overlapping area among systems.
After obtaining each first target point, each first target point may be matched with a preset point mapping relationship to determine whether each first target point is a point in a path overlapping area between systems. If the matching is not achieved (i.e., the matching fails), the following S203 may be performed, and if the matching is successful, the following S204 may be performed.
For example, taking the point location of system a in the path overlapping area as A, C, D and the point location of system b in the path overlapping area as 1, 2, 3, and 4 as an example, the point location mapping relationship may be as shown in table 1 below:
TABLE 1
| System a | System b |
| A | 1、2 |
| C | 3 |
| D | 4 |
For the system a, assuming that a first target point location of a robot in the system a at the next moment is obtained as B, matching the first target point location B with the point location mapping relationship shown in table 1 fails, which indicates that the first target point location B does not belong to a point location in a path overlapping area between the system a and the system B, and at this time, the robot in the system B does not travel to a space where the first target point location B is located, that is, the robot between the system a and the system B does not collide in the space where the first target point location B is located, and the robot in the system a can be directly controlled to travel into the first target point location B.
Assuming that the first target point location of another robot in the system a at the next moment is obtained as C, matching the first target point location C with the point location mapping relationship shown in table 1, wherein the matching is successful, which indicates that the point location C to be driven into by the robot is located in the path overlapping area between the system a and the system b, and at this time, considering that the robot in the system b may also travel to the space where the first target point location C is located, in order to avoid collision of the robot between the system a and the system b at the first target point location C, the movement of the robot in the system a may be controlled based on the following process of S204.
For the system b, the processing may also be performed according to the process of the system a, and this embodiment is not described herein again.
And S203, controlling the robots in the systems to enter the first target point positions.
Under the condition of matching failure, the first target point is not a point in a path overlapping area between the systems, the robots in the systems move independently without collision, and the robots in the systems can be directly controlled to drive into the first target point.
S204, determining a second target point position corresponding to the first target point position through the point position mapping relation, and controlling the robot in each system to move according to the occupation condition of the second target point position.
The first target point may be a point in one system, the second target point may be a point in another system corresponding to the first target point, and the first target point and the second target point may affect each other. The interaction here can be understood as: the first target point and the second target point cannot be occupied by the robot at the same time, otherwise, the robot among the systems is collided.
And under the condition of successful matching, the first target point location is a point location in a path overlapping area between the systems, so that the robots between the systems are likely to influence each other and further collide with each other, at this time, in order to avoid collision of the robots between the systems, a second target point location corresponding to the first target point location can be determined based on the point location mapping relation, and the robots in the systems are controlled to move according to the occupation condition of the second target point location.
Continuing with the example in S202, it is determined that the point location C to be driven into by the robot in the system a and the point location 3 in the system b belong to the same path overlapping area based on the point location mapping relationship shown in table 1, and at this time, the robot in the system a may be controlled to move based on the occupation situation of the point location 3 in the system b.
According to the robot scheduling method for multiple systems, the first target point position of the robot in each system at the next moment is obtained; matching each first target point location with a preset point location mapping relation; if the matching fails, controlling the robots in the systems to enter the first target point positions; and if the matching is successful, determining a second target point position corresponding to the first target point position through the point position mapping relation, and controlling the robot in each system to move according to the occupation condition of the second target point position. That is to say, when a robot in one system is about to enter a path overlapping region between systems, the motion of the robot in the system can be controlled based on the point occupation situation of the robots in other systems in the path overlapping region, so that the robots between the systems can pass through the path overlapping region in order, the robots between the systems are prevented from colliding, and the safety of the robot is ensured.
In one embodiment, the controlling the robot movement in each system according to the occupancy of the second target point location in S204 may include:
for each target system, determining whether the second target point is occupied by the robot in the system corresponding to the second target point;
if so, controlling the robot in the target system to prohibit entering the first target point position, or controlling the robot in the target system to run at a reduced speed before reaching the first target point position;
and if not, controlling the robot in the target system to enter the first target point location.
Specifically, the robots in each system may report their own real-time data, and the scheduling system may determine whether the second target point is occupied by the robot based on the real-time data reported by the robots. The real-time data may include: the position of the robot, the travel speed, the travel state, or fault data.
If the second target point is already occupied by the robot in the system corresponding to the second target point, in order to avoid collision of the robots among the systems, the robot in the control target system is prohibited from driving into the first target point, for example, the robot in the control target system waits in place, and after the robot in the system corresponding to the second target point leaves the second target point, the robot in the control target system is controlled to drive into the first target point.
Optionally, when the second target point is occupied by the robot in the system corresponding to the second target point, the robot in the target system may be further controlled to travel at a reduced speed before reaching the first target point, so that the second target point is in an idle state when the robot in the target system reaches the first target point.
Optionally, when the second target point is occupied by the robot in the system corresponding to the second target point, the robot in the system corresponding to the second target point may also be controlled to travel at an increased speed, so that the second target point is in an idle state when the robot in the target system reaches the first target point.
Optionally, when the second target point location is occupied by the robot in the system corresponding to the second target point location, and the occupation duration exceeds the preset duration, that is, when the second target point location is occupied for a long time, corresponding warning information may be triggered to indicate manual on-site viewing. The alarm information may be an audible and visual alarm, a voice alarm, a telephone alarm, a mail alarm, and the like.
If the second target point position is not occupied by the robot in the system corresponding to the second target point position, the robot in the target system is shown not to collide with the robots in other systems after entering the first target point position, and then the robot in the target system can be directly controlled to enter the first target point position.
Because the first target point location and the second target point location can be influenced mutually, when the robot in the control target system drives into the first target point location, optionally, point location occupation information can also be sent to the system corresponding to the second target point location to indicate that the second target point location is occupied. Therefore, when the system corresponding to the second target point is used for dispatching the robot, the second target point needs to be avoided, and therefore the robot can be prevented from colliding with robots in other systems.
Further, after the robot in the target system leaves from the first target point, optionally, point location release information may also be sent to the system corresponding to the second target point, so as to release the occupation of the second target point. In this way, the second target point is free, and the system corresponding to the second target point can schedule the robot based on the second target point.
In the embodiment, the robot in each system can be controlled to move in a targeted manner according to the occupation condition of the second target point, so that the robot between each system is effectively prevented from colliding, and the safety of the robot is improved.
In an embodiment, optionally, before performing the step S201, the point location mapping relationship may also be established. Optionally, as shown in fig. 3, the point-to-point mapping relationship establishing process may be:
s301, determining Euclidean distances between point positions among systems.
S302, establishing the point location mapping relation according to the Euclidean distance between the point locations.
Specifically, point locations included in each system are respectively obtained, and for each system, the euclidean distance between the point locations between the systems is calculated, and the larger the euclidean distance between two point locations is, the smaller the influence between the two point locations is, otherwise, the smaller the euclidean distance between the point locations is, the larger the influence between the two point locations is, so that the point location mapping relationship can be established based on the euclidean distance between the point locations between the systems. Optionally, point locations with euclidean distances smaller than a preset threshold may be associated to form a point location mapping relationship.
Exemplarily, with the point location included in the system a being A, B, C, D and the point location included in the system B being 1, 2, 3, 4, the euclidean distances between the point location a and the point locations 1, 2, 3, 4, the euclidean distances between the point location B and the point locations 1, 2, 3, 4, the euclidean distances between the point location C and the point locations 1, 2, 3, 4, and the euclidean distances between the point location D and the point locations 1, 2, 3, 4 are calculated, and it is determined that the euclidean distance between the point location a and the point locations 1, 2 is smaller than a preset threshold, the euclidean distance between the point location C and the point location 3 is smaller than a preset threshold, the point location a is associated with the point locations 1, 2, the point location C is associated with the point location 3, and the point location D is associated with the point location D4, thereby forming the point location mapping relationship shown in table 1.
In this embodiment, the point location mapping relationship is established by the euclidean distance between the point locations of the systems, and the spatial relationship between the point locations can be reflected by the euclidean distance, so that the point location mapping relationship established by this method is more accurate.
Fig. 4 is a schematic structural diagram of a robot scheduling apparatus for use between multiple systems according to an embodiment of the present disclosure. As shown in fig. 4, the apparatus may include: an acquisition module 401, a processing module 402, a first control module 403 and a second control module 404.
Specifically, the obtaining module 401 is configured to obtain a first target point location of the robot in each system at the next time;
the processing module 402 is configured to match each first target point location with a preset point location mapping relationship; the point location mapping relation comprises the mapping relation between point locations in a path overlapping area among systems;
the first control module 403 is configured to control the robots in each system to enter the first target point location when matching fails;
the second control module 404 is configured to, in a case that the matching is successful, determine a second target point location corresponding to the first target point location through the point location mapping relationship, and control the robot in each system to move according to an occupation situation of the second target point location.
The robot scheduling device for the multiple systems, provided by the embodiment of the application, acquires a first target point position of a robot in each system at the next moment; matching each first target point location with a preset point location mapping relation; if the matching fails, controlling the robots in the systems to enter the first target point positions; and if the matching is successful, determining a second target point position corresponding to the first target point position through the point position mapping relation, and controlling the robot in each system to move according to the occupation condition of the second target point position. That is to say, when a robot in one system is about to enter a path overlapping region between systems, the motion of the robot in the system can be controlled based on the point occupation situation of the robots in other systems in the path overlapping region, so that the robots between the systems can pass through the path overlapping region in order, the robots between the systems are prevented from colliding, and the safety of the robot is ensured.
On the basis of the foregoing embodiment, optionally, the apparatus may further include: the device comprises a determining module and an establishing module.
Specifically, the determining module is configured to determine an euclidean distance between point locations of the systems before the obtaining module 401 obtains a first target point location of the robot in each system at the next time;
the establishing module is used for establishing the point location mapping relation according to the Euclidean distance between the point locations.
On the basis of the foregoing embodiment, optionally, the second control module 404 is specifically configured to determine, for each target system, whether the second target point is occupied by a robot in the system corresponding to the second target point; when a second target point position is occupied by a robot in a system corresponding to the second target point position, controlling the robot in the target system to be prohibited from entering the first target point position, or controlling the robot in the target system to run at a reduced speed before reaching the first target point position; the second target control module 404 is further specifically configured to control the robot in the target system to enter the first target point location when the second target point location is not occupied by the robot in the system corresponding to the second target point location.
On the basis of the foregoing embodiment, optionally, the second control module 404 is further specifically configured to control the robot in the system corresponding to the second target point location to accelerate and run when the second target point location is occupied by the robot in the system corresponding to the second target point location.
On the basis of the foregoing embodiment, optionally, the second control module 404 is further specifically configured to trigger an alarm message to instruct manual field viewing when the second target point location is occupied by a robot in the system corresponding to the second target point location, and an occupied duration exceeds a preset duration.
Based on the foregoing embodiment, optionally, the obtaining module 401 is specifically configured to establish communication with the robots in each system based on MQTT, so as to obtain the first target point location of the robot in each system at the next time.
Optionally, communication is established between the systems based on Socket.
In one embodiment, an electronic device is provided, an internal structure of which may be as shown in fig. 5. The electronic device includes a processor, a memory, and a network interface (not shown) connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The memory of the electronic device is used for storing a computer program which, when executed by the processor, performs the steps of a method for robot scheduling between multiple systems.
Those skilled in the art will appreciate that the configuration shown in fig. 5 is a block diagram of only a portion of the configuration associated with the present application, and does not constitute a limitation on the electronic device to which the present application is applied, and a particular electronic device may include more or less components than those shown in the drawings, or may combine certain components, or have a different arrangement of components.
In one embodiment, an electronic device is provided, comprising a memory having a computer program stored therein and a processor that when executing the computer program performs the steps of:
acquiring a first target point position of a robot in each system at the next moment;
matching each first target point location with a preset point location mapping relation; the point location mapping relation comprises the mapping relation between point locations in a path overlapping area among systems;
if the matching fails, controlling the robots in the systems to enter the first target point positions;
and if the matching is successful, determining a second target point position corresponding to the first target point position through the point position mapping relation, and controlling the robot in each system to move according to the occupation condition of the second target point position.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a first target point position of a robot in each system at the next moment;
matching each first target point location with a preset point location mapping relation; the point location mapping relation comprises the mapping relation between point locations in a path overlapping area among systems;
if the matching fails, controlling the robots in the systems to enter the first target point positions;
and if the matching is successful, determining a second target point position corresponding to the first target point position through the point position mapping relation, and controlling the robot in each system to move according to the occupation condition of the second target point position.
The robot scheduling device, the equipment and the storage medium for multiple systems provided in the above embodiments can execute the robot scheduling method for multiple systems provided in any of the above embodiments, and have corresponding functional modules and beneficial effects for executing the method. For details of the robot scheduling method for multiple systems, reference may be made to any of the above embodiments.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A robot scheduling method for use among multiple systems, comprising:
acquiring a first target point position of a robot in each system at the next moment;
matching each first target point location with a preset point location mapping relation; the point location mapping relation comprises the mapping relation between point locations in a path overlapping area among systems;
if the matching fails, controlling the robots in the systems to enter the first target point positions;
and if the matching is successful, determining a second target point position corresponding to the first target point position through the point position mapping relation, and controlling the robot in each system to move according to the occupation condition of the second target point position.
2. The method of claim 1, wherein prior to said obtaining a first target point location for a robot within each system at a next time, further comprising:
determining Euclidean distances between point locations among systems;
and establishing the point location mapping relation according to the Euclidean distance between the point locations.
3. The method of claim 1, wherein controlling the movement of the robot within each system based on the occupancy of the second target point location comprises:
for each target system, determining whether the second target point is occupied by the robot in the system corresponding to the second target point;
if so, controlling the robot in the target system to prohibit from entering the first target point position, or controlling the robot in the target system to run at a reduced speed before reaching the first target point position;
and if not, controlling the robot in the target system to enter the first target point location.
4. The method of claim 3, further comprising:
and when the second target point position is occupied by the robot in the system corresponding to the second target point position, controlling the robot in the system corresponding to the second target point position to run at an increased speed.
5. The method of claim 3, further comprising:
and when the second target point location is occupied by the robot in the system corresponding to the second target point location and the occupied time exceeds the preset time, triggering alarm information to indicate manual on-site checking.
6. The method of any one of claims 1 to 5, wherein the obtaining a first target point location for a robot within each system at a next time comprises:
and establishing communication with the robots in each system based on the MQTT so as to obtain the first target point position of the robots in each system at the next moment.
7. The method according to any one of claims 1 to 5, wherein communication is established between systems based on Socket.
8. A robot scheduling apparatus for use between multiple systems, comprising:
the acquisition module is used for acquiring a first target point position of the robot in each system at the next moment;
the processing module is used for matching each first target point location with a preset point location mapping relation; the point location mapping relation comprises the mapping relation between point locations in a path overlapping area among systems;
the first control module is used for controlling the robots in each system to enter the first target point position under the condition of failed matching;
and the second control module is used for determining a second target point position corresponding to the first target point position through the point position mapping relation under the condition that the matching is successful, and controlling the robot in each system to move according to the occupation condition of the second target point position.
9. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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