CN116095650A - Message-driven distributed AMR system - Google Patents

Message-driven distributed AMR system Download PDF

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Publication number
CN116095650A
CN116095650A CN202310023639.0A CN202310023639A CN116095650A CN 116095650 A CN116095650 A CN 116095650A CN 202310023639 A CN202310023639 A CN 202310023639A CN 116095650 A CN116095650 A CN 116095650A
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CN
China
Prior art keywords
robot
sequence data
time sequence
instruction
detection
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CN202310023639.0A
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Chinese (zh)
Inventor
叶航
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Fuqin Intelligent Technology Kunshan Co ltd
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Fuqin Intelligent Technology Kunshan Co ltd
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Priority to CN202310023639.0A priority Critical patent/CN116095650A/en
Publication of CN116095650A publication Critical patent/CN116095650A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The present disclosure relates to a message-driven distributed AMR system, which belongs to the technical field of industrial robots, and a message-driven method is arranged in the message-driven distributed AMR system, and the method comprises: receiving a first instruction which is sent by a user and acts within a set first time; according to the first instruction, the configured detection device triggers the action detection of a second time set for a second surrounding robot; under the condition that detection time sequence data of the second robot from the detection device and operation time sequence data sent by the second robot are received, obtaining interval time sequence data between the second robot according to action amplitude which is respectively reflected by the first instruction and the operation time sequence data and changes with time; and determining a first interval value corresponding to a start time node of the detection time sequence data from the interval time sequence data, and obtaining a communication time period between the first robot and the second robot.

Description

Message-driven distributed AMR system
Technical Field
The disclosed embodiments relate to the technical field of industrial robots, and more particularly, to a message-driven distributed AMR system.
Background
Along with the rapid development of industrial robots, intelligent AMR robots gradually replace manual work. The conventional AMR robot can perform actions such as moving, carrying or pushing and pulling through instructions sent by a user, but when the AMR robot performs actions indicated by the instructions, the actions often performed deviate, so that the working efficiency of the AMR robot is low.
Disclosure of Invention
It is an object of embodiments of the present disclosure to provide a new solution for a message driven distributed AMR system.
According to a first aspect of the present disclosure, there is provided a message driving method provided in a message driven distributed AMR system, the system including a first robot and a second robot, the first robot and the second robot being connected by a short-range communication, the method being applied to the first robot, the method comprising:
receiving a first instruction which is sent by a user and acts within a set first time;
according to the first instruction, the configured detection device triggers the action detection of a second time set for a second surrounding robot;
under the condition that detection time sequence data of a second robot from the detection device and operation time sequence data sent by the second robot are received, obtaining interval time sequence data between the first robot and the second robot according to time-varying action amplitudes respectively reflected by the first instruction and the operation time sequence data;
determining a first interval value corresponding to a start time node of the detection time sequence data from the interval time sequence data to obtain a communication time period between the first robot and the second robot;
transmitting the detection timing data to a second robot at a third time in the communication time period; wherein the third time is after the second time and within the first time; and enabling the second robot to perform action adjustment when the detection time sequence data is received.
Optionally, the system further comprises a third robot;
after the obtaining the communication time period with the second robot, further comprising:
transmitting the detection timing data to a third robot after a second time when the communication time period is determined to be the second time, so that the second robot transmits a stop signal after receiving the detection timing data transmitted from the third robot;
and stopping sending the detection time sequence data when receiving the sending stopping signal sent by the third robot.
Optionally, the operation time sequence data is generated based on the second robot executing a second instruction sent by a user.
Optionally, the detection device is a ranging camera.
According to a second aspect of the present disclosure, there is also provided a message driving method applied to the second robot, the method including: receiving and executing a second instruction sent by a user;
under the condition that information from the first robot that the connection is successful is received, running time sequence data of the second instruction is sent to the first robot, so that the first robot obtains a communication time period under the condition that the running time sequence data is received;
receiving the detection time sequence data sent by the first robot at a third time in the communication time period;
and adjusting the action of the second instruction according to the detection time sequence data.
Optionally, the first instruction and the second instruction are derived based on a set path graph;
before the sending the execution timing data for the second instruction to the first robot, further comprising:
extracting deviation path information of action deviation between the second instruction and the operation time sequence data;
obtaining coverage according to the deviation path information and the path diagram;
the sending, to the first robot, the execution timing data for the second instruction, further comprising:
and sending operation time sequence data carrying the coverage area to the first robot, so that the first robot determines whether a superposition part of the coverage area and a travel route reflected by the first instruction on the path diagram exists or not under the condition that the operation time sequence data and the coverage area are received, and updates the first instruction according to the operation time sequence data under the condition that the superposition part exists.
Optionally, the obtaining the coverage according to the deviation path information and the path diagram includes:
obtaining a travel range of the second robot according to the path diagram and the pre-stored size information;
and obtaining the coverage area according to the travel range and the deviation path information.
Optionally, the adjusting the action of the second instruction according to the detection time sequence data includes:
obtaining weights corresponding to the plurality of detection time sequence data according to the time lengths corresponding to the plurality of detection time sequence data;
obtaining a plurality of deviation average values according to a plurality of deviation values between the detection time sequence data and the corresponding operation time sequence data;
obtaining an adjustment value according to the deviation average values and the weights corresponding to the deviation average values;
and adjusting the action of the second instruction according to the adjustment value.
According to a third aspect of the present disclosure, there is also provided a robot comprising a memory and a processor, the memory storing a computer program; the processor executes the computer program to implement the method according to the first aspect of the present disclosure.
According to a fourth aspect of the present disclosure, there is also provided a robot comprising a memory and a processor, the memory storing a computer program; the processor executes the computer program to implement the method according to the second aspect of the present disclosure.
According to a fifth aspect of the present disclosure, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to the first aspect of the present disclosure.
According to a sixth aspect of the present disclosure, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to the second aspect of the present disclosure.
The method and the device have the advantages that the first robot can execute the first instruction, and meanwhile, the corresponding detection device can detect the actions of the second robot nearby, so that the first robot can receive the detection time sequence data sent by the detection device and the operation time sequence data sent by the second robot. The first robot obtains interval time sequence data between the first robot and the second robot according to the detection time sequence data and the operation time sequence data. The first robot obtains the corresponding communication time period between the first robot and the second robot according to the interval time sequence data, so that the first robot can feed back detection time sequence data to the second robot in the communication time period, the second robot can adjust actions after obtaining the detection time sequence data, and the action deviation of the second robot is reduced, so that the working efficiency of the second robot is improved.
Other features of the disclosed embodiments and their advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the embodiments of the disclosure.
FIG. 1 is a schematic diagram of the composition of a message driven distributed AMR system capable of applying a message driven method according to one embodiment;
FIG. 2 is a flow diagram of a message driven method according to one embodiment;
FIG. 3 is a flow diagram of a message driven method according to another embodiment;
FIG. 4 is a block schematic of a first robot according to one embodiment;
fig. 5 is a schematic diagram of a hardware structure of a first robot according to one embodiment;
FIG. 6 is a block schematic diagram of a second robot according to one embodiment;
fig. 7 is a schematic diagram of a hardware structure of a second robot according to one embodiment.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
< System example >
Fig. 1 is a schematic diagram of a composition structure of a message-driven distributed AMR system capable of applying a message-driven method according to an embodiment. As shown in fig. 1, the system includes a first robot 100 and a second robot 200, and the system may be applied to a scene of an industrial robot.
The first robot 100 may be an AMR robot, the first robot 100 may perform a corresponding action according to an instruction sent by a user, and the first robot 100 may configure a corresponding motion sensor, for example: the accelerometer and the gyroscope allow the first robot 100 to move according to the course set in the instruction.
The second robot 200 may also be an AMR robot, and the first robot 100 may be connected to the second robot 200 in a short-distance communication manner, specifically for example: the first robot 100 and the second robot 200 are connected through bluetooth. The communication range of the first robot 100 coincides with the communication range of the second robot 200, that is, after the bluetooth connection between the first robot 100 and the second robot 200 is successful, the first robot 100 may send the information of the first robot 100 to the second robot 200, where the information may specifically be the number, the electric quantity, the operation duration, and the like of the first robot 100, which is not specifically limited herein. Likewise, the second robot 200 may also transmit corresponding information to the first robot 100. The second robot 200 may perform operations such as movement according to the route set in the instruction, and is not particularly limited here.
In an embodiment of the present disclosure, the memory of the first robot 100 stores a computer program that controls the first robot 100 processor to operate to implement the message driving method according to any embodiment. The skilled person may design a computer program according to the solution of the embodiments of the present disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.
< method example one >
Fig. 2 is a flow diagram of a message driven method according to one embodiment. The implementation body of the present embodiment is, for example, the first robot 100 in fig. 1.
As shown in fig. 2, the message driving method of the present embodiment may include the following steps S210 to S250:
step S210, a first instruction which is sent by a user and acts within a set first time is received.
Specifically, all robots may be in communication connection with a terminal device of a user, where the terminal device may be a mobile phone, a tablet, or a computer, which is not limited herein. The user can edit the action of a certain robot which is connected in a communication way in a corresponding application program through the terminal equipment, so that the user terminal obtains and sends a first instruction, and the first robot can act at the first time under the condition of receiving the first instruction.
In step S220, the detection device configured triggers the detection of the action at the second time set for the second robot around according to the first command.
The first robot may be provided with a corresponding detection device, which may be the detection device described above, and the detection device may detect the motion of the second robot around the first robot.
Specifically, when the first robot receives the first instruction, the first robot may start the configured detection device to operate while executing the first instruction, and the configured detection device triggers the detection of the action of the surrounding second robot at the second time set. The second time may be the first time, or the second time may be manually set and shorter than the first time, which is not specifically limited herein.
In step S230, when the detection timing data of the second robot from the detection device and the operation timing data transmitted from the second robot are received, the pitch timing data with the second robot is obtained based on the time-varying operation amplitudes reflected by the first command and the operation timing data, respectively.
Specifically, after the first robot and the second robot are connected by the above-mentioned short-distance communication manner, the second robot may send the operation time sequence data of the second robot to the first robot. The operation time sequence data may be data representing a periodic position change transmitted by the second robot over time before the first time. The first robot may receive the detection time sequence data and the operation time sequence data sent by the configured detection device, and the first robot may obtain interval time sequence data between the first robot and the second robot according to a first instruction sent by a user and action amplitude which is respectively reflected by the operation time sequence data and changes with time. The motion amplitude can reflect the position change of the whole robot. The pitch timing data may reflect a change in pitch between the first robot and the second robot over time.
Step S240, determining a first interval value corresponding to a start time node of the detection time sequence data from the interval time sequence data, and obtaining a communication time period between the first robot and the second robot.
The short-distance communication range of the first robot is consistent with the detection range of the configured detection device, so that the detection device configured by the first robot detects the operation time sequence data of the second robot under the condition of being connected with the second robot in a short-distance communication mode.
Specifically, the first robot may determine a start time node of the operation time sequence data of the detection device for the second robot, and the first robot determines first interval data between the first robot and the second robot corresponding to the start time node, so that the first robot may obtain a time period corresponding to the first interval data, which is a communication time period, in the interval time sequence data, smaller than or equal to the first interval data.
In one embodiment, the system further comprises a third robot. After step S240, further includes: transmitting detection time sequence data to the third robot after the second time under the condition that the communication time period is determined to be the second time, so that the second robot transmits a stop signal after receiving the detection time sequence data transmitted by the third robot; when a transmission stop signal transmitted from the third robot is received, transmission of the detection timing data is stopped.
Specifically, when the first robot determines that the time period corresponding to the first pitch data is less than or equal to the second time in the pitch time series data, the first robot continuously transmits the detection time series data about the second robot after the second time. The third robot can receive the detection time sequence data, then the third robot continuously sends the detection time sequence data, the second robot can send a stop signal after receiving the detection time sequence data sent by the third robot, the third robot can receive the stop signal sent by the second robot, and the third robot can send the stop signal to stop sending the detection time sequence data under the condition that the first robot receives the stop signal, so that the purpose of subsequent action adjustment of the second robot can be achieved by using other robots under the condition that the first robot and the second robot exceed the communication range, and the action accuracy of the second robot is further improved.
Step S250, sending detection time sequence data to the second robot at a third time in the communication time period; wherein the third time is after the second time and within the first time; the second robot is enabled to conduct action adjustment when the detection time sequence data are received.
Specifically, the second robot determines the voltage amount required for the motion deviation according to the motion deviation between the detection time sequence data and the operation time sequence data, that is, the motion adjustment may be to adjust the voltage amount required for driving the motor of the second robot to move. The voltage required for the deviation of the operation may be preset by a person, and will not be described in detail in the prior art.
In one embodiment, the run time sequence data is generated based on the second robot executing a second instruction sent by the user.
The user can set a corresponding second instruction for the second robot, so that the second robot can generate operation time sequence data of the second robot in the process of executing the second instruction, and control of the second robot is achieved.
In one embodiment, the detection device is a range camera.
In other words, by setting the ranging camera, the distance between the first robot and the second robot can be determined, so that the communication time period of the first robot and the second robot is determined, and the first robot sends detection time sequence data to the second robot.
< method example two >
Fig. 3 is a flow diagram of a message driven method according to one embodiment. The implementation subject of the present embodiment is, for example, the second robot 200 in fig. 1.
As shown in fig. 3, the message driving method of the present embodiment may include the following steps S310 to S350:
step S310, receiving and executing a second instruction sent by the user.
Specifically, the second robot may receive and execute the second instruction sent by the user through the terminal device.
Step S320, when receiving the information from the first robot that the connection is successful, transmitting the operation timing data for the second instruction to the first robot, so that the first robot obtains the communication time period when receiving the operation timing data.
Under the condition that the first robot and the second robot are connected through the Bluetooth, the first robot can receive the prompt information of successful connection with the second robot, the second robot can also receive the prompt information of successful connection with the first robot, and the first robot and the second robot can perform information interaction, specifically for example: the first robot may obtain information about the number, the electric quantity, etc. of the second robot, which is not specifically limited herein.
In one embodiment, the first instruction and the second instruction are derived based on a set path graph. Prior to step S320, further comprising: extracting deviation path information of action deviation between the second instruction and the operation time sequence data; and obtaining the coverage according to the deviation path information and the path diagram. The corresponding step S320 may specifically be: and sending the operation time sequence data carrying the coverage area to the first robot, so that the first robot determines whether the overlapping part of the coverage area and the travel route on the path diagram reflected by the first instruction exists or not under the condition that the operation time sequence data and the coverage area are received, and updates the first instruction according to the operation time sequence data under the condition that the overlapping part exists.
The user may set a corresponding path diagram on the terminal device, where the path diagram may be a map edited by people, and is not specifically limited herein. The first instruction may be a user specifying a destination of the first robot on the path graph and an action to be performed at the destination. The second instruction may be a user specifying a destination of the second robot on the path graph and an action to be performed at the destination.
Specifically, the second robot may generate a corresponding travel route in the path diagram according to the first instruction and the second robot may avoid after recognizing the obstacle by means of the motion sensor in the course of moving according to the travel route, so that the second robot generates corresponding operation timing data based on the travel route and the route avoiding the obstacle. The second robot may extract deviation path information of the action deviation between the second instruction and the operation time series data, the deviation path information specifically being for example: moving from coordinates (1, 1) to coordinates (1, 3) to (1.5,2.8) in the path diagram, the x-direction is offset by 0.5 and the y-direction is offset by-0.2. The second robot can obtain the coverage of the second robot moving on the road according to the road corresponding to the coordinates (1, 1) to the coordinates (1, 3) in the path diagram and the deviation path information. Then, the second robot may send the coverage and the operation timing data to the first robot so that the first robot may determine whether or not there is a portion of overlap with the coverage of the travel route on the route map reflected by the first instruction. If the first robot determines that the overlapping portion exists, the first robot can update the first instruction according to the operation time sequence data, namely, the route of the first robot on the overlapping portion is updated to be consistent with the route corresponding to the operation time sequence data. In other words, by updating the first instruction to the first robot in the case where the same route exists for the first robot by means of the route by which the second robot avoids the obstacle, it is possible to reduce the calculation consumption required for the first robot to detect the obstacle.
In one embodiment, the process of obtaining coverage may specifically include the following: obtaining a travel range of the second robot according to the path diagram and the pre-stored size information; and obtaining the coverage area according to the travel range and the deviation path information.
Specifically, the second robot may obtain the radius of the second robot according to the pre-stored size information of the second robot, so as to obtain the travel range of the second robot in the path diagram according to the path diagram and the radius. The second robot can obtain the coverage area of the second robot moving on the corresponding road with the action deviation according to the action deviation range and the deviation path information of the action deviation of the second robot, so that the accuracy of determining whether the overlapping part exists between the path of the first robot and the coverage area can be improved.
In step S330, the detection timing data sent from the first robot is received at a third time in the communication period.
Step S340, adjusting the action of the second command according to the detection timing data.
In one embodiment, step S340 specifically includes the following: obtaining weights corresponding to the plurality of detection time sequence data according to the time lengths corresponding to the plurality of detection time sequence data; obtaining a plurality of deviation average values according to a plurality of deviation values between the plurality of detection time sequence data and the corresponding operation time sequence data; obtaining an adjustment value according to the deviation average values and the weights corresponding to the deviation average values; and adjusting the action of the second instruction according to the adjustment value.
Specifically, the first robot may obtain a plurality of detection time sequence data for the second robot through the detection device configured as described above, the first robot may send the plurality of detection time sequence data to the second robot, and the second robot obtains weights corresponding to the plurality of detection time sequence data according to time lengths corresponding to the plurality of detection time sequence data respectively when receiving the plurality of detection time sequence data. Specific examples are: the second robot receives three detection time sequence data, and the time lengths corresponding to the three detection time sequence data are 2 minutes, 3 minutes and 5 minutes respectively, so that the weights of the three detection time sequence data can be 0.2, 0.3 and 0.5 respectively. The second robot can obtain corresponding adjustment values according to the deviation average values and the corresponding weights, wherein the adjustment values can be the voltage quantity required by the motor for adjusting and driving the second robot to move. The second robot can adjust the action of the second instruction of the second robot according to the adjustment value, so that the working efficiency of the second robot is improved.
< device example one >
Fig. 4 is a functional block diagram of a first robot according to one embodiment. As shown in fig. 4, the first robot 400 may include an instruction receiving module 410, configured to receive a first instruction sent by a user to act within a set first time;
the detection triggering module 420 is configured to trigger, according to the first instruction, detection of a second time set for the surrounding second robot by the configured detection device;
the data obtaining module 430 is configured to obtain, when receiving the detection timing data of the detection device for the second robot and the operation timing data sent from the second robot, interval timing data between the second robot according to the time-varying motion amplitude respectively reflected by the first instruction and the operation timing data;
a time period obtaining module 440, configured to determine a first distance value corresponding to a start time node of the detection time sequence data from the distance time sequence data, and obtain a communication time period between the first robot and the second robot;
a data transmitting module 450 for transmitting the detection timing data to the second robot at a third time in the communication time period; wherein the third time is after the second time and within the first time; the second robot is enabled to conduct action adjustment when the detection time sequence data are received.
Optionally, the signal sending module is configured to send detection time sequence data to the third robot after the second time when the communication time period is determined to be the second time, so that the second robot sends the stop sending signal after receiving the detection time sequence data sent by the third robot;
and the data transmission stopping module is used for stopping transmitting the detection time sequence data under the condition of receiving a transmission stopping signal transmitted by the third robot.
The first robot 400 may be the first robot 100 of fig. 1.
< device example two >
Fig. 5 is a schematic diagram of a hardware structure of a first robot according to another embodiment.
As shown in fig. 5, the first robot 500 includes a processor 510 and a memory 520, the memory 520 storing an executable computer program, the processor 510 performing the method as any of the above method embodiments according to the control of the computer program.
The electronic device 500 may be the first robot 100 of fig. 1.
The above modules of the first robot 400 may be implemented by the processor 510 executing the computer program stored in the memory 520 in the present embodiment, or may be implemented by other structures, which are not limited herein.
< device example three >
Fig. 6 is a functional block diagram of a second robot according to one embodiment. As shown in fig. 6, the second robot 600 may include an instruction receiving module 610, configured to receive and execute a second instruction sent by a user;
the data sending module 620 is configured to send, when receiving the information from the first robot that the connection is successful, operation time sequence data for the second instruction to the first robot, so that the first robot obtains a communication time period when receiving the operation time sequence data;
a data receiving module 630, configured to receive detection time sequence data sent from the first robot at a third time in the communication time period;
the action adjusting module 640 is configured to adjust the action of the second instruction according to the detection timing data.
Optionally, the information extraction module is used for extracting deviation path information of action deviation between the second instruction and the operation time sequence data;
the range obtaining module is used for obtaining coverage according to the deviation path information and the path diagram;
the data sending module 620 is further configured to send, to the first robot, operation time sequence data carrying a coverage area, so that the first robot determines whether there is a overlapping portion of the coverage area and a path line on the path diagram reflected by the first instruction when receiving the operation time sequence data and the coverage area, and updates the first instruction according to the operation time sequence data when determining that there is the overlapping portion.
Optionally, the range obtaining module is further configured to obtain a travel range of the second robot according to the path diagram and the pre-stored size information; and obtaining the coverage area according to the travel range and the deviation path information.
Optionally, the action adjustment module 640 is further configured to obtain weights corresponding to the plurality of detection time sequence data according to time lengths corresponding to the plurality of detection time sequence data; obtaining a plurality of deviation average values according to a plurality of deviation values between the plurality of detection time sequence data and the corresponding operation time sequence data; obtaining an adjustment value according to the deviation average values and the weights corresponding to the deviation average values; and adjusting the action of the second instruction according to the adjustment value.
The second robot 600 may be the second robot 200 of fig. 1.
< device example IV >
Fig. 7 is a schematic diagram of a hardware structure of an electronic device according to another embodiment.
As shown in fig. 7, the second robot 700 includes a processor 710 and a memory 720, the memory 720 storing an executable computer program, the processor 710 performing the method as any of the above method embodiments according to the control of the computer program.
The second robot 700 may be the second robot 200 of fig. 1.
The above modules of the second robot 600 may be implemented by the processor 710 executing the computer program stored in the memory 720 in the present embodiment, or may be implemented by other structures, which are not limited herein.
The present invention may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for carrying out operations of the present invention may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims (10)

1. A message driving method, wherein the method is provided in a message driven distributed AMR system, the system comprising a first robot and a second robot, the first robot and the second robot being in short-range communication connection, the method being applied to the first robot, the method comprising:
receiving a first instruction which is sent by a user and acts within a set first time;
according to the first instruction, the configured detection device triggers the action detection of a second time set for a second surrounding robot;
under the condition that detection time sequence data of a second robot from the detection device and operation time sequence data sent by the second robot are received, obtaining interval time sequence data between the first robot and the second robot according to time-varying action amplitudes respectively reflected by the first instruction and the operation time sequence data;
determining a first interval value corresponding to a start time node of the detection time sequence data from the interval time sequence data to obtain a communication time period between the first robot and the second robot;
transmitting the detection timing data to a second robot at a third time in the communication time period; wherein the third time is after the second time and within the first time; and enabling the second robot to perform action adjustment when the detection time sequence data is received.
2. The method of claim 1, wherein the system further comprises a third robot;
after the obtaining the communication time period with the second robot, further comprising:
transmitting the detection timing data to a third robot after a second time when the communication time period is determined to be the second time, so that the second robot transmits a stop signal after receiving the detection timing data transmitted from the third robot;
and stopping sending the detection time sequence data when receiving the sending stopping signal sent by the third robot.
3. The method of claim 1, wherein the run time data is generated based on the second robot executing a second instruction sent by a user.
4. The method of claim 1, wherein the detection device is a range camera.
5. A message driving method, wherein the method is applied to the second robot, the method comprising:
receiving and executing a second instruction sent by a user;
under the condition that information from the first robot that the connection is successful is received, running time sequence data of the second instruction is sent to the first robot, so that the first robot obtains a communication time period under the condition that the running time sequence data is received;
receiving the detection time sequence data sent by the first robot at a third time in the communication time period;
and adjusting the action of the second instruction according to the detection time sequence data.
6. The method of claim 5, wherein the first instruction and the second instruction are derived based on a set path graph;
before the sending the execution timing data for the second instruction to the first robot, further comprising:
extracting deviation path information of action deviation between the second instruction and the operation time sequence data;
obtaining coverage according to the deviation path information and the path diagram;
the sending, to the first robot, the execution timing data for the second instruction, including:
and sending operation time sequence data carrying the coverage area to the first robot, so that the first robot determines whether a superposition part of the coverage area and a travel route reflected by the first instruction on the path diagram exists or not under the condition that the operation time sequence data and the coverage area are received, and updates the first instruction according to the operation time sequence data under the condition that the superposition part exists.
7. The method of claim 6, wherein the obtaining coverage according to the deviation path information and the path diagram comprises:
obtaining a travel range of the second robot according to the path diagram and the pre-stored size information;
and obtaining the coverage area according to the travel range and the deviation path information.
8. The method of claim 5, wherein adjusting the action of the second instruction based on the detected timing data comprises:
obtaining weights corresponding to the plurality of detection time sequence data according to the time lengths corresponding to the plurality of detection time sequence data;
obtaining a plurality of deviation average values according to a plurality of deviation values between the detection time sequence data and the corresponding operation time sequence data;
obtaining an adjustment value according to the deviation average values and the weights corresponding to the deviation average values;
and adjusting the action of the second instruction according to the adjustment value.
9. A robot, comprising: comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the message driven method according to any of claims 1 to 4.
10. A robot, comprising: comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the message driven method according to any of claims 5 to 8.
CN202310023639.0A 2023-01-09 2023-01-09 Message-driven distributed AMR system Pending CN116095650A (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310023639.0A CN116095650A (en) 2023-01-09 2023-01-09 Message-driven distributed AMR system

Publications (1)

Publication Number Publication Date
CN116095650A true CN116095650A (en) 2023-05-09

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