CN117944058A - Scheduling method and system of self-propelled functional mechanical arm and mechanical arm - Google Patents
Scheduling method and system of self-propelled functional mechanical arm and mechanical arm Download PDFInfo
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Abstract
The invention discloses a dispatching method and system of a self-propelled functional mechanical arm and the mechanical arm, and relates to the technical field of mechanical arm control. The method comprises the steps of setting one or more mechanical arm collection storage areas, storing a plurality of groups of mechanical arms with different functions in the collection storage areas, setting a plurality of operation areas for the mechanical arm dispatching starting point at the storage position of each mechanical arm, setting a mechanical arm dispatching ending point in the operation area, and setting a plurality of dispatching lines between the dispatching starting point and the dispatching ending point. The invention can simultaneously schedule the reservation mode of the multi-mechanical arm and the temporary emergency scheduling by taking the load working environment as the background, thereby meeting various demand environments, performing the position scheduling of the corresponding mechanical arm by using an independent work order, and ensuring the avoiding mode of meeting the mechanical arms with different priorities by means of the automatic planning of a scheduling line and the priority executing avoiding method, so that the mechanical arms can orderly and reasonably schedule, and the running stability and the executing reliability of the whole system are ensured.
Description
Technical Field
The invention relates to the technical field of mechanical arm control, in particular to a dispatching method and system of a self-functional mechanical arm and the mechanical arm.
Background
A self-propelled robotic arm is a robotic arm that is capable of autonomous movement and operation without human intervention. The robot arm is generally provided with a sensor, a controller and a driving system, so that the robot arm can sense the surrounding environment, plan the motion trail and execute various operation tasks, with the development of sensing technology, control technology and artificial intelligence technology, the robot arm becomes more intelligent and flexible and can be applied to more fields, the robot arm can well replace traditional manual operation to perform boring repeated or fixed work in the medical environment, the reliability and the safety are more outstanding, the robot arm with higher precision is required to assist in working in some special requirement scenes, the robot arm is applied to medical systems in many stages, a plurality of self-propelled robot arms are possibly required to be simultaneously scheduled to work in such complex scenes, and a robot arm scheduling method is required to be specially designed for standardizing the scheduling mode of the self-propelled robot arm.
As disclosed in publication No. CN113752247a, a method and apparatus for dynamic scheduling of a mechanical arm are disclosed, which can calculate, according to a current mechanical arm scheduling scheme, a release time when the mechanical arm performs a current mechanical arm operation and a release time of each pot; screening out the pot with the smallest release time, thereby screening out a rescheduling task set from the dish cooking tasks corresponding to the rest pot; and recalculating the mechanical arm scheduling scheme according to the rescheduling task set and the newly added dish cooking task set by taking the release time of the mechanical arm for executing the current mechanical arm operation as the scheduling starting time.
According to the technology, a single mechanical arm can orderly work under the multi-task, but the used environment is not suitable for the dispatching of the mechanical arms with a longer distance, the dispatching accuracy among the mechanical arms is difficult to ensure under the dispatching environment of the multi-task multi-mechanical arm, the dispatching route is planned due to the fact that the static mechanical arm is arranged, and if the mechanical arm is required to be additionally arranged, the operation parameters of the mechanical arm must be readjusted, so that the technology is poor in applicability in changeable application scenes.
Disclosure of Invention
The invention aims to provide a dispatching method and system of a self-propelled functional mechanical arm and the mechanical arm, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the dispatching method of the self-propelled functional mechanical arm comprises the steps of setting one or more mechanical arm collection storage areas, wherein the collection storage areas store a plurality of groups of mechanical arms with different functions, the storage position of each mechanical arm is a mechanical arm dispatching starting point, a plurality of operation areas are set, a mechanical arm dispatching end point is arranged in each operation area, and a plurality of dispatching lines are arranged between the dispatching starting point and the dispatching end point;
Establishing a dispatching center, wherein the dispatching center is used for storing a mechanical arm information data set and an operation area information data set;
The scheduling center acquires operation work order information, wherein the work order information comprises a reserved work order and an emergency work order, and the reserved work order and the emergency work order content comprise a demand mechanical arm, a target operation area scheduling end point coordinate, a demand time period and a priority;
The dispatching center issues a dispatching command to the collection storage area according to the work order information to dispatch the target mechanical arm, the dispatching command comprises an emergency command and a reservation command, the mechanical arm runs on a dispatching route according to a priority execution avoidance method, and the mechanical arm executing the emergency work order gives the highest priority;
The operation area comprises a static area, a dynamic area and a temporary definition area to meet different working requirements;
the scheduling route of the static area scheduling end point and the scheduling start point comprises one of manual planning and automatic planning;
the scheduling routes of the scheduling end points and the scheduling start points of the dynamic area and the temporary definition area are automatically planned;
the automatic planning method of the dispatch route comprises the following steps:
Step one: setting a running area, namely defining a running range of the self-propelled mechanical arm, wherein a plurality of detection points are arranged in the running area to calibrate the position of the running mechanical arm;
Step two: coordinate points are obtained, and coordinate values of a dispatching end point and a dispatching start point are obtained;
Step three: and planning an optimal route, namely planning a blending route with the shortest route according to the two coordinate points, wherein the blending route passes through a plurality of detection points.
Further, the construction method of the operation area comprises the following steps:
S1: acquiring working range plane information, and constructing a working range basic coordinate system by taking any point in the working range as an origin;
S2: defining a static area, and defining one area in a basic coordinate system of an operation range as the static area, wherein a plurality of mooring points are arranged in the static area as mechanical arm dispatching terminals;
S3: defining a dynamic region, defining one region in a basic coordinate system of an operation range as a dynamic region, wherein a single mechanical arm dispatching end point and a secondary driving line are arranged in the dynamic region, and the mechanical arm moves in the secondary driving line;
S4: the scheduling center acquires work order information and also comprises a temporary definition area coordinate parameter, and then temporarily creates a disposable temporary definition area according to the temporary definition area coordinate parameter, wherein a single mechanical arm scheduling end point is arranged in the temporary definition area;
S5: planning an obstacle region, acquiring the outline coordinates of the obstacle in the operation range, and constructing the obstacle region;
S6: defining a dispatching route area, and providing a road for dispatching and driving of the mechanical arm for a driving area by using a remaining area with the edges of the planned obstacle area, the static area, the dynamic area and the temporary definition area being defined as boundaries of 30 cm to 50 cm.
Furthermore, in the step S4, the work order information stores temporary definition area survival time effect, and the temporary definition area reaching the survival time effect is converted into a temporary barrier area for 1-2 hours.
Further, the priority execution avoidance method includes a common avoidance method, and the common avoidance method includes:
N1: acquiring a dispatching route of the mechanical arm and real-time coordinate information of the mechanical arm;
N2: judging the meeting, namely calculating the expected arrival position of the fixed time point of the mechanical arm according to the running speed of the mechanical arm, and judging the meeting when the expected arrival positions of the two mechanical arms overlap;
and N3: executing avoidance, under the condition that the driving directions are opposite, letting the mechanical arm far away from the dispatching starting point give away the other mechanical arm through speed reduction and rollback, under the condition that the form directions are the same, letting the mechanical arm running at a low speed give away the other mechanical arm through a temporary sideways way of avoiding, and returning to the original position after the completion of letting the row.
Still further, the priority execution avoidance method further includes an emergency avoidance method, the emergency avoidance method including:
m1: acquiring real-time coordinates and a dispatching line of a mechanical arm for executing an emergency work order;
m2: temporary limitation is carried out, the action of the mechanical arm which is repeated with the dispatching line of the mechanical arm for executing the emergency work order is limited, and limitation is removed when the mechanical arm for executing the emergency work order passes through a repeated road section;
M3: and executing avoidance, namely, enabling the mechanical arm which is in the dispatching line of the mechanical arm for executing the emergency work order to give way in the form of the side surface of the advancing direction, and after the giving way is finished, driving back to the original line again.
Further, the method for planning the optimal route in the third step includes:
Q1: constructing an area map and two-dimensionally driving areas;
q2: primary route planning, utilization of One of the algorithm, breadth-first search algorithm and depth-first search algorithm uses a scheduling start point as a route start point and a scheduling end point as a route end point to construct a primary route;
Q3: and finally, planning a route, namely acquiring a plurality of detection points close to the primary route as route points, and constructing the final route again through an algorithm.
Further, the Q2 steps are respectively used in the following stepsAnd performing primary route planning by using an algorithm, a breadth-first search algorithm and a depth-first search algorithm, and then selecting a route with the shortest distance as a primary route.
Further, the mechanical arm information data set comprises mechanical arm model, mechanical arm state, current priority, maintenance state and basic parameter information, and the operation area information data set comprises operation area coordinates, operation area dispatching endpoint number and coordinates, operator information and working information.
A dispatching system of self-propelled functional mechanical arms uses the dispatching method of the self-propelled functional mechanical arms.
A mechanical arm uses the dispatching method of the self-propelled functional mechanical arm.
Compared with the prior art, the invention has the beneficial effects that:
According to the dispatching method, the dispatching system and the mechanical arm of the self-propelled functional mechanical arm, the load working environment is used as a background, the multi-task reservation type dispatching and the temporary emergency dispatching of the multi-mechanical arm can be simultaneously carried out, so that various demand environments are met, the position dispatching of the corresponding mechanical arm is carried out by using an independent work order, the dispatching accuracy of the mechanical arm is ensured, the avoidance mode of meeting conditions of the mechanical arms with different priorities is ensured by means of automatic planning and priority execution avoidance methods of dispatching lines, and therefore the mechanical arm can be orderly and reasonably dispatched, and the running stability and the executing reliability of the whole system are ensured.
Meanwhile, different from the traditional fixed-position dispatching mode, the operation area is divided into a static area, a dynamic area and a temporary definition in the scheme, the static area carries out the traditional mechanical arm dispatching of fixed parking points, a secondary route is established in the dynamic area, the mechanical arm carries out planned movement in the dynamic area, the temporary definition area can temporarily establish a static area or a dynamic area through a work order, so that the whole dispatching method is more flexible, the working condition of a load is met, and the expansibility and the intelligence of the whole dispatching system are improved.
Drawings
FIG. 1 is a schematic diagram of scheduling logic of the present invention;
FIG. 2 is a diagram illustrating transmission of scheduling commands according to the present invention;
FIG. 3 is a robotic arm scheduling layout of an operating room environment of the present invention;
FIG. 4 is a robot dispatch layout diagram of a multi-station environment of the present invention;
FIG. 5 is a schematic diagram of a collection storage area according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Along with the development of automation technology and artificial intelligence technology, a plurality of traditional industries are carrying out technical innovation, the production and operation modes of replacing traditional manual work with an automatic mechanical arm are continuously developed, the scenes of using the mechanical arm in the field of industrial production and the field of medical care are more various, the functions of the mechanical arm are more comprehensive and intelligent, more manual and mechanical arm cooperative work scenes appear, in the application scenes of a multitasking environment and a multi-mechanical arm environment, the reasonable dispatching of the mechanical arm becomes a critical problem to avoid scene complication, and the technical scheme provides a dispatching method of the self-functional mechanical arm, which is provided with a dispatching system corresponding to the method and a mechanical arm executing in the method for basic logic design by the method; according to the technical scheme, the mechanical arm is an existing mechanical arm with a self-running function, the function of the mechanical arm is determined by self according to the use condition, the mechanical arm with different functions is scheduled to be applied to special working scenes, scheduling work of the mechanical arm is performed in a reservation and temporary scheduling mode, and the mechanical arm in the whole working environment can be orderly scheduled, so that the intellectualization and the science and technology of the existing production and application scenes can be improved to a large extent, the high-new production requirements of enterprises are met, the artificial uncertain factors are reduced, and the whole working scene is more stable and coordinated.
As shown in fig. 1 to 5, the present invention provides a technical solution: a dispatching method of self-propelled functional mechanical arms comprises the steps of setting one or more mechanical arm collection storage areas, wherein the collection storage areas store a plurality of groups of mechanical arms with different functions, the storage position of each mechanical arm is a mechanical arm dispatching starting point, a plurality of operation areas are set, a mechanical arm dispatching end point is arranged in each operation area, a plurality of dispatching lines are arranged between the dispatching starting point and the dispatching end point, and note that in the embodiment, the mechanical arms used in different use environments of application scenes are different, but the working properties of the mechanical arms are different but the basic functions are necessary, firstly, the mechanical arms have self-propelled functions and are provided with independent power supply and traveling mechanisms, and secondly, the mechanical arms can carry out information transceiving, position sensors and positioners, so that the dispatching functions can be met.
It should be noted that, in a large application scenario, a plurality of storage areas are usually provided, and each storage area stores a mechanical arm with a specific function, and performs the most suitable position planning according to the function of the mechanical arm, in some medium-sized or small scenarios, a single storage area is generally provided for reducing the investment of equipment, and in the storage areas, a plurality of groups of mechanical arms with the same function are provided, and the planning according to the actual use scenario is required, and as shown in fig. 3 and fig. 4, the mechanical arms are respectively applied in an operating room environment and a multi-station lathe processing environment, both of which adopt a single mechanical arm chamber as the storage areas, as shown in fig. 5, the parking area is used as the scheduling start point of the mechanical arm, and the dotted line is used as the route of the mechanical arm out of the storage areas.
The method comprises the steps of establishing a dispatching center, wherein the dispatching center is used for storing a mechanical arm information data set and an operation area information data set, the dispatching center is a relevant computer controlled by the whole method in the actual application process, the collection, storage and emission of information can be met, and the specific implementation mode is an existing mature technology, so that the detailed description is not carried out in the technical scheme.
The scheduling center acquires operation work order information, wherein the work order information comprises a reserved work order and an emergency work order, and the reserved work order and the emergency work order content comprise a demand mechanical arm, a target operation area scheduling end point coordinate, a demand time period and a priority.
It should be noted that, when the mechanical arms with different functions in the collection storage area are scheduled, the time-effect requirements of the reserved work orders and the emergency work orders need to be considered to be different, so that all the mechanical arms cannot be scheduled by the reserved work orders, equipment with about 20% -30% of the reserved mechanical arms is used as a target for scheduling the emergency work orders to be on standby under the recommended condition, and the number of the mechanical arms is set according to the functions of the mechanical arms and the emergency degree attribute of the corresponding work.
The dispatching center issues dispatching commands to the collection storage area according to work order information to dispatch the target mechanical arm, the dispatching commands comprise emergency commands and reservation commands, the mechanical arm executes avoidance methods according to priority to drive on a dispatching route, the mechanical arm executing the emergency work order gives the highest priority, multiple grades can be set according to the special priority of working conditions, two grades can be simply set in a simpler working environment, three or more grades can be set in a loaded working environment, the grades are set by operators and are given in the work order, and the mechanical arm executing the work order gives the same working priority.
The operation area comprises a static area, a dynamic area and a temporary definition area, different working requirements are met, the dispatching route of the dispatching end point and the dispatching start point of the static area comprises one of manual planning and automatic planning, the dispatching route of the dispatching end point and the dispatching start point of the dynamic area and the temporary definition area is automatically planned, the position of the static area is fixed, a highlighted auxiliary line can be arranged in a traditional route planning mode to enable the mechanical arm to dispatch in a visual route searching mode, a virtual coordinate is only available in an automatic standard mode, each position of the whole working environment can be converted into a two-dimensional coordinate to correspond to one coordinate point, the mechanical arm can feed back the position of the coordinate in real time, visual route inspection is not needed, the highlighted route inspection is not needed to be drawn on the working area, certain requirements are met on the computing capacity of the whole service system, and specific planning steps are explained below.
As a specific embodiment, the automatic planning method of the scheduling route includes: step one: setting a running area, namely defining the running range of the self-propelled mechanical arm, wherein a plurality of detection points are arranged in the running area to calibrate the position of the mechanical arm in running, namely limiting the running area of the mechanical arm essentially, so that the mechanical arm can only move in a designated area like an electronic fence.
Step two: coordinate points are obtained, coordinate values of a dispatching end point and a dispatching start point are obtained, a unique coordinate value is arranged at each specific position of a coordinate system in a working environment, a plurality of coordinate values are arranged in each operation area to represent the actual outline of the operation area, and the feedback of the positions of detection points can be similar to that of the reference points.
Step three: according to the optimal route planning, a plurality of detection points are arranged on the dispatching line according to the dispatching line with the shortest path planned by two coordinate points, a plurality of algorithms and technologies can be used for planning the optimal route along with the development of artificial intelligence and robot technology, but the route can be reasonably planned, and the movement precision of the mechanical arm in the driving process is not high because of the movement precision of the equipment, so that the situation that the actual position and the feedback position deviate greatly easily occurs only by means of the movement feedback of the equipment, and when the mechanical arm passes the detection points, the detection points calibrate the positions of the mechanical arm, so that the mechanical arm can drive within the allowable range of errors, and the more actual feedback positions of the detection points pass the more accurately.
As a specific embodiment, the method for constructing the operation area and the driving area includes: s1: the working range plane information is acquired, a working range basic coordinate system is constructed by taking any point in the working range as an origin, the construction of the basic coordinates is required to rely on accurate measurement, the position of a good static area is determined when a factory is planned, if the coordinates are determined in a later measurement mode, a laser range finder is preferably used, and the higher the measurement precision is, the better the later scheduling and the use of a mechanical arm are.
S2: a static area is defined, one area in a basic coordinate system of an operation range is defined as the static area, a plurality of mooring points are arranged in the static area to serve as a mechanical arm dispatching end point, the static area is not necessarily a traditional rectangle, and therefore coordinate values are required to be arranged at turning points of the static area and coordinate values are required to be arranged between adjacent turning points.
S3: defining a dynamic region, defining one region in a basic coordinate system of an operation range as a dynamic region, arranging a single mechanical arm dispatching end point and a secondary running line in the dynamic region, enabling the mechanical arm to move on the secondary running line, enabling the secondary running line to be nonlinear, enabling the line to learn and calibrate, namely enabling the mechanical arm to form the whole secondary running line in a manual traction mode, and recording the path in the form.
S4: the temporary definition area is used for acquiring work order information and further comprises a temporary definition area coordinate parameter, a disposable temporary definition area is temporarily created according to the temporary definition area coordinate parameter, a single mechanical arm scheduling end point is arranged in the temporary definition area, the temporary definition area stored in the work order information is subjected to survival aging, the temporary definition area reaching the survival aging can be converted into a temporary barrier area of 1-2 hours, the situation that uncleaned objects exist in the temporary definition area and cause danger to the follow-up mechanical arm is avoided, and the temporary definition area can be an operation area similar to a static area or an operation area similar to a dynamic area and can be obtained by only carrying out the required parameter coordination.
S5: planning an obstacle region, acquiring the outline coordinates of the obstacle in the operation range, constructing the obstacle region, wherein the attribute of the obstacle region and the attribute of a wall are similar to non-collidable limits, inputting a plurality of safety programs to the mechanical arm in the actual application process, and carrying out emergency stopping when the mechanical arm approaches to a certain value of the obstacle region.
S6: defining a dispatching route area, providing a road for dispatching and driving by the mechanical arm for a driving area by using a remaining area with the edges of a planned obstacle area, a static area, a dynamic area and a temporary defined area being defined as boundaries, and taking a space with the length of 30-50 cm as a safety buffer area, and simultaneously providing a passage for an operator or an maintainer in a complicated dispatching environment.
As a specific embodiment, the priority execution avoidance method includes a general avoidance method, where the general avoidance method includes: n1: acquiring a dispatching route of the mechanical arm and real-time coordinate information of the mechanical arm; n2: judging the meeting, namely calculating the expected arrival position of the fixed time point of the mechanical arm according to the running speed of the mechanical arm, and judging the meeting when the expected arrival positions of the two mechanical arms overlap; and N3: executing avoidance, under the condition that the driving directions are opposite, letting the mechanical arm far away from the dispatching starting point give away the other mechanical arm through speed reduction and rollback, under the condition that the form directions are the same, letting the mechanical arm running at a low speed give away the other mechanical arm through a temporary sideways way of avoiding, and returning to the original position after the completion of letting the row.
As a specific embodiment, the priority execution avoidance method further includes an emergency avoidance method, where the emergency avoidance method includes: m1: acquiring real-time coordinates and a dispatching line of a mechanical arm for executing an emergency work order; m2: temporary limitation is carried out, the action of the mechanical arm which is repeated with the dispatching line of the mechanical arm for executing the emergency work order is limited, and limitation is removed when the mechanical arm for executing the emergency work order passes through a repeated road section; m3: and the mechanical energy is yielded in the form of the side surface of the advancing direction of the mechanical arm which is in the dispatching line of the mechanical arm for executing the emergency work order, and the mechanical energy is returned to the original line after the yielding is finished, so that the execution of the emergency work order is preferentially ensured, and the method has important guarantee significance in the medical field.
As a specific embodiment, the method for planning the optimal route in the third step includes: q1: constructing an area map and two-dimensionally driving areas; q2: primary route planning, utilization ofOne of the algorithm, breadth-first search algorithm and depth-first search algorithm uses a scheduling start point as a route start point and a scheduling end point as a route end point to construct a primary route; q3: and (3) final route planning, namely acquiring a plurality of detection points close to the primary route as route points, constructing a final route again through an algorithm, and respectively using/>, in the step Q2And performing primary route planning by using an algorithm, a breadth-first search algorithm and a depth-first search algorithm, and then selecting a route with the shortest distance as a primary route.
As a specific embodiment, the mechanical arm information data set includes a mechanical arm model, a mechanical arm state, a current priority, a maintenance state and basic parameter information, and the operation area information data set includes an operation area coordinate, an operation area scheduling end point number and coordinate, operator information and work information.
It should be noted that the maintenance state is critical in the actual application process, and represents the safety and stability of the mechanical arm, and in the operating room environment, due to the specificity of the medical apparatus, the mechanical arm used each time needs to be disinfected and cleaned, the maintenance state includes a disinfection state, the priority of the mechanical arm comes from a work order, the mechanical arm can clean the current priority after the current work order is executed each time, and the basic parameters include the physical properties such as the running speed, the height, the type, the load and the like.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made hereto without departing from the spirit and scope of the invention as defined by the appended embodiments and equivalents thereof.
Claims (10)
1. A dispatching method of a self-propelled functional mechanical arm is characterized by comprising the following steps of: comprising the following steps:
setting one or more mechanical arm collection storage areas, wherein the collection storage areas store a plurality of groups of mechanical arms with different functions, the storage position of each mechanical arm is a mechanical arm dispatching starting point, a plurality of operation areas are set, a mechanical arm dispatching end point is arranged in each operation area, and a plurality of dispatching lines are arranged between the dispatching starting point and the dispatching end point;
Establishing a dispatching center, wherein the dispatching center is used for storing a mechanical arm information data set and an operation area information data set;
The scheduling center acquires operation work order information, wherein the work order information comprises a reserved work order and an emergency work order, and the reserved work order and the emergency work order content comprise a demand mechanical arm, a target operation area scheduling end point coordinate, a demand time period and a priority;
The dispatching center issues a dispatching command to the collection storage area according to the work order information to dispatch the target mechanical arm, the dispatching command comprises an emergency command and a reservation command, the mechanical arm runs on a dispatching route according to a priority execution avoidance method, and the mechanical arm executing the emergency work order gives the highest priority;
The operation area comprises a static area, a dynamic area and a temporary definition area to meet different working requirements;
the scheduling route of the static area scheduling end point and the scheduling start point comprises one of manual planning and automatic planning;
the scheduling routes of the scheduling end points and the scheduling start points of the dynamic area and the temporary definition area are automatically planned;
the automatic planning method of the dispatch route comprises the following steps:
Step one: setting a running area, namely defining a running range of the self-propelled mechanical arm, wherein a plurality of detection points are arranged in the running area to calibrate the position of the running mechanical arm;
Step two: coordinate points are obtained, and coordinate values of a dispatching end point and a dispatching start point are obtained;
Step three: and planning an optimal route, namely planning a blending route with the shortest route according to the two coordinate points, wherein the blending route passes through a plurality of detection points.
2. The method for dispatching a self-propelled functional mechanical arm according to claim 1, wherein: the construction method of the operation area comprises the following steps:
S1: acquiring working range plane information, and constructing a working range basic coordinate system by taking any point in the working range as an origin;
S2: defining a static area, and defining one area in a basic coordinate system of an operation range as the static area, wherein a plurality of mooring points are arranged in the static area as mechanical arm dispatching terminals;
S3: defining a dynamic region, defining one region in a basic coordinate system of an operation range as a dynamic region, wherein a single mechanical arm dispatching end point and a secondary driving line are arranged in the dynamic region, and the mechanical arm moves in the secondary driving line;
S4: the scheduling center acquires work order information and also comprises a temporary definition area coordinate parameter, and then temporarily creates a disposable temporary definition area according to the temporary definition area coordinate parameter, wherein a single mechanical arm scheduling end point is arranged in the temporary definition area;
S5: planning an obstacle region, acquiring the outline coordinates of the obstacle in the operation range, and constructing the obstacle region;
S6: defining a dispatching route area, and providing a road for dispatching and driving of the mechanical arm for a driving area by using a remaining area with the edges of the planned obstacle area, the static area, the dynamic area and the temporary definition area being defined as boundaries of 30 cm to 50 cm.
3. The method for dispatching a self-propelled functional mechanical arm according to claim 2, wherein: and S4, the work order information is stored with the temporary definition area for survival time effect, and the temporary definition area reaching the survival time effect is converted into a temporary barrier area for 1-2 hours.
4. The method for dispatching a self-propelled functional mechanical arm according to claim 1, wherein: the priority execution avoidance method comprises a common avoidance method, and the common avoidance method comprises the following steps:
N1: acquiring a dispatching route of the mechanical arm and real-time coordinate information of the mechanical arm;
N2: judging the meeting, namely calculating the expected arrival position of the fixed time point of the mechanical arm according to the running speed of the mechanical arm, and judging the meeting when the expected arrival positions of the two mechanical arms overlap;
and N3: executing avoidance, under the condition that the driving directions are opposite, letting the mechanical arm far away from the dispatching starting point give away the other mechanical arm through speed reduction and rollback, under the condition that the form directions are the same, letting the mechanical arm running at a low speed give away the other mechanical arm through a temporary sideways way of avoiding, and returning to the original position after the completion of letting the row.
5. The method for dispatching a self-propelled functional mechanical arm according to claim 4, wherein: the priority execution avoidance method further comprises an emergency avoidance method, and the emergency avoidance method comprises the following steps:
m1: acquiring real-time coordinates and a dispatching line of a mechanical arm for executing an emergency work order;
m2: temporary limitation is carried out, the action of the mechanical arm which is repeated with the dispatching line of the mechanical arm for executing the emergency work order is limited, and limitation is removed when the mechanical arm for executing the emergency work order passes through a repeated road section;
M3: and executing avoidance, namely, enabling the mechanical arm which is in the dispatching line of the mechanical arm for executing the emergency work order to give way in the form of the side surface of the advancing direction, and after the giving way is finished, driving back to the original line again.
6. The method for dispatching a self-propelled functional mechanical arm according to claim 1, wherein: the method for planning the optimal route in the third step comprises the following steps:
Q1: constructing an area map and two-dimensionally driving areas;
q2: primary route planning, utilization of One of the algorithm, breadth-first search algorithm and depth-first search algorithm uses a scheduling start point as a route start point and a scheduling end point as a route end point to construct a primary route;
Q3: and finally, planning a route, namely acquiring a plurality of detection points close to the primary route as route points, and constructing the final route again through an algorithm.
7. The method for dispatching a self-propelled functional mechanical arm according to claim 6, wherein: the Q2 step is respectively usedAnd performing primary route planning by using an algorithm, a breadth-first search algorithm and a depth-first search algorithm, and then selecting a route with the shortest distance as a primary route.
8. The method for dispatching a self-propelled functional mechanical arm according to claim 1, wherein: the mechanical arm information data set comprises mechanical arm models, mechanical arm states, current priorities, maintenance states and basic parameter information, and the operation area information data set comprises operation area coordinates, operation area dispatching endpoint numbers and coordinates, operator information and working information.
9. A dispatch system for a self-propelled functional robotic arm, characterized by: a dispatching method using a self-propelled functional robot according to any of claims 1-8.
10. A mechanical arm, characterized in that: a dispatching method using a self-propelled functional robot according to any of claims 1-8.
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