WO2020088243A1

WO2020088243A1 - Control system, driving device, and method and apparatus for processing operation of driving device

Info

Publication number: WO2020088243A1
Application number: PCT/CN2019/111258
Authority: WO
Inventors: 王悦翔; 刘哲; 曹抒阳; 尹慧昕
Original assignee: 锥能机器人（上海）有限公司
Priority date: 2018-11-01
Filing date: 2019-10-15
Publication date: 2020-05-07

Abstract

Provided are a control system, a driving device, and a method and apparatus for processing operation of the driving device. The control system comprises a working scenario unit built based on a working area. The method specifically comprises: recording and updating, in the working scenario unit, position information of a driving device in the working area. The method further comprises: when it is determined that the driving device is in a state in which a mark needs to be set, setting, in the working scenario unit, a mark at the position information related to the driving device. According to the present invention, the mark can be set in a timely manner, thereby preventing the driving device from impacting operation of the other driving devices, and improving the security of operation of the driving device.

Description

Control system, driving equipment, driving equipment operation processing method and device

Related applications cross reference

This patent application requires a Chinese patent application filed on November 1, 2018, with application number 201811296589.9, and an invention titled "Control System, Robot, Robot Operation Abnormality Handling Method and Device", and filed on June 6, 2019 The priority of the application number is 201910492692.9 and the name of the invention is "control system, driving device, driving device operation processing method and device", the entire text of the above application is incorporated herein by reference.

Technical field

The present invention relates to the field of drive device control. More specifically, the present invention relates to a control system, drive device, and drive device operation processing method and device.

Background technique

In the use of existing robots, a complete robot scheduling system may schedule hundreds or even thousands of robots to operate simultaneously. In addition to planning the path for each robot, the scheduling system also needs to take into account the operation of each robot. During the operation of the robot, problems such as shelves and paths cannot be identified due to physical factors or unnatural factors. However, if a similar situation occurs during operation, the current solution is human intervention. Once the machine is found to be "off-link" or "error", it is necessary to manually mark the error robot and communicate the dispatch system to inform the situation.

However, the inventor of the present invention found that if a certain robot has a problem, it takes a reaction time from the robot's own system to feedback and then perform manual intervention. During this reaction time, the wrong robot may affect the normal operation of other robots. Therefore, a technology that can quickly respond to the operation of the robot is urgently needed.

Summary of the invention

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a control system, a driving device, and a driving device operation processing method and device, which are used to solve the problem that the prior art cannot respond to the operation of the driving device in a timely manner At least one technical issue in improving the safety and efficiency of driving equipment operation.

In order to achieve the above object and other related objects, the present invention provides a driving device operation processing method, which runs in a control system, and the control system includes a work scene unit established based on a work area, and records and updates in the work scene unit The position information of the driving device in the working area, the method further includes: judging whether the driving device is in a state in which a mark needs to be set; if it is determined that the driving device is in a state in which a mark needs to be set, in the work The location information related to the driving device in the scene unit is set with a mark.

In a specific embodiment of the present invention, when the driving device operates the target shelf, the location information related to the driving device includes: a position in the work scene unit that is affected by the driving device and the shelf .

In a specific embodiment of the present invention, when the abnormal information sent by the driving device is received, it is determined that the driving device is in a state where a flag needs to be set.

In a specific embodiment of the present invention, the step of setting a mark in the location information related to the driving device in the work scene unit includes: judging the state of the driving device; when the driving device has not specified a target position At the time, a safety mark is set in the working scene unit adjacent to the surrounding information of the driving device to form a driving device marking area; when the driving device has been designated a target position, the The to-be-traveled path in the moving direction of the driving device and the position information adjacent to the driving device and the surroundings of the to-be-traveled path are all provided with the safety marks to form a path marking area.

In a specific embodiment of the present invention, the to-be-traveled path is a part of a travel route from the driving device to the target location, and the to-be-traveled path is not greater than a preset distance.

In a specific embodiment of the present invention, the method further includes: avoiding the driving device marking area or the path marking area and re-planning the travel path of other driving equipment.

In a specific embodiment of the present invention, the method further includes: the working area is divided into a plurality of area squares; wherein, the area square can accommodate the driving device; and the work scene unit includes visualization A map, a map grid corresponding to the area grid is formed on the visual map according to a preset zoom ratio, and a drive device identifier corresponding to the drive device may be accommodated in the map grid; when the drive When the target position is not specified by the device, the safety mark is set in a map square adjacent to the drive device mark in the visual map to form a rectangular drive device mark area accommodating the drive device mark; When the driving device has been designated a target position, in the visual map, the driving device identifies a path to be traveled in the moving direction and a map square adjacent to the driving device logo and the surrounding path to be traveled The security mark is set to form the path mark area.

In a specific embodiment of the present invention, the driving device includes a driving device with a mechanical arm; if it is confirmed that the driving device with a mechanical arm has not specified a target position, according to the volume of the driving device with a mechanical arm and the The movement range of the robot arm obtains a diameter, a first circular area is formed according to the position information of the driving device with the robot arm in the working area and the diameter, and is adjacent to the first in the working scene unit The position information around a circular area is provided with the security mark to form a first circular mark area.

When the driving device with a robotic arm has been assigned a target position, a diameter is obtained according to the volume of the driving device with a robotic arm and the range of motion of the robotic arm, according to the moving direction of the driving device with a robotic arm The to-be-traveled path and the diameter form a first circular traveling area, and the safety mark is set in the working scene unit adjacent to the position information of the first circular traveling area to form a first circular shape Travel mark area.

In a specific embodiment of the present invention, when the driving device with a robot arm carries cargo and a target position is not specified, according to the volume of the driving device with a robot arm, the range of motion of the robot arm, and all The volume of the cargo obtains a diameter, forms a second circular area according to the position information of the driving device with a robot arm in the working area and the diameter, and is adjacent to the second circle in the working scene unit The position information around the shape-shaped area is provided with the security mark to form a second circular mark area.

In one embodiment, when the driving device with a robotic arm carries cargo and has been assigned a target position, according to the volume of the driving device with a robotic arm, the range of motion of the robotic arm, and the cargo's The volume obtains a diameter, and a second circular traveling area is formed according to the to-be-traveled path in the moving direction of the driving device with a mechanical arm and the diameter, and adjacent to the second circular traveling area in the working scene unit The safety information is set on the surrounding position information to form a second circular travel mark area.

In a specific embodiment of the present invention, when the position information of the driving device in the working area cannot be obtained, it is determined that the driving device is in the state where the flag needs to be set.

In a specific embodiment of the present invention, the revocation information is received, and the mark is revoked according to the revocation information.

In a specific embodiment of the present invention, the method further includes: visually displaying the working area through the information in the working scene unit; and when receiving the viewing operation of the driving device, displaying The drive device ID corresponding to the drive device.

In order to achieve the above object and other related objects, the present invention provides a driving device operation processing device, which runs in a control system. The device includes: a working scene unit, established based on a working area; and a position module, for receiving the driving device The position in the work area, record and update the position information of the drive device in the work area in the work scene unit; a judgment module for judging whether the drive device is in a state where a flag needs to be set The execution module is used to set a mark in the position information related to the drive device in the work scene unit when the determination module determines that the drive device is in a state where the mark needs to be set.

In a specific embodiment of the present invention, the above device may further include a display module, which is used to visually output the content in the work scene unit.

In a specific embodiment of the present invention, the location information related to the driving device includes a location affected by the driving device and / or a shelf carried by the driving device.

In order to achieve the above object and other related objects, the present invention provides a control system including a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the The control system executes the driving device operation processing method described in any one of the above.

In order to achieve the above object and other related objects, the present invention provides a driving device operation processing method, which runs in a driving device, and the driving device is associated with a control system in advance, and the control system includes a working scene unit established based on a working area , Recording and updating the position information of the driving device in the working area in the working scene unit, the method further includes: detecting the operation of the driving device in real time, and sending status information to the control system , For the control system to determine whether the drive device is in a state requiring flag setting based on the received state information, if it is determined that the drive device is in a state requiring flag setting, the control system is in the working scene The position information related to the driving device in the unit is set with a mark.

In a specific embodiment of the present invention, the driving device has a shelf, and the location information related to the driving device includes: a location affected by the driving device and the shelf.

In a specific embodiment of the present invention, when the status information includes abnormal information, the control system determines that the driving device is in a state where a flag needs to be set, and the control system determines the status of the driving device when the When the driving device has not been assigned a target position, a safety mark is set in the position information of the surroundings of the working scene unit adjacent to the driving device to form a driving device marking area; when the driving device has been assigned a target position, at In the working scene unit, the to-be-traveled path in the moving direction of the drive device and the position information adjacent to the drive device and the to-be-traveled path are all provided with the safety marks to form a path mark area.

In a specific embodiment of the present invention, after setting the flag, the control system continues to determine whether the driving device is in a state requiring flag setting based on the received status information, if it is determined that the driving device is not in need of setting In the state of the mark, the control system cancels the setting of the mark.

In a specific embodiment of the present invention, the method further includes: when an abnormal condition is detected, the driving device stops moving.

In order to achieve the above object and other related objects, the present invention provides a driving device operation processing device that runs in a driving device, and the driving device is associated with a control system in advance, wherein the control system includes a working scene established based on a working area Unit, which records and updates the position information of the drive device in the work area in the work scene unit, the device includes: a detection module to detect the operation of the drive device in real time; an information transmission module, Used to send status information to the control system for the control system to determine whether the driving device is in a state requiring flag setting based on the received status information, if it is determined that the driving device is in a state requiring flag setting , The control system sets a mark on the position information related to the driving device in the work scene unit.

To achieve the above object and other related objects, the present invention provides a driving device, including a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the The control system executes the driving device operation processing method described in any one of the above.

As described above, the present application proposes a control system, a drive device, and a drive device operation processing method and device, which specifically include: a work scene unit established based on a work area, and the drive scene unit is recorded and updated in the work scene unit For the position information in the working area, the method includes: determining whether the driving device is in a state where a flag needs to be set; if it is determined that the driving device is in a state where a flag needs to be set, in the working scene unit, the driver Set markers for device-related location information. The invention can set the mark in time, prevent the driving device from affecting the operation of other driving devices, and improve the safety of the driving device.

The present invention also includes at least the following beneficial effects:

1) It can respond to the abnormal situation of abnormal driving equipment in time, the response is fast, and it can run around the clock.

2) The path of other driving equipment can be re-planned according to the formed path marking area, to prevent secondary accidents, and to ensure the safety, fluency and efficiency of driving equipment operation.

3) The present invention forms a driving device marking area or a path marking area according to an abnormal driving device, which facilitates personnel to enter the field and perform equipment maintenance without stopping the system.

4) The present invention can set a larger safe area for the driving device in time when the driving device is out of connection to ensure the normal operation of other driving devices.

5) In the present invention, when the driving device has a shelf, a safety mark can be set in the position information affected by the driving device and the shelf in the work scene unit to further ensure the normal operation of other driving devices and prevent the driving device And shelves have an impact on the operation of other drive equipment.

BRIEF DESCRIPTION

FIG. 1 is a schematic flowchart of a specific embodiment of a method for processing driving device operation according to the present invention.

FIG. 2 is a schematic diagram of a visual map based on the output and display of a work scene unit in an embodiment of the present invention.

FIG. 3 is a schematic diagram of a visual map based on the output and display of a work scene unit in an embodiment of the present invention.

FIG. 4 shows a schematic diagram of a visual map based on the output and display of the work scene unit of the present invention in a specific embodiment.

FIG. 5 is a schematic diagram of a visual map based on the output and display of a work scene unit in an embodiment of the present invention.

FIG. 6A is a schematic diagram of a visual map based on the output and display of the work scene unit of the present invention in a specific embodiment.

FIG. 6B is a schematic diagram of a visual map based on the output and display of the work scene unit of the present invention in a specific embodiment.

FIG. 7A shows a schematic diagram of a visual map based on the output and display of a work scene unit in an embodiment of the present invention.

FIG. 7B shows a schematic diagram of a visual map based on the output and display of the work scene unit of the present invention in a specific embodiment.

FIG. 8 shows a schematic diagram of the composition of the communication system of the present invention in a specific embodiment.

FIG. 9 is a schematic block diagram of a driving device operation processing device of the present invention in a specific embodiment.

Fig. 10 shows a schematic flow chart of a method for processing the driving device operation of the present invention in a specific embodiment.

FIG. 11 is a schematic block diagram of a driving device operation processing device of the present invention in a specific embodiment.

FIG. 12 is a schematic flowchart of an embodiment of a method for processing driving device operation of the present invention.

FIG. 13 is a schematic block diagram of a driving device operation processing device of the present invention in a specific embodiment.

DESCRIPTION OF REFERENCE NUMERALS

201 based on the work scene unit output display visual map

202 map grid

203 Drive device identification

204,209,211,211a, 214,214a safety mark

205 Drive device marking area

206 travel path

207 path to be traveled

208,210, path marking area

212 first circular marking area

212a first round travel mark area

213 mechanical arm drive equipment identification

215 Second round marking area

215a Second round travel mark area

216 Cargo identification

310 control system

311 drive equipment operation processing device

3111 preset module

3112 display module

3113 position module

3114 execution module

3115 information receiving module

3116 State judgment module

3117 judgment module

320 drive equipment

321 drive equipment operation processing device

3211 detection module

3212 information sending module

S11 ～ S14, S41 ～ S42, S51 ～ S54 flow steps

detailed description

Hereinafter, each embodiment of the present invention will be roughly described with reference to the drawings. In addition, the embodiments of the present invention are not limited to the following embodiments, and various embodiments within the scope of the technical idea of the present invention can be adopted.

It can be understood that in this application, the driving device refers to a device that can automatically move in the direction indicated according to the movement instruction information, such as various robots that can move autonomously, such as an automated guided transport vehicle AGV, a wheeled mobile robot, and a walking mobile robot Single-legged, double-legged and multi-legged), crawler mobile robots, crawling robots, peristaltic robots and mobile robots, etc., and / or various drive devices (such as robotic arms, rollers, flips, etc.) ) Mobile robot.

In a specific embodiment of the present invention, a driving device operation processing method is proposed, which runs in a control system, and the control system includes a work scene unit established based on a work area, and the drive is recorded and updated in the work scene unit Position information of the device in the working area. In an embodiment, the control system is a scheduling system for driving equipment, and the working area is an actual working scene of the driving equipment. The working scene unit is established based on the working area, and the geographic layout, arrangement, and driving of the working area are recorded in the working scene unit. Device location information, etc. The position information of the driving device in the working area can be acquired and updated by any positioning method known to those skilled in the art.

As shown in FIG. 12, the driving device operation processing method includes: judging whether the driving device is in a state where a flag needs to be set; if it is determined that the driving device is in a state where a flag needs to be set, in the work scene unit The location information related to the drive device is set to a flag. In specific applications, the above judgment includes at least the following two types:

1) When the abnormal information sent by the driving device is received, it is determined that the driving device is in a state where a flag needs to be set.

2) When the position of the driving device in the working area cannot be obtained (that is, the driving device is disconnected), it is determined that the driving device is in a state where a flag needs to be set.

It can be understood that, in addition to the above two cases, any other conditions that affect other driving devices may also be regarded as the state where the driving device needs to set a flag.

It can be understood that the location information related to the driving device refers to a location that may be affected by the driving device and / or the shelf carried by the driving device in actual work. When the drive device is in a state where a mark needs to be set, the control system (that is, the scheduling system) sets a mark in the position information related to the drive device, which can promptly exclude the influence of the drive device on other drive devices in the work area, ensuring the entire system Normal operation. Figures 1 to 7 exemplarily show several ways of setting marks.

It should be noted here that the work scene unit is the data or program stored in the control system (or dispatching system) for recording the information of the working area (including the driving equipment, shelves, marking areas, etc.) in order to facilitate a better image Note that in some of the following embodiments, the content in the work scene unit is represented in the form of a visual map (including displaying the graphical identification of the driving device and the marking area on the map), which does not mean that the work scene unit is equivalent to The following visual graphics file. It can be understood that the visual map in the following description and the identification of the driving device and the marking area on it are all a display method generated based on the data content in the work scene unit, and such methods can be various, As the user can configure different interactive interfaces according to his own situation, the present invention does not limit this, and aims to better illustrate some embodiments by using a visual map.

Please refer to FIG. 1, which is a schematic flowchart of a driving device operation processing method according to an embodiment of the present invention. The driving processing method of the driving device is further elaborated with reference to FIG. 1, wherein in the driving processing method of the driving device shown in FIG. 1, the status of the flag to be set is determined according to the abnormal information received from the driving device of. As shown in FIG. 1, the method S10 includes:

S11: Receive the abnormal information sent by the driving device in the working area; when the driving device detects an abnormal situation, it will send the abnormal information to the control system. In one embodiment, the abnormal situation includes, for example, an in-situ error and a traveling error. The in-situ error, for example, when the driving device is in-situ, the driving device cannot recognize the shelf due to the deviation of the shelf position or the contamination of the two-dimensional code of the shelf The two-dimensional code, or the two-dimensional code that the drive device cannot recognize on the spot, etc .; travel errors are, for example, the rack carried by the drive device during the travel process is offset due to external forces, the drive device deviates from the track, etc. In other embodiments, other error conditions of the driving device may be set as abnormal conditions as needed.

S12: Determine the state of the driving device. When the driving device has not been designated a target position (for example, maintaining the original position), step S13 is performed; when the driving device has been designated a target position, step S14 is performed. It can be understood that when the driving device is assigned a target position, the control system assigns a driving route from the driving device to the target position to the driving device, or the driving device itself determines the traveling route. In some cases, the control system and Drive equipment to determine. In one embodiment, the current travel path of the driving device may correspond to a distance of a few meters in the working area, for example, a distance of 5-6 meters, and after the driving device travels a section of the travel path, the next section of the travel path is started until the travel route Reach the target position. In another embodiment, the current travel path of the drive device is the travel path from the current location of the drive device to the target location. In other embodiments, the current travel path may also be determined in other ways, as long as the driving device reaches the target position.

S13: Set a safety mark on the position information of the surroundings of the driving device adjacent to the driving device to form a driving device marking area. Correspondingly, the driving device in the working area is limited to the area corresponding to the marking area of the driving device. In specific applications, the security mark may be displayed in a specific color, a specific shape, or other forms. That is, in this embodiment, the periphery of the driving device logo is set as the marking area.

S14: In the working scene unit, position information of the driving device's to-be-traveled path and position information adjacent to the driving device and the surrounding of the to-be-traveled path are both set with the safety mark to form a path mark area. In one embodiment, the to-be-traveled path refers to the remaining travel path of the drive device with respect to the determined travel path. Accordingly, in the working area, the driving device is limited to the area corresponding to the path marking area. That is, in this embodiment, the to-be-traveled path and the surroundings adjacent to the driving device and the to-be-traveled path are set as marking areas. And the to-be-traveled path does not include a portion of the travel path currently occupied by the driving device. The driving device is adjacent to the to-be-traveled path, that is, the safety signs are provided around the driving device and the to-be-traveled path as a whole. In another embodiment, the safety mark may also be set around the circumference when the driving device and the distance of the preset length in the moving direction of the driving device are taken as a whole. In other embodiments, other setting methods may be adopted to exclude the influence on other driving devices.

In this embodiment, the control system can determine the state of the drive device based on whether the target position has been specified for the drive device and whether the drive device has completed the travel path. In other embodiments, the corresponding security flag setting may also be combined with the status of other driving devices as needed.

In an embodiment, the method S10 may further include: avoiding the driving device marking area or the path marking area, re-planning the travel path of other driving devices, to ensure the safety and orderliness of the driving device operation.

According to the different states of the drive equipment, determine the location information related to it and set safety signs in different ways, and re-plan the travel path of other drive equipment. While excluding the influence of abnormal drive equipment, it can ensure that the other drive equipment is as large as possible. Run in the remaining work area to ensure the overall efficiency of the system.

In one embodiment, the to-be-traveled path is a part of a travel route from the driving device to the target position, and the to-be-traveled path is not greater than a preset distance. Compared with the fixed track (when the drive equipment is abnormal, the entire track must stop working), QR code navigation or navigation methods such as laser SLAM navigation, visual SLAM navigation, etc., its travel path can be changed at any time, more flexible, Therefore, when an abnormality occurs in the driving device, a safety mark may be set only in a small area around the driving device to ensure that other driving devices operate in the largest remaining working area.

In another embodiment, after setting the safety mark on the location information related to the driving device, the operation related to the working area corresponding to the above location information may be stopped, and then started after the influence is eliminated.

Further, in a specific embodiment, the working area is divided into a plurality of area squares; wherein the length and width of the area squares can be set according to the size of the driving device, the size of the shelf or the work Factors such as the geographic layout of the area are related, and the driving equipment can be accommodated in the area grid. When the driving device has a shelf, the setting of the length and width of the area grid may also be related to the size of the shelf. Or the setting of the length and width of the area grid is related to the larger volume of the driving device and the shelf. Even the area squares in different areas may have different length and width settings.

In an embodiment, the work scene unit may include a visual map. With reference to FIG. 2, it is a schematic diagram of a visual map based on the present invention in a specific embodiment. A map grid 202 corresponding to the area grid is provided on the visual map 201 shown in FIG. 2 according to a preset zoom ratio, and the driving device identification 203 can be accommodated in the map grid 202; as shown in FIG. As shown in 2, the driving device identification 203 is a circular mark. In other specific embodiments, the shape of the driving device logo 203 may also be a rectangle or any irregular pattern set. In another specific embodiment, the shape of the driving device logo 203 may also correspond to the shape of the top view of the driving device, so that the movement of the driving device logo 203 on the visual map 201 is more suitable for driving The actual image of the device.

With reference to FIG. 3, it is a schematic diagram of a visual map based on the present invention in a specific embodiment. FIG. 3 shows the setting of the safety mark 204 in the visual map 201 when the driving device does not specify a target location. In the visual map 201, in the map square 202 adjacent to the driving device logo 203 Set the security mark 204. As shown in FIG. 3, the security mark 204 is to display the corresponding square in a specific color. In this embodiment, it is preferable to change the color of the corresponding square, such as filling it with red, and forming A rectangular driving device marking area 205 accommodating the driving device identification 203. As shown in FIG. 3, the driving device marking area 205 includes the driving device identification 203 and a map square 202 provided with a safety marking 204. In this embodiment, the adjacent map squares 202 around the driving device logo 203 are color-converted to ensure that the driving device marking area 205 is formed while maximizing the travel space for other driving devices. In another embodiment, it is possible to set safety marks only on the four map squares 202 on the top, bottom, left, and right of the driving device identification 203, thereby providing greater travel space for other driving devices. In other specific embodiments, in order to further ensure that it does not affect the normal operation of other driving devices, the map grid 202 at a preset length from the driving device logo 203 may be color-changed, which may waste some The travel space of other drive equipment, but it will be better to ensure that the abnormal drive equipment does not affect the operation of other drive equipment, the preset length may be related to the volume of the drive equipment and / or the braking distance of the drive equipment and the like.

With reference to FIG. 4, it is a schematic diagram of a visual map based on the present invention in a specific embodiment. As shown in FIG. 4, when the driving device is at a designated target position, for example, the driving device identification 203 is already on the travel path 206 in the visual map 201 and moves according to the travel path 206, the The safety mark 204 is set in a map square adjacent to the driving device mark 203 and the to-be-traveled path 207 in the moving direction of the driving device logo in the visual map 201, and formed as shown in the figure 4 shown in the path marking area 208. The to-be-traveled path does not include the map square 202 occupied by the driving device identification 203, nor does it include the map square 202 already traveled in the traveling path 206, and the moving direction of the driving device identification 203 is as indicated by the arrow Direction, the steps of setting the safety mark 204 in the map square 202 adjacent to the driving device identification 203 and the to-be-traveled path 207 are specifically: the driving device identification 203 and the adjacent driving device identification 203 The to-be-traveled path 207 as a whole forms a rectangle, and the safety marks 204 are provided around the rectangle. For example, as shown in FIG. 4, the path to be traveled has been moved to the third map square 202 of the travel path 206 (framed by a thick line), then the three of the path to travel 207 Each map square 202 and the fourteen map squares 202 adjacent to the driving device identification 203 and the to-be-traveled path 207 are all provided with safety marks 204, so that after setting the path marking area 208, the drive equipment is guaranteed At the same time as the safety of operation, it can provide the maximum space for the operation path planning for other drive equipment. FIG. 4 exemplarily shows a travel path 206 of six map squares. It can be understood that, in other travel path setting modes, the travel path 206 may include a smaller number or a larger number of map squares.

In a specific embodiment, the driving device may also be a laser navigation driving device, a visual navigation driving device, or other driving devices with irregular travel paths. Taking the visual navigation drive device as an example, when the drive device in which an abnormal situation occurs is in a traveling state, refer to FIG. 5. Because the driving device 203 has an irregular walking path, the driving device identification 203 is used as a starting point to set an irregular safety path around the driving device identification 203 in the moving direction and adjacent to the driving device identification 203 and the traveling path Mark 209 to form the path marking area 210. Unlike FIG. 4, the path to be traveled in FIG. 5 is a curved path.

With reference to FIG. 6A, it is a schematic diagram of a visual map based on the present invention in a specific embodiment. In a specific embodiment of the present invention, when the driving device is a driving device with a robot arm and a target position is not specified, it is obtained according to the volume of the driving device with a robot arm and the motion range of the robot arm Diameter, where the diameter corresponds to the working area, and the diameter is, for example, two meters. That is, the influence range of the driving device with a robot arm is obtained. A first circular area is formed in the visual map 201 according to the position of the driving device identifier 213 in the visual map 201 and the size of the diameter on the visual map 201, and adjacent to the first circle A ring-shaped security mark 211 as shown in the figure is provided around the area to form a first circular mark area 212. It can be understood that in another embodiment, the first circular area corresponding to the working area may be formed according to the position information of the driving device in the working area and the diameter, and then the safety mark may be set in the visual map 201 accordingly To form a first circular marking area. Wherein, the visual map 201 has a robot arm driving device identifier 213 corresponding to the robot arm driving device, and the robot arm driving device identifier 213 is accommodated in the first circular marking area 212. FIGS. 6A-7B exemplarily show a circular marking area. Using the circular marking area can maximize the travel space for other driving devices. However, it can be understood that, in other embodiments, other shapes or a larger range of marking areas may be provided as needed, so as to better ensure that the operation of other driving devices is not affected.

With reference to FIG. 6B, it is a schematic diagram of a visual map based on the present invention in a specific embodiment. In a specific embodiment of the present invention, when the driving device with a robotic arm has been designated a target position, a diameter is obtained according to the volume of the driving device with a robotic arm and the motion range of the robotic arm, wherein the The diameter corresponds to the working area, which is for example two meters. According to the to-be-traveled path of the driving device logo 213 in the moving direction of the visual map 201 and the size of the diameter on the visual map 201, a first circular travel area is formed in the visual map 201, and adjacent A security mark 211a as shown in the figure is provided around the first circular travel area to form a first circular travel mark area 212a.

With reference to FIG. 7A, it is a schematic diagram of a visual map based on the present invention in a specific embodiment. In a specific embodiment of the present invention, when the driving device with a robotic arm carries a cargo and the target position is not specified, according to the volume of the driving device with a robotic arm, the range of motion of the robotic arm, and all The volume of the cargo obtains a diameter, wherein the diameter corresponds to the working area, and the diameter is, for example, three meters. A second circular area is formed in the visual map 201 according to the position of the mechanical arm driving device identifier 213 in the visual map 201 and the size of the diameter in the visual map 201, and adjacent to the A ring-shaped security mark 214 as shown in FIG. 7 is provided around the second circular area to form a second circular mark area 215. The security mark 214 in this embodiment is more secure than the security mark 211 in the embodiment described in FIG. The radius should be large; the visual map 201 has a robot arm drive device identification 213 corresponding to the robotic drive device, and the visual map 201 also has a cargo ID 216 corresponding to the cargo, the machine The arm driving device identification 213 and the cargo identification 216 are accommodated in the second circular marking area 215.

7B, it is a schematic diagram of a visual map based on the present invention in a specific embodiment. In a specific embodiment of the present invention, when the driving device with a robotic arm carries a cargo and has been designated a target position, according to the volume of the driving device with a robotic arm, the range of motion of the robotic arm, and all The volume of the cargo obtains a diameter, wherein the diameter corresponds to the working area, and the diameter is, for example, three meters. According to the to-be-traveled path of the driving device identifier 213 in the moving direction of the visual map 201 and the size of the diameter on the visual map 201, a second circular traveling area is formed in the visual map 201, and adjacent A security mark 214a as shown in the figure is provided around the second circular travel area to form a second circular mark area 215a.

In a specific embodiment of the present invention, when the driving device operation processing method is unable to obtain the position of the driving device in the work area (that is, the driving device is disconnected), it is determined that the driving device is in the When the state of the flag needs to be set, a safety flag is set according to the position information of the last drive device fed back to the control system before the drive device loses connection to form a lost connection mark area.

In another specific embodiment, if the target position has been specified before the drive device is disconnected, the position information of the last drive device that is fed back to the control system before the drive device is disconnected is similar to FIG. 4 and FIG. 5 ways to set the missing link mark area.

In a specific embodiment of the present invention, the driving device operation processing method may further include: receiving an undo operation; and undoing the mark according to the undo operation. The undo operation may be, for example, an operation of clicking on the safety mark on the visual map on the interactive interface. In another embodiment, the undo operation may also be an operation of clicking on the drive device identifier (corresponding to the drive device in which an abnormal situation occurs) on the visual map on the interactive interface. In other embodiments, the undo operation may also be an instruction to undo specific location information and / or marking of a specific drive device, and so on.

In another specific embodiment of the present invention, a drive device ID corresponding to the drive device ID may be stored in advance; and when the viewing interface of the visual map receives the viewing operation of the drive device ID 203, a display The driving device ID corresponding to the driving device identifier 203. The driving device ID may be, for example, a name or number that uniquely corresponds to the driving device. The viewing operation may be a click operation on the displayed driving device logo 203, or moving an indicator of an input device (such as a mouse) to the driving device logo 203 on the interface. It is convenient for technicians to know which drive device is in error and record the error.

Each method embodiment of the present invention can be implemented in software, hardware, firmware, and the like. Regardless of whether the invention is implemented in software, hardware, or firmware, the instruction code can be stored in any type of computer-accessible memory (eg, permanent or modifiable, volatile or non-volatile, solid-state Or non-solid, fixed or replaceable media, etc.). Similarly, the memory may be, for example, programmable array logic (Programmable Array, logic "PAL"), random access memory (Random Access Memory, "RAM"), programmable read-only memory (Programmable Read Only Memory, abbreviated as "PROM" "), Read-only memory (Read-Only Memory," ROM "for short), electrically erasable programmable read-only memory (Electrically Erasable Programmable ROM," EEPROM "for short), magnetic disks, compact discs, digital versatile discs (Digital Versatile Disc) , Referred to as "DVD") and so on.

With reference to FIG. 8, it is a schematic diagram of the composition of the communication system of the present invention in a specific embodiment. 9 and 13, it shows a schematic block diagram of a driving device operation processing device of the present invention in a specific embodiment. The communication system shown in FIG. 8 includes a control system 310 and a driving device 320.

FIG. 13 shows a driving device operation processing device 311, which runs in the control system 310, and the control system 310 includes a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the memory storage Computer program to enable the control system 310 to execute the driving device operation processing method as described in the above embodiment. The driving device operation processing device 311 includes:

Work scene unit 3111, established based on work area;

The position module 3113 is used to receive the position of the driving device 320 in the working area, and record and update the position information of the driving device 320 in the working area in the working scene unit 3111;

The determining module 3117 is used to determine whether the driving device 320 is in a state where a flag needs to be set.

The execution module 3114 is configured to set a mark in the position information related to the drive device 320 in the work scene unit 3111 when the determination module 3117 determines that the drive device 320 is in a state where the mark needs to be set.

In a specific embodiment of the present invention, the driving device 320 has a shelf, and the location information related to the driving device 320 includes: a location affected by the driving device 320 and the shelf. In other embodiments, the location information related to the driving device 320 may include the location affected by the loading device and / or the carried item of other driving devices.

In a specific embodiment of the present invention, the driving device operation processing device 311 may further include a display module 3112 as shown in FIG. 9 for visually outputting the content in the work scene unit 3111. In other embodiments, the content in the work scene unit 3111 can be implemented without visual output.

In a specific embodiment of the present invention, the driving device operation processing device 311 may further include an information receiving module 3115 as shown in FIG. 9 to receive information from the driving device in the working area. In another specific embodiment of the present invention, the driving device operation processing device 311 may further include a state judgment module 3116 as shown in FIG. The state of the driving device, for example, whether the driving device has been assigned a target position, etc.

In a specific embodiment of the present invention, the driving device operation processing device 311 may further include a path planning module to avoid the position marked by the execution module 3114 and re-plan the travel path of other driving devices.

The driving device processing device 311 corresponds one-to-one with the technical solution of the driving device processing method S10 described correspondingly to FIGS. 1 to 7. All the descriptions about the driving device processing method can be applied to this embodiment, here No more details.

It should be noted that the units and / or modules mentioned in the system embodiments of the present invention are logical units and / or modules. Physically, a logical unit and / or module may be a physical unit and / or module , Can also be a part of a physical unit and / or module, and can also be implemented by a combination of multiple physical units and / or modules. The physical implementation of these logical units and / or modules is not the most important, these logical units The combination of the functions implemented by and / or the module is the key to solving the technical problem proposed by the present invention. In addition, in order to highlight the innovative part of the present invention, the above system embodiments of the present invention do not introduce units and / or modules that are not closely related to solving the technical problems proposed by the present invention, which does not mean that the above system embodiments There are no other units and / or modules.

Please refer to FIG. 10, which is a schematic flowchart of a method for processing a driving device according to an embodiment of the present invention. The operation processing method of the driving device shown in FIG. 10 will be further described with reference to FIGS. 2 to 8.

The driving device operation processing method S40 runs in the driving device 320 (that is, in the control system of the driving device itself). The control system 310 includes a working scene unit established based on a working area, and records and Update the position information of the driving device 320 in the working area. The method S40 includes:

S41: Detect the running condition of the driving device 320 in real time;

S42: Send status information to the control system 310 for the control system 310 to determine whether the driving device 320 is in a state requiring flag setting based on the received status information, if it is determined that the driving device 320 is in need of setting In the state of the mark, the control system 310 sets a mark in the position information related to the driving device 320 in the work scene unit.

In a specific embodiment, when an abnormal condition of the driving device is detected, the status information sent to the control system includes the abnormal information, at which time the control system determines that the driving device is in a state where a flag needs to be set. In other embodiments, any other situation that affects other driving devices may also be regarded as a state where the driving device needs to set a flag.

Further, when the state information received by the control system 310 includes abnormal information, the state of the driving device 320 is judged. When the driving device 320 has not specified a target position, refer to FIG. 3, in the visualization The safety mark 204 is provided on the map 201 adjacent to the driving device mark 203 to form the driving device marking area 205; accordingly, the driving device is restricted to correspond to the driving device in the working area In the marked area.

When the driving device 320 has been assigned a target position, referring to FIG. 4, in the visual map 201, a path 207 to be traveled in the moving direction of the driving device logo 203 and adjacent to the driving device logo 203 and the waiting path The safety marks 204 are provided around the traveling path 207 to form the path marking area 208. Accordingly, the driving device 320 is limited to the area corresponding to the path marking area 208 in the working area.

In another specific embodiment, the driving device operation processing method S40 further includes: after setting a flag, the control system 310 continues to determine whether the driving device 320 is in a state requiring flag setting based on the received status information If it is determined that the driving device is not in a state where a flag needs to be set, the control system 310 revokes the setting of the flag 204. Or in another specific embodiment, after the technician finishes processing the abnormal driving device 320, the preset position of the driving device 320 is triggered to send the revocation information to the control system 310. The preset position may be a real trigger button or a virtual trigger button in the display interface of the driving device 320.

In a specific embodiment of the present invention, the method S40 further includes: acquiring stop motion information sent by the control system 310 to the driving device 320 after forming the path marking area, and maintaining the original according to the stop motion information Ground or stop running. In another specific embodiment, when the driving device 320 detects an abnormal condition, the driving device 320 stops moving.

The description of the method S10 for handling abnormal operation of the driving device in the foregoing embodiment can be applied to this embodiment, and details are not described herein.

Please refer to FIG. 11, which is a schematic block diagram of a driving device operation processing device of the present invention in a specific embodiment. The driving device operation processing device 321 runs in the driving device 320 (that is, the control system of the driving device itself) shown in FIG. 8, and the driving device 320 is associated with the control system 310 in advance, wherein the control system 310 includes a work scene unit established based on a work area, and the position information of the driving device 320 in the work area is recorded and updated in the work scene unit, the drive device 320 includes a processor and a memory; the memory It is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the driving device 320 executes the driving device operation processing method described in the above embodiment. The device 321 includes:

The detection module 3211 is used to detect the operation of the driving device 320 in real time;

The information sending module 3212 is used to send status information to the control system 310 for the control system 310 to determine whether the driving device 320 is in a state where a flag needs to be set based on the received status information. The driving device 320 is in a state where a mark needs to be set, and the control system 310 sets a safety mark in the position information related to the driving device 320 in the work scene unit.

In a specific embodiment of the present invention, the driving device 320 has a shelf, and the area related to the driving device 320 includes an area affected by the driving device 320 and the shelf.

In a specific embodiment of the present invention, the driving device 320 may further include a revocation module, which is used to send revocation information to the control system 310 when it is detected that the driving device is not in a state where a flag needs to be set, so that The control system 310 revokes the setting of the flag.

The driving device abnormality processing device 321 corresponds to the technical solution of the driving device processing method S40 shown in FIG. 10, and all the descriptions about the driving device processing method S40 shown in FIG. 10 can be applied to this embodiment. Add details.

In summary, the present application proposes a control system, a driving device, and a driving device operation processing method and device, which specifically include: a work scene unit established based on a work area, and the drive device is recorded and updated in the work scene unit For the position information in the working area, the method includes: determining whether the driving device is in a state where a flag needs to be set; when it is determined that the driving device is in a state where a flag needs to be set, in the working scene unit The location information related to the drive device is set to a flag. The invention can set the mark in time, prevent the driving device from affecting the operation of other driving devices, and improve the safety of the driving device. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

Reference throughout the specification to "one embodiment" or "one embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, appearances of "in one embodiment" or "in one embodiment" in various places throughout the specification need not all refer to the same embodiment. In addition, specific features, structures, or characteristics may be combined in any manner in one or more embodiments.

It should be noted that, in the claims and specification of the present application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or It is implied that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also those not explicitly listed Or other elements that are inherent to this process, method, article, or equipment. In the absence of more restrictions, the element defined by the sentence "include one" does not exclude that there are other identical elements in the process, method, article or equipment that includes the element.

The above-mentioned embodiments only exemplarily illustrate the principle and efficacy of the present invention, and are not intended to limit the present invention. Anyone familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

A driving equipment operation processing method, characterized in that it runs in a control system, and the control system includes a work scene unit established based on a work area, and the work scene unit records and updates the drive equipment in the work For location information in the area, the method further includes:

Determine whether the driving device is in a state where a flag needs to be set;

If it is determined that the driving device is in a state in which a mark needs to be set, the position information related to the drive device in the working scene unit is set with a mark.
The driving device operation processing method according to claim 1, wherein when the abnormal information sent by the driving device is received, it is determined that the driving device is in a state where a flag needs to be set.
The driving device operation processing method according to claim 1, wherein the step of setting a mark in the work scene unit related to position information of the driving device includes:

Determine the state of the drive device;

When the driving device has not specified a target position, a safety mark is set in the position information around the driving device in the working scene unit to form a driving device marking area;

When the driving device has been assigned a target location, the safety information is set in the working scene unit for the to-be-traveled path of the driving device and the location information around it and the location information adjacent to the driving device, to The path marking area is formed.
The driving device operation processing method according to claim 3, wherein the to-be-traveled path is a part of a traveling route from the driving device to the target position, and the to-be-traveled path is not greater than a preset distance.
The driving device operation processing method according to claim 1, characterized in that the method further comprises: avoiding the marking area formed by the marking and re-planning the travel path of other driving devices.
The driving device operation processing method according to claim 3, wherein the working area is divided into a plurality of area squares; wherein the area square can accommodate the drive equipment;

The working scene unit includes a visual map, a map square corresponding to the area square is formed on the visual map according to a preset zoom ratio, and a drive device identifier corresponding to the drive device may be accommodated in the In the map grid;

When the drive device does not specify a target position, the safety mark is set in a map square adjacent to the drive device logo in the visualized map to form a rectangular drive accommodating the drive device logo Equipment marking area;

When the driving device has been assigned a target position, set in the to-be-traveled path of the driving device identification and its surrounding map squares in the visual map and in the map squares surrounding the driving device identification The security mark to form the path mark area.
The method according to claim 1, wherein the driving device comprises a driving device having a mechanical arm, and the step of setting a mark in the work scene unit in relation to the position information of the driving device includes:

When the drive device with a robotic arm does not specify a target position, a diameter is obtained according to the volume of the drive device with a robotic arm and the range of motion of the robotic arm, according to the drive device with a robotic arm in the The position information in the working area and the diameter form a first circular area, and the safety marks are set in the working scene unit adjacent to the position information around the first circular area to form a first circular shape Mark area.

When the driving device with a robotic arm has been assigned a target position, a diameter is obtained according to the volume of the driving device with a robotic arm and the range of motion of the robotic arm, according to The path and the diameter form a first circular travel area, and in the working scene unit, the safety information is set by the position information of the to-be-traveled path and the surroundings of the first circular travel area to form the first A circular travel mark area.
The driving device operation processing method according to claim 7, characterized in that, when the driving device with a robot arm carries cargo and a target position is not specified, according to the volume of the driving device with a robot arm, all The diameter of the movement range of the robot arm and the volume of the cargo is obtained, and a second circular area is formed according to the position information of the drive device with the robot arm in the working area and the diameter, and in the working scene The position information adjacent to the periphery of the second circular area in the unit sets the security mark to form a second circular mark area.
The driving device operation processing method according to claim 7, characterized in that, when the driving device with a robot arm carries cargo and has been designated a target position, according to the volume of the driving device with a robot arm, all Obtain a diameter by the movement range of the robot arm and the volume of the cargo, form a second circular travel area according to the to-be-traveled path of the driving device with the robot arm and the diameter, and in the work scene unit, the The travel path and the positional information adjacent to the periphery of the second circular travel area set the security mark to form a second circular travel mark area.
The method according to claim 1, wherein when the position information of the driving device in the working area cannot be obtained, it is determined that the driving device is in a state where a mark needs to be set.
The driving device operation processing method of claim 1, wherein the method further comprises: receiving revocation information, and revoking the mark according to the revocation information.
The driving device operation processing method according to claim 1, characterized in that the method further comprises: visually displaying the working area through information in the working scene unit; upon receiving the viewing of the driving device During operation, the drive device ID and / or status code corresponding to the drive device is displayed on the display interface.
A driving device operation processing device, characterized in that it runs in a control system, the device includes:

Work scene unit, based on work area;

A position module, used to receive the position information of the driving device in the working area, record and update the position information of the driving device in the working area in the working scene unit;

The judgment module is used to judge whether the driving device is in a state where a flag needs to be set;

The execution module is used to set a mark in the position information related to the drive device in the work scene unit when the determination module determines that the drive device is in a state where the mark needs to be set.
The driving device operation processing device according to claim 13, characterized in that the device further comprises a display module for visually outputting the content in the work scene unit.
A control system, characterized in that it includes a processor and a memory;

The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the control system executes the driving device operation processing method according to any one of claims 1 to 12.
A driving device operation processing method, characterized in that it runs in a driving device, and the driving device is associated with a control system in advance, and the control system includes a work scene unit established based on a work area, which is recorded in the work scene unit And update the position information of the driving device in the working area, the method further includes:

Real-time detection of the operation of the driving device and sending status information to the control system for the control system to determine whether the driving device is in a state requiring flag setting based on the received status information, if determined The driving device is in a state where a mark needs to be set, and the control system sets a mark in position information related to the driving device in the work scene unit.
The method of claim 16, wherein when the status information includes abnormal information, the control system determines that the driving device is in a state where a flag needs to be set, and the control system determines the status of the driving device , When the driving device has not been assigned a target position, a safety mark is set in the position information around the driving device in the work scene unit to form a driving device marking area; when the driving device has been assigned a target At the time of position, the safety information is set in the working scene unit on the to-be-traveled path of the driving device and the surrounding position information and the surrounding position information adjacent to the driving device to form a path marking area.
The method according to claim 16, wherein after setting the flag, the control system continues to determine whether the driving device is in a state where the flag needs to be set based on the received status information, if the driving device is determined Not in a state where a flag needs to be set, the control system cancels the setting of the flag.
The method of claim 16, wherein the method further comprises: when an abnormal condition is detected, the driving device stops moving.
A driving device operation processing device, characterized in that it runs in a driving device, and the driving device is associated with a control system in advance, and the control system includes a working scene unit established based on a working area, which is recorded in the working scene unit And update the position information of the driving device in the working area, the device includes:

The detection module is used to detect the operation of the driving device in real time;

The information sending module is used to send status information to the control system for the control system to determine whether the driving device is in a state where a flag needs to be set based on the received status information, if it is determined that the driving device is in need Set the state of the mark, and the control system sets the mark in the position information related to the driving device in the work scene unit.
A driving device, characterized in that it includes a processor and a memory;

The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the drive device executes the drive device operation processing method according to any one of claims 16 to 19.