WO2024017209A1 - Procédé et appareil de commande de planification, et dispositif électronique - Google Patents

Procédé et appareil de commande de planification, et dispositif électronique Download PDF

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Publication number
WO2024017209A1
WO2024017209A1 PCT/CN2023/107757 CN2023107757W WO2024017209A1 WO 2024017209 A1 WO2024017209 A1 WO 2024017209A1 CN 2023107757 W CN2023107757 W CN 2023107757W WO 2024017209 A1 WO2024017209 A1 WO 2024017209A1
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Prior art keywords
robot
path
candidate
switching
refers
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PCT/CN2023/107757
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English (en)
Chinese (zh)
Inventor
张敏亮
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杭州海康机器人股份有限公司
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Publication of WO2024017209A1 publication Critical patent/WO2024017209A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

  • the present application relates to the field of robots, and in particular to a dispatch control method, device and electronic equipment.
  • AGV Automated Guided Vehicles
  • a common method is to arrange for other robots to go to the corresponding location, such as the charging area or maintenance area, to take over the abnormal robot and continue to perform the task.
  • this method often results in a certain robot switching cost.
  • a scheduling control method is provided, which method is applied to a scheduling device, and the scheduling device is used to schedule multiple robots in a designated area; the method includes:
  • a second robot to continue working in place of the first robot is determined from the currently idle candidate robots;
  • the robot switching position is determined according to the topological relationship between the first position, the third position and the fourth position; the first position refers to the current position of the first robot; the third position refers to the The end position of the task; the fourth position refers to the position used to eliminate the abnormality that occurs in the first robot;
  • the first robot and the second robot are controlled to switch at the robot switching position, so that the second robot continues to work instead of the first robot.
  • a device which device is applied to a scheduling device, and the scheduling device is used to schedule multiple robots in a designated area; the device includes:
  • a detection unit used to detect whether an abnormality occurs in the first robot performing a task in the designated area
  • a scheduling unit configured to determine, from the currently idle candidate robots, a second robot to continue working in place of the first robot when an exception occurs to the first robot that is performing a task in the designated area; according to the first The topological relationship between the position, the third position and the fourth position determines the robot switching position; the first position refers to the current position of the first robot; the third position refers to the position of the handling task The end position; the fourth position refers to the position used to eliminate the abnormality that occurs in the first robot;
  • a control unit configured to control the first robot and the second robot to switch handling tasks at the robot switching position, so that the second robot continues to work instead of the first robot.
  • an electronic device which includes: a processor and a memory;
  • the memory is used to store machine executable instructions
  • the processor is configured to read and execute machine-executable instructions stored in the memory to implement the method as described above.
  • Figure 1 is a method flow chart provided by an embodiment of the present application.
  • Figure 2 is a flow chart for the implementation of step 102 provided by the embodiment of the present application.
  • Figure 3 is a scene diagram for determining the robot switching position provided by the embodiment of the present application.
  • Figure 4 is another scene diagram for determining the robot switching position provided by the embodiment of the present application.
  • Figure 5 is a schematic diagram of the device provided by the embodiment of the present application.
  • FIG. 6 is a schematic diagram of the hardware structure of the device shown in FIG. 5 provided by an embodiment of the present application.
  • first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other.
  • first information may also be called second information, and similarly, the second information may also be called first information.
  • word “if” as used herein may be interpreted as "when” or “when” or “in response to determining.”
  • the process shown in Figure 1 can be applied to a scheduling device, which is used to schedule multiple robots in a designated area.
  • the scheduling device can be a platform scheduling system (RCS: Robot Control System) implemented by computer equipment
  • the designated area can be a warehouse
  • the robot can be an AGV.
  • This embodiment does not specifically limit the scheduling equipment, designated areas, and the above-mentioned robots.
  • the process can include the following steps:
  • Step 101 When an abnormality is detected in the first robot that is performing a task in the designated area, a second robot to continue working in place of the first robot is determined from the currently idle candidate robots.
  • the scheduling device can monitor the status of each robot performing tasks in the designated area on a regular basis or in real time. Once an abnormality is found in a robot (recorded as the first robot) based on the status, as described in step 101, the robot will be dispatched in a timely manner. A second robot to continue working in place of the first robot is determined among the currently idle candidate robots.
  • the first robot and the second robot are only named for convenience of description and are not used for limitation.
  • this step 101 there are many ways to determine the second robot to continue working in place of the first robot from among the currently idle robots. For example, for each currently idle candidate robot, based on the relationship between the candidate robot and the first robot, The distance between a robot, calculate the robot switching cost between the candidate robot and the first robot; based on the robot switching cost between each candidate robot and the first robot, determine the robot to replace all candidate robots that are currently idle. The second robot continues to work; and so on, this embodiment is not specifically limited.
  • determining the second robot to continue working in place of the first robot from the currently idle candidate robots based on the robot switching cost between each candidate robot and the first robot. , for example, from among the currently idle candidate robots, select the candidate robot with the smallest robot switching cost with the first robot, determine the selected candidate robot as the second robot to continue working in place of the robot, etc. , this embodiment is not specifically limited.
  • Step 102 Determine the robot switching position according to the topological relationship between the first position, the third position and the fourth position where the first robot is currently located; the third position refers to the task end position; the fourth position refers to the position used to eliminate The location where the first robot anomaly occurred.
  • first position the third position, and the fourth position are only named for convenience of description and are not used for limitation.
  • the task end position pointed to by the third position can be the destination of the goods.
  • the fourth position can be the charging area position; and if the above abnormality is that the robot component has safety risks, for example, the fourth position can be for component maintenance. area location.
  • the robot switching position is selected by analyzing the topological relationship between the first position, the third position and the fourth position, so that the selected robot switching position can ensure that the robot switching position changes according to the changes in each of the above positions, which is The position where the real robot switching cost is minimal finally achieves a scientific and reasonable determination of the robot switching position.
  • analyze the topological relationship between the first position, the third position and the fourth position to select the robot switching position an example will be described below, and I will not go into details here.
  • Step 103 Control the first robot and the second robot to switch at the robot switching position, so that the second robot continues to work instead of the first robot.
  • the above-mentioned scheduling device can issue the above-mentioned robot switching position to the first robot and the second robot, and instruct the first robot and the second robot to reach the robot switching position according to the shortest path to switch, so that The second robot continues to work instead of the first robot. That is, it is finally achieved to control the first robot and the second robot to switch at the robot switching position, so that the second robot can continue to work instead of the first robot.
  • this embodiment controls the first robot and the second robot to switch at the above robot switching position, which can effectively reduce the robot switching cost.
  • this embodiment selects the robot switching position by analyzing the topological relationship between the first position, the third position and the fourth position, so that the final selected robot switching position can be based on the above positions. It changes with changes and is the position with the lowest real robot switching cost. It finally achieves a scientific and reasonable determination of the robot switching position and effectively reduces the robot switching cost;
  • the dispatching device can improve the automation and intelligence of the dispatching system by controlling the automatic switching of the first robot and the second robot, thus bringing about a certain improvement in efficiency.
  • the above-mentioned abnormality refers to: when the current power of the first robot is lower than the preset first power threshold, it is predicted that the remaining time required for the first robot to complete the remaining tasks is greater than the preset time. threshold.
  • the first robot when AGV1 has low power when carrying a shelf while performing a handling task (that is, the current power is lower than the preset first power threshold), predict the remaining time for the AGV1 to perform the task.
  • the first power threshold can be set according to actual needs, and is not specifically limited in this embodiment.
  • T re s/v (1)
  • T re represents the above remaining time
  • v represents the average walking speed of AGV1 when performing the transportation task
  • s is the sum of the distances from the starting point to the end point of the remaining transportation tasks of AGV1.
  • the remaining time calculated above will be compared with the preset time threshold. If the remaining time is greater than the above time threshold, it is determined that the above abnormality occurs.
  • the time threshold is set based on actual needs, and it can be set as the time threshold for executing the robot switching function provided by this embodiment.
  • the AGV1 encounters low power when carrying a shelf while performing a transportation task (that is, the current power is lower than the preset first power threshold), it can also be directly identified as the above abnormality, and this embodiment will not describe each example one by one.
  • an idle robot can be searched in the above designated area and the difference between the current power and the current power of the first robot is greater than or equal to the preset second power threshold (usually at least the fully charged state).
  • the preset second power threshold usually at least the fully charged state.
  • C i represents the robot switching cost between the i-th candidate robot and the first robot
  • ⁇ S i represents the distance between the i-th candidate robot and the first robot
  • ⁇ P i represents the i-th candidate robot.
  • k is the control coefficient, and in one example, k can be a positive number.
  • the candidate robot with the smallest robot switching cost can be determined to continue working instead of the first robot, while the first robot performs the charging operation.
  • the above-mentioned abnormality may also refer to: at least one component of the first robot currently has a safety risk (requires repair at this time).
  • the candidate robot with the smallest robot switching cost can be determined to continue working instead of the first robot, while the first robot performs the charging operation.
  • the above describes how to determine the second robot to continue working in place of the first robot from among the currently idle candidate robots through two different exceptions.
  • the following describes how to determine the robot switching position based on the topological relationship between the first position, the third position and the fourth position where the first robot is currently located:
  • Figure 2 is a flow chart for the implementation of step 102 provided by the embodiment of the present application. As shown in Figure 2, the process may include the following steps:
  • Step 201 Determine whether there is an overlapping area between the first path and the second path. If there is at least one overlapping area between the first path and the second path, execute step 202. If there is no overlapping area between the first path and the second path, execute step 202. Step 203; The first path refers to the optimal reachable path from the first position to the third position, and the second path refers to the optimal reachable path from the first position to the fourth position.
  • the first position is P31 and the third position is P30, then the first path is the following two equivalent paths:
  • the second path is: P31 ⁇ P32 ⁇ P33 ⁇ P36 ⁇ P38 ⁇ P39.
  • the first position is P41 and the third position is P40, then the first path is P41 ⁇ P42 ⁇ P43 ⁇ P44 ⁇ P45 ⁇ P40. If the fourth position is P411, then the second path is P41 ⁇ P48 ⁇ P49 ⁇ P410 ⁇ P411. Through comparison, it is found that there is no overlapping area between the first path and the second path. If there is no overlapping area between the first path and the second path, perform the following step 203.
  • Step 202 Determine a designated position in the overlapping area as the robot switching position; wherein, compared with other positions in the overlapping area, the reachable path from the designated position to the third position is the shortest.
  • Step 203 Determine the switching position of the robot based on the intersection between the third path and the first path; the third path refers to the optimal possible path between the second position where the second robot is currently located and the third position. reach path.
  • the designated intersection point between the third path and the first path can be determined as the robot switching position; wherein, when there is an intersection point between the third path and the first path, the designated intersection point is the third path and the first path.
  • Figure 5 is a schematic diagram of a device provided by an embodiment of the present application.
  • the device is applied to scheduling equipment.
  • the device includes:
  • a detection unit used to detect whether an abnormality occurs in the first robot performing a task in the designated area
  • a scheduling unit configured to determine, from the currently idle candidate robots, a second robot to continue working in place of the first robot when an exception occurs to the first robot that is performing a task in the designated area; according to the first The topological relationship between the first position, the third position and the fourth position where the robot is currently located determines the robot switching position; the third position refers to the end position of the handling task; the fourth position refers to the To eliminate the abnormal position of the first robot;
  • a control unit configured to control the first robot and the second robot to switch handling tasks at the robot switching position, so that the second robot continues to work instead of the first robot.
  • the scheduling unit determines a second robot to continue working in place of the first robot from each candidate robot that is currently idle, including:
  • each candidate robot determines a second robot to continue working in place of the first robot from each candidate robot that is currently idle;
  • determining a second robot to continue working in place of the first robot from each currently idle candidate robot based on the robot switching cost between each candidate robot and the first robot includes: Among the currently idle candidate robots, select the candidate robot with the smallest robot switching cost with the first robot, and determine the selected candidate robot as the second robot to continue working in place of the first robot;
  • the abnormality refers to: when the current power of the first robot is lower than the preset first power threshold, it is predicted that the time required for the first robot to complete the remaining transportation tasks is greater than the preset time. threshold;
  • the difference between the current power of any candidate robot and the current power of the first robot is greater than or equal to the preset second power threshold
  • the distance between the first robots, ⁇ P i represents the power difference between the i-th robot and the first robot, and k is the control coefficient;
  • the abnormality refers to: at least one component of the first robot currently has a safety risk
  • the distance between the candidate robot and the first robot is positively related to the robot switching cost between the candidate robot and the first robot;
  • the scheduling unit determines the robot switching position according to the topological relationship between the first position, the third position and the fourth position where the first robot is currently located, including: judging the first path and the second path. Whether there is an overlapping area; the first path refers to the optimal reachable path from the first position to the third position, and the second path refers to the optimal reachable path from the first position to the fourth position; if the first If there is at least one overlapping area between the path and the second path, then the designated position in the overlapping area is determined as the robot switching position; wherein, compared with other positions in the overlapping area, the reachable path from the designated position to the third position is The shortest; if there is no overlapping area between the first path and the second path, the robot switching position is determined based on the intersection between the third path and the first path; the third path refers to the second position to the third position The optimal reachable path between;
  • determining the robot switching position based on the intersection between the third path and the first path includes: determining the designated intersection between the third path and the first path as the robot switching position; wherein, when When there is an intersection between the third path and the first path, the designated intersection is an intersection between the third path and the first path; when the number of intersections between the third path and the first path is greater than 1, The specified intersection point is the closest intersection point to the third position among all intersection points.
  • the embodiment of the present application also provides a hardware structure diagram of an electronic device, as shown in FIG. 6 .
  • the electronic device may be the device for implementing the above method.
  • the hardware structure includes: processor and memory.
  • the memory is used to store machine executable instructions
  • the processor is configured to read and execute machine-executable instructions stored in the memory to implement the method embodiments shown above.
  • memory may be any electronic, magnetic, optical, or other physical storage device that may contain or store information, such as executable instructions, data, and the like.
  • the memory may be: volatile memory, non-volatile memory or similar storage media.
  • the memory can be RAM (Radom Access Memory), flash memory, storage drive (such as hard disk drive), solid state drive, any type of storage disk (such as optical disk, DVD, etc.), or similar storage media, Or a combination of them.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé et un appareil de commande de planification, ainsi qu'un dispositif électronique. Une position de commutation de robot est sélectionnée par analyse de la relation topologique entre une première position (la position actuelle d'un premier robot où une anomalie se produit), une troisième position (la position finale d'une tâche) et une quatrième position (la position pour éliminer l'anomalie du premier robot), de telle sorte que la position de commutation de robot finalement sélectionnée peut changer avec les positions ci-dessus et est la position réelle ayant le coût de commutation de robot minimal, ce qui permet de mettre en œuvre une détermination scientifique et raisonnable de la position de commutation de robot et de réduire efficacement le coût de commutation de robot. En outre, un dispositif de planification peut améliorer l'automatisation et l'intelligence d'un système de planification par commande de la commutation automatique d'un premier robot et d'un second robot, ce qui permet d'apporter une certaine amélioration de l'efficacité.
PCT/CN2023/107757 2022-07-18 2023-07-17 Procédé et appareil de commande de planification, et dispositif électronique WO2024017209A1 (fr)

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CN202210845870.3A CN115220451A (zh) 2022-07-18 2022-07-18 一种调度控制方法、装置及电子设备
CN202210845870.3 2022-07-18

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