A robot path planning and cooperative scheduling method based on process control

Abstract

The application discloses a kind of robot path planning coordination scheduling methods based on process control, it is related to robot control technical field, including, the process state data of robot is collected, process state data is associated mapping, constructs process control state table, and according to the process phase sequence and passage control unit table of each task corresponding station supply relationship and beat guarantee demand division process phase;According to process control state table, process phase sequence and passage control unit table, the occupation relationship of each passage control unit corresponding passage node is identified, establishes each process control token corresponding to passage control unit, and generates the application order of each process control token according to the beat guarantee demand corresponding to each process phase, obtains candidate passage order and to be released path sequence.The application is divided into process phase by collecting process state data and combining station supply relationship, beat guarantee demand, realizes the unity association of path planning and process control constraint.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a robot path planning and collaborative scheduling method based on process control. Background Technology

[0002] With the development of intelligent manufacturing, flexible production lines, and multi-robot collaborative operations, robot path planning and collaborative scheduling have gradually evolved from simple motion control to a direction that integrates task organization, resource allocation, and process control. Related technologies not only focus on the selection of robot travel paths within the work area, but also emphasize the coordination between robots and workstation cycle time, task connection, and shared travel resources. In scenarios such as warehousing and transportation, assembly and distribution, and production logistics, the coupling degree between path planning, traffic coordination, and process control is constantly increasing. How to balance traffic efficiency, work continuity, and process control stability during multi-robot operation has become an important development direction.

[0003] Existing methods have some shortcomings. Some methods mainly focus on path search, obstacle avoidance, and local conflict handling, but do not adequately consider process control factors such as workstation supply relationships, cycle time guarantee requirements, and task phase sequence. This can easily lead to a mismatch between path planning results and actual work rhythm. In addition, for conflict scenarios such as intersection nodes and shared road sections, some solutions often use fixed priority or arrival order for release control, which is insufficient for process control of shared traffic resource occupancy relationships. It is difficult to take into account the coordination between target road sections, access times, and yielding relationships, which affects the stability and execution accuracy of collaborative scheduling. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a robot path planning and collaborative scheduling method based on process control to solve the problems of insufficient path process matching and low accuracy of passage coordination.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] This invention provides a robot path planning and collaborative scheduling method based on process control, comprising: collecting robot process state data, associating and mapping the process state data, constructing a process control state table, and dividing process phases according to the workstation supply relationship and cycle time guarantee requirements corresponding to each task, obtaining a process phase sequence and a passage control unit table; identifying the occupancy relationship of the corresponding passage nodes of each passage control unit based on the process control state table, process phase sequence, and passage control unit table, establishing process control tokens corresponding to each passage control unit, and generating the application order of each process control token according to the cycle time guarantee requirements corresponding to each process phase, obtaining a candidate passage order and a path sequence to be released; allocating process control tokens to the corresponding passage control units based on the candidate passage order, the path sequence to be released, and the application order of each process control token, and binding the robot that obtains the process control token with the target road segment, workstation access time, and yielding object through process control, obtaining a collaborative scheduling path scheme; generating process control collaborative scheduling instructions for the corresponding robot based on the collaborative scheduling path scheme, and issuing the process control collaborative scheduling instructions to the corresponding robot to execute the corresponding path tracking, road segment yielding, and workstation access.

[0008] As a preferred embodiment of the robot path planning and cooperative scheduling method based on process control described in this invention, the specific steps for constructing the process control state table are as follows:

[0009] Collect the process status data corresponding to the robot, and merge and organize the process status data according to the task identifier and time sequence to obtain the task status record;

[0010] Based on the task status records, the workstation association information is mapped to determine the workstation supply relationship and cycle time guarantee requirements for each task, thus forming a process control status table.

[0011] As a preferred embodiment of the robot path planning and collaborative scheduling method based on process control described in this invention, the specific steps for obtaining the process phase sequence and the access control unit table are as follows:

[0012] Based on the process control status table, each task is divided into process phases and arranged in order to obtain the process phase sequence.

[0013] Based on the workstation supply relationship in the process control status table, the shared access locations are determined, resulting in the access control unit table.

[0014] As a preferred embodiment of the robot path planning and collaborative scheduling method based on process control described in this invention, the specific steps for obtaining the candidate passage order and the sequence of paths to be released are as follows:

[0015] Based on the process control status table, process phase sequence, and access control unit table, determine the arrangement order of access control units corresponding to each task, and identify the occupancy relationship of access nodes corresponding to each access control unit;

[0016] Based on the occupancy relationship of the corresponding access nodes of each access control unit, process control tokens corresponding to each access control unit are established, and the application order of each process control token is generated according to the beat guarantee requirements of each process phase in the process phase sequence.

[0017] Based on the application order of each process control token, the candidate passage order corresponding to each access control unit is determined, and combined with the arrangement order of the access control units corresponding to each task, the sequence of paths to be released is obtained.

[0018] As a preferred embodiment of the robot path planning and cooperative scheduling method based on process control described in this invention, the specific steps for obtaining the cooperative scheduling path scheme are as follows:

[0019] Based on the candidate passage order, the sequence of paths to be released, and the application order of each process control token, the allocation order of the process control tokens for each robot is determined, and the process control tokens are allocated to the corresponding access control units to generate the process control token allocation results.

[0020] Based on the process control token allocation results and the sequence of paths to be released, the target road segment, workstation access time and yielding object corresponding to each robot that has obtained a process control token are determined, thus forming a process control binding relationship;

[0021] Based on the process control token allocation results and process control binding relationships, the robots that obtained the process control tokens, target road segments, workstation access times, and yielding objects are organized accordingly to obtain a collaborative scheduling path scheme.

[0022] As a preferred embodiment of the robot path planning and collaborative scheduling method based on process control described in this invention, the specific steps for generating the corresponding robot's process control collaborative scheduling instruction according to the collaborative scheduling path scheme are as follows:

[0023] Based on the collaborative scheduling path scheme, the target road segment, workstation access time and yielding object corresponding to each robot are extracted, and the process control execution content corresponding to each robot is generated.

[0024] Based on the process control execution content corresponding to each robot, process control collaborative scheduling instructions corresponding to each robot are generated, and the process control collaborative scheduling instructions corresponding to each robot are organized accordingly.

[0025] The process control coordination and scheduling instructions corresponding to each robot are sent to the corresponding robot to execute the corresponding path tracking, road segment yielding and workstation access.

[0026] As a preferred embodiment of the robot path planning and collaborative scheduling method based on process control described in this invention, the specific steps for generating the application order of each process control token are as follows:

[0027] The tasks mapped to the same process control token are sorted according to the process phase sequence;

[0028] For tasks with different order in the process phase sequence, the order of application shall be determined according to the order in the process phase sequence;

[0029] For tasks with the same order in the process phase sequence, the order of application is determined based on the corresponding clock cycle guarantee requirements, thus obtaining the application order of each process control token.

[0030] As a preferred embodiment of the robot path planning and collaborative scheduling method based on process control described in this invention, the specific steps for forming the process control binding relationship are as follows:

[0031] Based on the process control token allocation results, extract the target road segment, workstation access time, and yielding object corresponding to each robot that has obtained a process control token;

[0032] Each robot that obtains a process control token is associated with its corresponding target road segment, workstation access time, and yielding object to form a process control binding relationship.

[0033] As a preferred embodiment of the robot path planning and collaborative scheduling method based on process control described in this invention, the specific steps for generating the process control token allocation result are as follows:

[0034] The order in which each robot passes through the corresponding access control unit is arranged according to the candidate access order;

[0035] Based on the sequence of paths to be released, the order of passage of each robot in the corresponding access control unit is adjusted accordingly;

[0036] Based on the adjusted access sequence and the application order of each process control token, a process control token allocation order is formed for each robot, and process control tokens are allocated to the corresponding access control unit to generate process control token allocation results.

[0037] As a preferred embodiment of the robot path planning and collaborative scheduling method based on process control described in this invention, the specific steps for organizing the corresponding process control collaborative scheduling instructions for each robot are as follows:

[0038] Organize the process control execution content of each robot with the corresponding target road segment, workstation access time and yielding object;

[0039] Based on the sorting results, the process control coordination and scheduling instructions corresponding to each robot are merged.

[0040] The beneficial effects of this invention are as follows: by collecting process status data and combining it with workstation supply relationships and cycle time guarantee requirements to divide the process phase, a unified association between path planning and process control constraints is achieved, improving scheduling rationality and work continuity; by identifying the occupancy relationship of access nodes, establishing process control tokens, and binding process control with instructions, orderly collaboration of shared access resources is achieved, improving access coordination accuracy and multi-robot operation stability. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart of a robot path planning and collaborative scheduling method based on process control.

[0043] Figure 2 A flowchart for obtaining the traffic control unit table.

[0044] Figure 3 A flowchart for obtaining the sequence of paths to be released.

[0045] Figure 4 A flowchart for generating process control collaborative scheduling instructions.

[0046] Figure 5 This is a comparison chart of workstation access deviation data.

[0047] Figure 6 A comparison chart of the number of shared conflict events. Detailed Implementation

[0048] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0049] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0050] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0051] Reference Figures 1-6 This is one embodiment of the present invention, which provides a robot path planning and cooperative scheduling method based on process control, comprising the following steps:

[0052] S1. Collect the process status data of the robot, perform correlation mapping on the process status data, construct a process control status table, and divide the process phases according to the workstation supply relationship and cycle time guarantee requirements corresponding to each task to obtain the process phase sequence and access control unit table.

[0053] S1.1 Collect the process status data corresponding to the robot, and merge and organize the process status data according to the task identifier and time sequence to obtain the task status record.

[0054] It should be noted that, at the current operating moment, the identification information, operation feedback information, and task execution information corresponding to each robot are read. Among them, the operation feedback information includes position feedback information and speed feedback information. The robot identifier is extracted from the identification information, the task identifier, source station identifier, and target station identifier are extracted from the task execution information, the current position is extracted from the position feedback information, the running speed is extracted from the speed feedback information, and the load status is extracted from the load detection results. The current operating moment is recorded as the acquisition time, thus completing the acquisition of process status data for each robot. The data is then organized according to the field order of robot identifier, task identifier, acquisition time, current position, running speed, load status, source station identifier, and target station identifier to obtain the original process status data set.

[0055] Using task identifiers as the classification basis, process state data belonging to the same task identifier in the original process state data set are extracted, and the extracted process state data are sorted according to the collection time to obtain the time-series process state data corresponding to each task. Based on the sorted time-series process state data corresponding to each task, duplicate data items are merged, missing data items are filled in according to preset field positions, and data items with inconsistent records in the same task are retained according to the later collection time to obtain the merged process state data corresponding to each task. The merged process state data corresponding to each task is recorded separately according to the task identifier to form task state records.

[0056] S1.2. Based on the task status record, perform association mapping on the workstation association information, determine the workstation supply relationship and cycle time guarantee requirements corresponding to each task, and construct the process control status table.

[0057] It should be noted that the workstation association information includes source workstation identifier, target workstation identifier, workstation cycle time information, buffer occupancy information, and upstream and downstream flow information. Based on the task identifier, source workstation identifier, and target workstation identifier in the task status record, the output content of the source workstation is matched with the received content of the target workstation to determine the workstation supply relationship corresponding to each task. The workstation supply relationship is used to characterize the supply destination relationship between the source workstation identifier and the target workstation identifier corresponding to the task identifier.

[0058] The workstation operation records corresponding to the source workstation identifier and the target workstation identifier include workstation operation time records, buffer position occupancy records, and workstation flow records. The workstation operation time records determine the workstation cycle time information, the buffer position occupancy records determine the buffer occupancy information, and the workstation flow records determine the upstream and downstream flow information. Among them, the workstation cycle time information is used to characterize the current operation rhythm and task succession rhythm of the target workstation, the buffer occupancy information is used to characterize the current occupancy and remaining capacity of the buffer position corresponding to the target workstation, and the upstream and downstream flow information is used to characterize the flow connection and flow sequence between the source workstation, the target workstation, and adjacent workstations. The workstation cycle time information, buffer occupancy information, and upstream and downstream flow information are merged into the same task record according to the same task identifier to complete the association mapping of workstation-related information.

[0059] Based on workstation cycle time information, the urgency of the target workstation in relation to the current task is determined. Based on buffer occupancy information, the remaining capacity of the target workstation for the current task is determined. Based on upstream and downstream flow information, the flow connection status between the source and target workstations is determined. Furthermore, considering workstation supply relationships, the sequential requirement of each task within its corresponding target workstation is determined. Finally, combining the urgency, remaining capacity, flow connection status, and sequential requirement, the cycle time guarantee requirement for each task is determined. The expression is as follows:

[0060] ;

[0061] in, Indicates the first The rhythm guarantee requirements for each task; This indicates the number determined based on the workstation cycle time information. The urgency of each task following the previous one; This indicates the first [number] determined based on buffer occupancy information. The remaining capacity status of each task; This indicates that the first [unit / item] determined based on upstream and downstream circulation information... The workflow and connection status of each task; This indicates the first [position] determined based on the workstation supply relationship. The sequential requirements of each task; Indicates the task index; , , , and All of these are dimensionless characterization values, state values, or level values ​​determined by the corresponding information.

[0062] Specifically, the urgency of the task's succession is determined based on the time difference between the expected start time of the target workstation and the expected arrival time of the current task in the workstation cycle information. When the time difference is less than or equal to one workstation cycle, the urgency of the corresponding task is determined as high and assigned a value of 1. When the time difference is greater than one workstation cycle and less than or equal to two workstation cycle periods, the urgency of the corresponding task is determined as medium and assigned a value of 0.5. When the time difference is greater than two workstation cycle periods, the urgency of the corresponding task is determined as low and assigned a value of 0.

[0063] The remaining capacity status is determined based on the remaining capacity of the buffer position corresponding to the target workstation in the buffer occupancy information. When the remaining capacity is 0, the capacity status of the corresponding task is determined to be tense and assigned a value of 1. When the remaining capacity is greater than 0 and less than or equal to half of the total buffer capacity, the capacity status of the corresponding task is determined to be moderate and assigned a value of 0.5. When the remaining capacity is greater than half of the total buffer capacity, the capacity status of the corresponding task is determined to be relaxed and assigned a value of 0.

[0064] The flow connection status is determined based on upstream and downstream flow information. When there is a direct flow connection between the source workstation and the target workstation and there is no blockage between adjacent workstations, the flow connection status of the corresponding task is assigned a value of 1. When there is an indirect flow connection between the source workstation and the target workstation or there is a short-term wait between adjacent workstations, the flow connection status of the corresponding task is assigned a value of 0.5. When there is a flow interruption or blockage between the source workstation and the target workstation, the flow connection status of the corresponding task is assigned a value of 0.

[0065] Based on the workstation supply relationship, determine the succession order requirement of each task in the corresponding target workstation's successive tasks; when the corresponding task is ranked first in the successive tasks of the same target workstation, assign a succession order requirement of 1; when the corresponding task is ranked in the middle in the successive tasks of the same target workstation, assign a succession order requirement of 0.5; when the corresponding task is ranked last in the successive tasks of the same target workstation, assign a succession order requirement of 0.

[0066] Therefore, the urgency of succession, the state of remaining capacity, the status of flow and connection, and the need for succession sequence are all determined as dimensionless level values ​​using preset grading rules.

[0067] Organize the task identifier, robot identifier, data collection time, current location, source workstation identifier, target workstation identifier, workstation supply relationship, and cycle time guarantee requirements according to the task identifier and data collection time to construct a process control status table.

[0068] S1.3. Based on the process control status table, divide each task into process phases and arrange them in order to obtain the process phase sequence. Then, based on the workstation supply relationship in the process control status table, determine the shared access location to obtain the access control unit table.

[0069] It should be noted that, based on the correspondence between the current position and the source workstation output position corresponding to the source workstation identifier, the target workstation waiting position corresponding to the target workstation identifier, and the target workstation access position corresponding to the target workstation identifier, process phases are divided for each task. Specifically, tasks whose current position corresponds to the source workstation output position and whose corresponding task has not yet left the source workstation are defined as the source workstation output process phase; tasks whose current position is at the passage position between the source workstation identifier and the target workstation identifier are defined as the path passage process phase; tasks whose current position corresponds to the target workstation waiting position and whose corresponding task has not yet entered the target workstation access position are defined as the target workstation waiting process phase; and tasks whose current position corresponds to the target workstation access position and whose corresponding task enters the target workstation continuation position are defined as the target workstation access process phase. This completes the process phase division for each task, expressed as follows:

[0070] ;

[0071] in, Indicates the first The process phase corresponding to each task; Indicates the first Each task corresponds to the robot's current position; Indicates the first The source workstation identifier corresponding to each task The source workstation output location; Indicates the first The source workstation identifier corresponding to each task With the target workstation identification The set of passable locations between; Indicates the first The target workstation identifier for each task The target workstation waiting position; Indicates the first The target workstation identifier for each task The target workstation access location; Indicates the first The source workstation identifier corresponding to each task; Indicates the first The target workstation identifier corresponding to each task.

[0072] The process phases corresponding to each task are sequentially arranged according to the task identifier and collection time to obtain the process phase sequence. Based on the workstation supply relationship in the process control status table, the access positions between the source workstation identifier and the target workstation identifier corresponding to different tasks are compared. The positions that multiple tasks repeatedly pass through or have positional intersection relationships under different workstation supply relationships are identified as shared access positions. Among them, the shared access positions are regarded as shared access resources that require mutual exclusion release control, and the path position nodes corresponding to each shared access position are identified as access nodes, so as to perform occupancy relationship identification and process control token allocation based on access nodes. The source workstation identifier, target workstation identifier, and workstation supply relationship corresponding to the shared access positions are respectively organized, and each shared access position is assigned a corresponding access control unit identifier. The access control unit identifier, shared access position, source workstation identifier, target workstation identifier, and workstation supply relationship are recorded in correspondence to obtain the access control unit table.

[0073] S2. Based on the process control status table, process phase sequence, and access control unit table, identify the occupancy relationship of the access nodes corresponding to each access control unit, establish the process control token corresponding to each access control unit, and generate the application order of each process control token according to the rhythm guarantee requirements corresponding to each process phase, so as to obtain the candidate access order and the sequence of paths to be released.

[0074] S2.1. Based on the process control status table, process phase sequence, and access control unit table, determine the arrangement order of access control units corresponding to each task, and identify the occupancy relationship of access nodes corresponding to each access control unit.

[0075] It should be noted that the common passage locations in the passage control unit table are determined as the corresponding passage nodes. The source workstation identifier, target workstation identifier, and workstation supply relationship corresponding to each task in the process control status table are matched one by one with the corresponding source workstation identifier, target workstation identifier, and workstation supply relationship in the passage control unit table. All passage control units related to the passage process between the source workstation identifier and target workstation identifier corresponding to each task are selected. Combining the process phase of each task in the process phase sequence, the subsequent passage control units located in the direction from the current position to the target workstation identifier are arranged according to the order in which the robot passes through the target workstation identifier from the current position, thus obtaining the arrangement order of the passage control units corresponding to each task.

[0076] The system compares the current position in the process control status table with the shared access positions in the access control unit table to determine if the current position falls within the area of ​​the corresponding access node. Combining this with the chronological status of the data collection time, the system identifies the occupancy relationship of each access control unit's corresponding access nodes. Specifically, if the current position is within the area of ​​the corresponding access node and the corresponding task has not yet left the corresponding access node, it is determined to be in an occupied state. If the current position has not yet reached the area of ​​the corresponding access node and the corresponding access node is in a subsequent position in the access control unit's sequence, it is determined to be in a pending entry state. If the current position has already crossed the area of ​​the corresponding access node and the corresponding access node is in a position previously passed by the current position, it is determined to be in a passed state. This completes the determination of the access control unit's sequence for each task and the identification of the occupancy relationship of each access control unit's corresponding access nodes. The expression is as follows:

[0077] ;

[0078] in, Indicates the first The task in the first The occupancy relationship of each access control unit on the access node; Indicates the first Each traffic control unit corresponds to the location area of ​​the traffic node; Indicates the first The first task corresponding to the The position sequence value of each access control unit in the access location; Indicates the first The positional order of the current location of each task within the passable location; This represents the index of the access control unit.

[0079] S2.2 Based on the occupancy relationship of the corresponding access nodes of each access control unit, establish the process control token corresponding to each access control unit, and generate the application order of each process control token according to the beat guarantee requirements of each process phase in the process phase sequence.

[0080] It should be noted that, based on the occupancy relationship of the corresponding access nodes of each access control unit, each access control unit is classified one by one according to the access control unit identifier. The task records, access control unit order, and access node occupancy relationship corresponding to the same access control unit identifier in the process control status table are organized accordingly. The currently occupied tasks located in the area of ​​the corresponding access node, the pending tasks that have not yet reached the area of ​​the corresponding access node and are located in the subsequent positions of the access control unit order, and the tasks that have passed through the area of ​​the corresponding access node are determined respectively. A corresponding process control token is established for each access control unit, and the access control unit identifier, corresponding access node, access node occupancy relationship, currently occupied task, and pending task are written into the process control token to obtain the process control token corresponding to each access control unit.

[0081] The arrangement of the pending tasks corresponding to each process control token in the process phase sequence is mapped to the cycle time guarantee requirements of each pending task. The initial application order of each pending task under the same process control token is determined according to the order of arrangement in the process phase sequence. The order is then adjusted based on the cycle time guarantee requirements of each pending task to obtain the application order of each process control token. The expression is as follows:

[0082] ;

[0083] in, Indicates the first The task is for the first The application priority value of the process control token corresponding to each access control unit; Indicates the first The sequence number of each task in the process phase sequence.

[0084] S2.3. Based on the application order of each process control token, determine the candidate passage order corresponding to each access control unit, and combine the passage control unit arrangement order corresponding to each task to obtain the sequence of paths to be released.

[0085] It should be noted that, based on the process control tokens corresponding to each access control unit and the application order of each process control token, the current occupied tasks and pending tasks corresponding to each access control unit are sorted in order. The current occupied task recorded in the process control token is taken as the first task of the corresponding access control unit, and each pending task is arranged in order after the current occupied task according to the application order of the corresponding process control token, thus obtaining the candidate access order corresponding to each access control unit.

[0086] Based on the order of access control units corresponding to each task, each task is matched one by one with the subsequent access control units between its current location and the target workstation identifier. Access control units that record the current task as a pending task are selected and arranged sequentially according to their position in the access control unit order. This yields the sequence of paths to be released for the corresponding tasks, expressed as follows:

[0087] ;

[0088] in, Indicates the first The sequence of paths to be released for each task; Indicates according to The operation is performed to sort the items according to their size order; Indicates the first The set of order of access control units corresponding to each task; Indicates the first The set of pending tasks corresponding to each traffic control unit; This indicates that an application is pending.

[0089] Figure 5 The diagram compares the changes in workstation access deviation with the scheduling cycle under different scheduling strategies. The complete sequence in the figure shows that, compared with other strategies, the workstation access deviation remains within a smaller fluctuation range after adopting phase-tick coordinated scheduling. This indicates that by combining process status data, workstation supply relationships, and tick guarantee requirements to divide the process phase, the path advancement sequence can be constrained more effectively, making the path planning results more consistent with the workstation operation rhythm. The enlarged partial diagram further shows that in the typical range with more obvious fluctuations, other strategies all show higher deviation peaks, while the corresponding curve of the phase-tick coordinated strategy still maintains good convergence and stability. This indicates that this scheme can still reduce workstation access deviation and reduce timing misalignment under high load or tick conflict conditions, thereby improving scheduling rationality and operation continuity.

[0090] Figure 5 Phase-beat coordination in this context refers to a robot path planning and collaborative scheduling scheme based on process control. By collecting robot process state data, combining workstation supply relationships and cycle time guarantee requirements, process phases are divided, and the occupancy relationships of access nodes are identified. Process control tokens are established, application sequences and pending release path sequences are generated, and a collaborative scheduling path scheme is formed through process control binding. This achieves a unified association between path planning and process control constraints, improving scheduling rationality and operational continuity.

[0091] Figure 5The shortest path priority method refers to determining the release order solely based on the shortest path between the robot's current position and the target workstation identifier. It does not construct a process control status table, perform process phase division, or generate the application order of process control tokens in conjunction with workstation supply relationships and cycle time guarantee requirements. This scheme can reflect the traditional path priority scheduling method, but due to the lack of synchronous constraints on workstation succession rhythm and task phase sequence, it is prone to increased workstation access deviation and misalignment of operation rhythm.

[0092] Figure 5 Occupation identification in this context refers to identifying only the occupancy relationship of access nodes and determining the currently occupied task and the task to be applied for, but without adjusting the application order based on the process phase sequence and cycle time guarantee requirements, nor further executing process control binding; this scheme can reflect the sorting method that only considers space occupancy conflicts, but it does not adequately consider the task succession requirements and workstation cycle time constraints, and is prone to workstation access deviation fluctuations under high load conditions.

[0093] Figure 5 and Figure 6 Fixed priority in this context refers to setting a fixed release priority in advance according to robot identifier, task identifier, or workstation number. Throughout the scheduling process, the order of passage is always determined according to the preset priority relationship, without dynamic adjustment based on process status data, workstation supply relationship, and cycle time guarantee requirements. This scheme can serve as a baseline for static priority control, but it is prone to scheduling rigidity when working conditions change, affecting the matching between workstation access time and task succession requirements.

[0094] Figure 5 The random yielding in this context refers to determining the yielding and release order randomly when there is competition for shared access resources, rather than based on the order of process control token applications, workstation access time, or yielding object for rule-based coordination. This scheme is used as a baseline comparison under weak control conditions to demonstrate that workstation access deviations are more prone to fluctuations when there is a lack of unified process control constraints.

[0095] It should also be noted that existing technologies typically determine the robot's passage order by detecting the occupancy of path nodes or using a fixed priority method. However, these technologies mainly prioritize spatial location conflicts and lack synchronous consideration of process phase and cycle time requirements, which can easily lead to a mismatch between the passage order and the workstation succession requirements. This solution further determines the candidate passage order and the sequence of paths to be released by identifying the occupancy relationship of passage nodes, establishing process control tokens, and generating corresponding application sequences. This allows the passage order to simultaneously reflect the node occupancy status and task succession requirements, reducing disordered waiting and temporary adjustments at intersections, improving the coordination when multiple tasks pass in parallel, and enhancing the coherence, overall stability, and execution efficiency of subsequent collaborative scheduling path generation.

[0096] S3. Based on the candidate passage order, the sequence of paths to be released, and the application order of each process control token, process control tokens are allocated to the corresponding passage control unit. The robot that obtains the process control token is then bound to the target road segment, the workstation access time, and the yielding object for process control to obtain a collaborative scheduling path scheme.

[0097] S3.1. Based on the candidate passage order, the sequence of paths to be released, and the application order of each process control token, determine the allocation order of the process control tokens for each robot, and allocate the process control tokens to the corresponding passage control unit to obtain the process control token allocation result.

[0098] It should be noted that, based on the candidate passage order corresponding to each access control unit, the pending release path sequence corresponding to each task, and the application order of each process control token, the access control units in the pending release path sequence are matched with the corresponding access control units in the candidate passage order to determine the order of each task in each access control unit; combined with the application order of each process control token, multiple access control units corresponding to the same task are arranged in order according to their positions in the pending release path sequence to obtain the process control token allocation order for each robot; within the current scheduling cycle, only the process control token of the corresponding access control unit is allocated to the robot corresponding to the first task in the candidate passage order, and the remaining pending tasks are recorded as subsequent application queues according to the application order of each process control token without performing process control token allocation; after the first task passes through the corresponding access control unit and releases the process control token, the process control token is allocated to the robot corresponding to the next task according to the order in the subsequent application queue, and the task identifier, robot identifier, access control unit identifier, process control token, and corresponding allocation order are sorted and matched to obtain the process control token allocation result.

[0099] S3.2. Based on the process control token allocation results and the sequence of paths to be released, determine the target road segment, workstation access time and yielding object corresponding to each robot that has obtained a process control token, and obtain the process control binding relationship.

[0100] It should be noted that the sequence of paths to be released for each task is sequentially mapped to the process control token allocation results. The access control units in the path sequence that have already obtained process control tokens are identified as the access control units currently accessible to the corresponding robot, and the passage section from the current location to the currently accessible access control unit is identified as the target road segment for the corresponding robot. The last access control unit corresponding to the target workstation identifier in the path sequence to be released is located, and the order of robot access to the corresponding workstation is determined based on the allocation order of the last access control unit in the process control token allocation results. The expression is as follows:

[0101] ;

[0102] in, Indicates the first The workstation access time corresponding to each task; Indicates the current scheduling reference time; Indicates the first Each task corresponds to a target workstation identifier. Access interval coefficient; Indicates the first The order in which process control tokens are allocated for each task in the last-position access control unit; Indicates the first The last access control unit corresponding to each task; Indicates workstation access; Indicates the last digit.

[0103] No. Each task corresponds to a target workstation identifier. The access interval coefficient is determined by the first The workstation cycle information corresponding to the target workstation identifier for each task is determined by reading the workstation operation time record corresponding to the current target workstation, calculating the time interval between two adjacent tasks accessing the current target workstation, and using the average of the time intervals as the access interval coefficient.

[0104] Based on the allocation order of robots under the same access control unit in the process control token allocation results, robots that share subsequent access control units with the current robot in the pending release path sequence and are ranked earlier in the allocation order are screened, and the robots ranked earlier in the allocation order are determined as the yielding objects of the current robot; after the target road segment, workstation access time and yielding object are determined, the robot identifier, task identifier, target road segment, workstation access time and yielding object are sorted together to obtain the process control binding relationship.

[0105] S3.3. Based on the process control token allocation results and process control binding relationships, the robots that have obtained process control tokens, target road segments, workstation access times, and yielding objects are organized accordingly to obtain a collaborative scheduling path scheme.

[0106] It should be noted that the robot identifier, task identifier, access control unit identifier, process control token, and allocation order in the process control token allocation result are matched item by item with the robot identifier, task identifier, target road segment, workstation access time, and yielding object in the process control binding relationship. The process control token allocation results corresponding to the same robot identifier and the same task identifier are merged and organized with the process control binding relationship to form the correspondence between the access control unit, target road segment, workstation access time, and yielding object for each robot. Based on the allocation order in the process control token allocation result, the access control unit and target road segment corresponding to each robot are sorted sequentially, and based on the workstation access time in the process control binding relationship, the workstation access order corresponding to each robot is arranged accordingly. At the same time, the yielding object corresponding to each robot is associated with the corresponding target road segment and workstation access time. The robot identifier, task identifier, access control unit identifier, process control token, target road segment, workstation access time, yielding object, and corresponding allocation order are uniformly recorded to obtain the collaborative scheduling path scheme.

[0107] Figure 6 The changes in the number of shared conflict events under different robot numbers were compared. The figures show that as the number of robots increases, the number of shared conflict events for all strategies increases. However, the token-binding strategy shows a significantly smaller increase in conflict, maintaining a low conflict level even under high robot density. This indicates that identifying the occupancy relationship of access nodes, establishing process control tokens, and executing process control binding can more effectively organize the release order of shared access resources. Especially with 18 robots, this strategy shows a more significant conflict suppression effect compared to other strategies, indicating that it can reduce node contention and disorderly yielding, improve access coordination accuracy, and further enhance the overall stability during multi-robot operation.

[0108] Figure 6 The token binding collaboration in this scheme refers to establishing process control tokens based on the identification of the occupancy relationship of passage nodes, and generating process control token allocation results by combining process phase sequence, cycle time guarantee requirements, and pending release path sequence; further determining the target road segment, workstation access time, and yielding object corresponding to the robot that obtains the process control token, forming a process control binding relationship and generating a collaborative scheduling path scheme, thereby realizing the orderly collaboration of shared passage resources, reducing the number of shared conflict events, improving passage coordination accuracy, and improving the stability of multi-robot operation.

[0109] Figure 6The "first-come, first-served" approach refers to the practice where, when multiple robots compete for the same shared access resources, they are allowed to pass only according to the order in which they arrive at the corresponding access node. No process control token is established, and no process control binding is performed. This approach can serve as a baseline for comparison with the traditional first-come, first-served control method, but it is prone to causing a disconnect between access release, target road segment arrangement, and workstation access time, leading to a continuous increase in the number of conflicts under conditions of multiple robots operating concurrently.

[0110] It should also be noted that existing technologies typically complete robot release and path arrangement through preset priorities, first-come-first-served, or partial obstacle avoidance. However, these technologies often handle passage release, target segment determination, workstation access arrangement, and yielding relationships separately, which can easily lead to disconnects. This solution forms a collaborative scheduling path scheme by corresponding and organizing the process control token allocation results with the process control binding relationship. This allows for the unified association of token allocation, target segment, workstation access time, and yielding objects, improving the consistency and coherence of scheduling results, reducing passage conflicts, workstation waiting, and yielding confusion, and enhancing path connectivity, execution stability, and overall operational efficiency in the multi-robot collaborative scheduling process.

[0111] S4. Generate the corresponding process control collaborative scheduling instructions for the robot based on the collaborative scheduling path scheme, and send the process control collaborative scheduling instructions to the corresponding robot to execute the corresponding path tracking, road segment yielding and workstation access.

[0112] S4.1 Based on the collaborative scheduling path scheme, extract the target road segment, workstation access time and yielding object corresponding to each robot to obtain the process control execution content corresponding to each robot.

[0113] It should be noted that, based on the robot identifier, task identifier, access control unit identifier, process control token, target road segment, workstation access time, yielding object, and corresponding allocation order in the collaborative scheduling path scheme, the contents corresponding to the same robot identifier are merged and organized. Then, the target road segment, workstation access time, and yielding object corresponding to the same robot identifier are extracted sequentially according to the corresponding allocation order. The target road segment corresponding to each robot is determined as the path execution content of the current execution stage of the corresponding robot; the workstation access time corresponding to each robot is determined as the workstation access content of the current execution stage of the corresponding robot; and the yielding object corresponding to each robot is determined as the yield control content of the current execution stage of the corresponding robot. The robot identifier, task identifier, target road segment, workstation access time, and yielding object are then organized according to the same robot identifier to obtain the process control execution content corresponding to each robot.

[0114] S4.2. Based on the process control execution content corresponding to each robot, generate the process control collaborative scheduling instructions corresponding to each robot, and organize the process control collaborative scheduling instructions corresponding to each robot accordingly.

[0115] It should be noted that, based on the robot identifier, task identifier, target road segment, workstation access time, and yielding object in the process control execution content corresponding to each robot, each item corresponding to the same robot identifier and the same task identifier is matched one by one. The target road segment is matched with the path tracking instruction content, the workstation access time with the workstation access instruction content, and the yielding object with the yielding control instruction content, forming the process control collaborative scheduling instructions corresponding to each robot. The path tracking instruction content, workstation access instruction content, and yielding control instruction content are merged and organized according to the same robot identifier and the same task identifier, and the process control collaborative scheduling instructions corresponding to each robot are arranged in order according to the order of the process control execution content. The robot identifier, task identifier, process control collaborative scheduling instructions, and their corresponding order are then matched and organized to obtain the organized process control collaborative scheduling instructions corresponding to each robot.

[0116] S4.3. Send the process control coordination and scheduling instructions corresponding to each robot to the corresponding robot to execute the corresponding path tracking, road segment yielding and workstation access.

[0117] It should be noted that, according to the robot identifier and task identifier, the process control collaborative scheduling instructions corresponding to each robot are issued to the corresponding robot respectively; according to the path tracking instruction, workstation access instruction and yield control instruction in the process control collaborative scheduling instructions, they are executed in the corresponding order. Specifically, according to the path tracking instruction, path tracking is performed along the target road segment; according to the yield control instruction, yielding is performed on the road segment to the yielding object; and according to the workstation access instruction, workstation access is performed according to the corresponding workstation access time.

[0118] In summary, this invention achieves a unified association between path planning and process control constraints by collecting process status data and combining it with workstation supply relationships and cycle time guarantee requirements to divide the process phase, thereby improving scheduling rationality and operational continuity. Furthermore, by identifying the occupancy relationship of access nodes, establishing process control tokens, and binding and generating process control instructions, it achieves orderly collaboration of shared access resources, thereby improving access coordination accuracy and the stability of multi-robot operation.

[0119] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A robot path planning and collaborative scheduling method based on process control, characterized in that, include: Collect process status data of the robot, perform correlation mapping on the process status data, construct a process control status table, and divide the process phases according to the workstation supply relationship and cycle time guarantee requirements corresponding to each task to obtain the process phase sequence and access control unit table. Based on the process control status table, process phase sequence, and access control unit table, identify the occupancy relationship of the access nodes corresponding to each access control unit, establish the process control token corresponding to each access control unit, and generate the application order of each process control token according to the rhythm guarantee requirements corresponding to each process phase, thereby obtaining the candidate access order and the sequence of paths to be released. Based on the candidate passage order, the sequence of paths to be released, and the application order of each process control token, process control tokens are allocated to the corresponding passage control unit. The robot that obtains the process control token is then bound to the target road segment, the workstation access time, and the yielding object for process control to obtain a collaborative scheduling path scheme. Based on the collaborative scheduling path scheme, process control collaborative scheduling instructions for the corresponding robots are generated and sent to the corresponding robots to execute corresponding path tracking, road segment yielding and workstation access.

2. The robot path planning and collaborative scheduling method based on process control as described in claim 1, characterized in that, The specific steps for constructing the process control status table are as follows: Collect the process status data corresponding to the robot, and merge and organize the process status data according to the task identifier and time sequence to obtain the task status record; Based on the task status records, the workstation association information is mapped to determine the workstation supply relationship and cycle time guarantee requirements for each task, thus forming a process control status table.

3. The robot path planning and collaborative scheduling method based on process control as described in claim 2, characterized in that, The specific steps for obtaining the process phase sequence and the access control unit table are as follows: Based on the process control status table, each task is divided into process phases and arranged in order to obtain the process phase sequence. Based on the workstation supply relationship in the process control status table, the shared access locations are determined, resulting in the access control unit table.

4. The robot path planning and collaborative scheduling method based on process control as described in claim 1, characterized in that, The specific steps for obtaining the candidate passage order and the sequence of paths to be allowed are as follows: Based on the process control status table, process phase sequence, and access control unit table, determine the arrangement order of access control units corresponding to each task, and identify the occupancy relationship of access nodes corresponding to each access control unit; Based on the occupancy relationship of the corresponding access nodes of each access control unit, process control tokens corresponding to each access control unit are established, and the application order of each process control token is generated according to the beat guarantee requirements of each process phase in the process phase sequence. Based on the application order of each process control token, the candidate passage order corresponding to each access control unit is determined, and combined with the arrangement order of the access control units corresponding to each task, the sequence of paths to be released is obtained.

5. The robot path planning and collaborative scheduling method based on process control as described in claim 1, characterized in that, The specific steps to obtain the collaborative scheduling path scheme are as follows: Based on the candidate passage order, the sequence of paths to be released, and the application order of each process control token, the allocation order of the process control tokens for each robot is determined, and the process control tokens are allocated to the corresponding access control units to generate the process control token allocation results. Based on the process control token allocation results and the sequence of paths to be released, the target road segment, workstation access time and yielding object corresponding to each robot that has obtained a process control token are determined, thus forming a process control binding relationship; Based on the process control token allocation results and process control binding relationships, the robots that obtained the process control tokens, target road segments, workstation access times, and yielding objects are organized accordingly to obtain a collaborative scheduling path scheme.

6. The robot path planning and cooperative scheduling method based on process control as described in claim 1, characterized in that, The specific steps for generating the corresponding robot's process control collaborative scheduling instructions based on the collaborative scheduling path scheme are as follows: Based on the collaborative scheduling path scheme, the target road segment, workstation access time and yielding object corresponding to each robot are extracted, and the process control execution content corresponding to each robot is generated. Based on the process control execution content corresponding to each robot, process control collaborative scheduling instructions corresponding to each robot are generated, and the process control collaborative scheduling instructions corresponding to each robot are organized accordingly. The process control coordination and scheduling instructions corresponding to each robot are sent to the corresponding robot to execute the corresponding path tracking, road segment yielding and workstation access.

7. The robot path planning and collaborative scheduling method based on process control as described in claim 1 or 4, characterized in that, The specific steps for generating the application order of each process control token are as follows: The tasks mapped to the same process control token are sorted according to the process phase sequence; For tasks with different order in the process phase sequence, the order of application shall be determined according to the order in the process phase sequence; For tasks with the same order in the process phase sequence, the order of application is determined based on the corresponding clock cycle guarantee requirements, thus obtaining the application order of each process control token.

8. The robot path planning and cooperative scheduling method based on process control as described in claim 5, characterized in that, The specific steps for forming the binding relationship are as follows: Based on the process control token allocation results, extract the target road segment, workstation access time, and yielding object corresponding to each robot that has obtained a process control token; Each robot that obtains a process control token is associated with its corresponding target road segment, workstation access time, and yielding object to form a process control binding relationship.

9. The robot path planning and cooperative scheduling method based on process control as described in claim 5, characterized in that, The specific steps for generating the control token allocation result are as follows: The order in which each robot passes through the corresponding access control unit is arranged according to the candidate access order; Based on the sequence of paths to be released, the order of passage of each robot in the corresponding access control unit is adjusted accordingly; Based on the adjusted access sequence and the application order of each process control token, a process control token allocation order is formed for each robot, and process control tokens are allocated to the corresponding access control unit to generate process control token allocation results.

10. The robot path planning and cooperative scheduling method based on process control as described in claim 6, characterized in that, The specific steps for organizing the corresponding process control collaborative scheduling instructions for each robot are as follows: Organize the process control execution content of each robot with the corresponding target road segment, workstation access time and yielding object; Based on the sorting results, the process control coordination and scheduling instructions corresponding to each robot are merged.

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